diff --git a/board/main.c b/board/main.c
index 84e5da91..7d67119b 100644
--- a/board/main.c
+++ b/board/main.c
@@ -131,6 +131,7 @@ void set_safety_mode(uint16_t mode, uint16_t param) {
 bool is_car_safety_mode(uint16_t mode) {
   return (mode != SAFETY_SILENT) &&
          (mode != SAFETY_NOOUTPUT) &&
+         (mode != SAFETY_ALLOUTPUT) &&
          (mode != SAFETY_ELM327);
 }
 
@@ -192,6 +193,11 @@ void tick_handler(void) {
         heartbeat_counter += 1U;
       }
 
+      // disabling heartbeat not allowed while in safety mode
+      if (is_car_safety_mode(current_safety_mode)) {
+        heartbeat_disabled = false;
+      }
+
       if (siren_countdown > 0U) {
         siren_countdown -= 1U;
       }
diff --git a/board/main_comms.h b/board/main_comms.h
index 0472f3e4..1f4914a8 100644
--- a/board/main_comms.h
+++ b/board/main_comms.h
@@ -531,12 +531,12 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
     case 0xf7:
       green_led_enabled = (req->param1 != 0U);
       break;
-#ifdef ALLOW_DEBUG
     // **** 0xf8: disable heartbeat checks
     case 0xf8:
-      heartbeat_disabled = true;
+      if (!is_car_safety_mode(current_safety_mode)) {
+        heartbeat_disabled = true;
+      }
       break;
-#endif
     // **** 0xde: set CAN FD data bitrate
     case 0xf9:
       if (req->param1 < CAN_CNT) {
diff --git a/examples/query_fw_versions.py b/examples/query_fw_versions.py
index 11aba600..2d450974 100755
--- a/examples/query_fw_versions.py
+++ b/examples/query_fw_versions.py
@@ -34,7 +34,6 @@ if __name__ == "__main__":
 
   panda = Panda()
   panda.set_safety_mode(Panda.SAFETY_ELM327)
-  panda.set_heartbeat_disabled()
   print("querying addresses ...")
   with tqdm(addrs) as t:
     for addr in t:
diff --git a/python/__init__.py b/python/__init__.py
index e12426d5..6458785b 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -209,7 +209,7 @@ class Panda:
 
   FLAG_GM_HW_CAM = 1
 
-  def __init__(self, serial: Optional[str] = None, claim: bool = True):
+  def __init__(self, serial: Optional[str] = None, claim: bool = True, disable_checks: bool = True):
     self._serial = serial
     self._handle = None
     self._bcd_device = None
@@ -217,6 +217,11 @@ class Panda:
     # connect and set mcu type
     self.connect(claim)
 
+    # disable openpilot's heartbeat checks
+    if disable_checks:
+      self.set_heartbeat_disabled()
+      self.set_power_save(0)
+
   def close(self):
     self._handle.close()
     self._handle = None
@@ -552,11 +557,8 @@ class Panda:
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
     time.sleep(0.2)
 
-  def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True):
+  def set_safety_mode(self, mode=SAFETY_SILENT, param=0):
     self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
-    if disable_checks:
-      self.set_heartbeat_disabled()
-      self.set_power_save(0)
 
   def set_gmlan(self, bus=2):
     # TODO: check panda type
diff --git a/tests/automated/2_health.py b/tests/automated/2_health.py
index 5442d3a2..d77449af 100644
--- a/tests/automated/2_health.py
+++ b/tests/automated/2_health.py
@@ -61,3 +61,24 @@ def test_hw_type(p):
   assert pp.get_type() == hw_type, "Bootstub and app hw type mismatch"
   assert pp.get_mcu_type() == mcu_type, "Bootstub and app MCU type mismatch"
   pp.close()
+
+
+@test_all_pandas
+@panda_connect_and_init
+def test_heartbeat(p):
+  # TODO: add more cases here once the tests aren't super slow
+  p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG)
+  p.send_heartbeat()
+  assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI
+  assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG
+
+  # shouldn't do anything once we're in a car safety mode
+  p.set_heartbeat_disabled()
+
+  time.sleep(6)
+
+  h = p.health()
+  assert h['heartbeat_lost']
+  assert h['safety_mode'] == Panda.SAFETY_SILENT
+  assert h['safety_param'] == 0
+  assert h['controls_allowed'] == 0
diff --git a/tests/automated/helpers.py b/tests/automated/helpers.py
index 7b612236..433a5122 100644
--- a/tests/automated/helpers.py
+++ b/tests/automated/helpers.py
@@ -197,7 +197,6 @@ def panda_connect_and_init(fn=None, full_reset=True):
           panda.set_can_speed_kbps(bus, speed)
         clear_can_buffers(panda)
         panda.set_power_save(False)
-        panda.set_heartbeat_disabled()
 
     try:
       fn(*pandas, *kwargs)
diff --git a/tests/bulk_write_test.py b/tests/bulk_write_test.py
index 5fcaca62..708258ba 100755
--- a/tests/bulk_write_test.py
+++ b/tests/bulk_write_test.py
@@ -33,7 +33,6 @@ if __name__ == "__main__":
     receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  sender.set_heartbeat_disabled()
 
   # Start transmisson
   threading.Thread(target=flood_tx, args=(sender,)).start()
diff --git a/tests/fan_test.py b/tests/fan_test.py
index 9babf4fc..55657689 100755
--- a/tests/fan_test.py
+++ b/tests/fan_test.py
@@ -9,7 +9,6 @@ from panda import Panda  # noqa: E402
 power = 0
 if __name__ == "__main__":
   p = Panda()
-  p.set_heartbeat_disabled()
   while True:
     p.set_fan_power(power)
     time.sleep(5)
diff --git a/tests/message_drop_test.py b/tests/message_drop_test.py
index d47edb00..c6991ce7 100755
--- a/tests/message_drop_test.py
+++ b/tests/message_drop_test.py
@@ -46,7 +46,6 @@ if __name__ == "__main__":
     receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
 
   sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
-  sender.set_heartbeat_disabled()
 
   # Start transmisson
   threading.Thread(target=flood_tx, args=(sender,)).start()