diff --git a/panda/board/main.c b/panda/board/main.c
index 00429e3..1e3e2d2 100755
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -238,8 +238,13 @@ void tick_handler(void) {
           // clear heartbeat engaged state
           heartbeat_engaged = false;
 
-          if (current_safety_mode != SAFETY_SILENT) {
-            set_safety_mode(SAFETY_SILENT, 0U);
+          // if (current_safety_mode != SAFETY_SILENT) {
+          //   set_safety_mode(SAFETY_SILENT, 0U);
+          // }
+
+          // clearpilot
+          if (current_safety_mode != SAFETY_ALLOUTPUT) {
+            set_safety_mode(SAFETY_ALLOUTPUT, 0U);
           }
 
           if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
@@ -335,7 +340,9 @@ int main(void) {
   microsecond_timer_init();
 
   // init to SILENT and can silent
-  set_safety_mode(SAFETY_SILENT, 0U);
+  //clearpilot
+  // set_safety_mode(SAFETY_SILENT, 0U);
+  set_safety_mode(SAFETY_ALLOUTPUT, 0U);
 
   // enable CAN TXs
   current_board->enable_can_transceivers(true);