diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index e9590d86b73b73..7085b2a5bd7cfd 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -5,7 +5,6 @@ const int CHRYSLER_MAX_RATE_UP = 3;
 const int CHRYSLER_MAX_RATE_DOWN = 3;
 const int CHRYSLER_MAX_TORQUE_ERROR = 80;    // max torque cmd in excess of torque motor
 
-bool chrysler_camera_detected = 0;             // is giraffe switch 2 high?
 int chrysler_rt_torque_last = 0;
 int chrysler_desired_torque_last = 0;
 int chrysler_cruise_engaged_last = 0;
@@ -36,10 +35,9 @@ static void chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     chrysler_cruise_engaged_last = cruise_engaged;
   }
 
-  // check if stock camera ECU is still online
+  // check if stock camera ECU is on bus 0
   if ((bus == 0) && (addr == 0x292)) {
-    chrysler_camera_detected = 1;
-    controls_allowed = 0;
+    relay_malfunction = true;
   }
 }
 
@@ -48,8 +46,7 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int addr = GET_ADDR(to_send);
   int tx = 1;
 
-  // If camera is on bus 0, then nothing can be sent
-  if (chrysler_camera_detected) {
+  if (relay_malfunction) {
     tx = 0;
   }
 
@@ -108,30 +105,27 @@ static int chrysler_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static void chrysler_init(int16_t param) {
-  UNUSED(param);
-  controls_allowed = 0;
-  chrysler_camera_detected = 0;
-}
-
 static int chrysler_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
   int bus_fwd = -1;
   int addr = GET_ADDR(to_fwd);
-  // forward CAN 0 -> 2 so stock LKAS camera sees messages
-  if ((bus_num == 0) && !chrysler_camera_detected) {
-    bus_fwd = 2;
-  }
-  // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
-  if ((bus_num == 2) && !chrysler_camera_detected && (addr != 658) && (addr != 678)) {
-    bus_fwd = 0;
+
+  if (!relay_malfunction) {
+    // forward CAN 0 -> 2 so stock LKAS camera sees messages
+    if (bus_num == 0) {
+      bus_fwd = 2;
+    }
+    // forward all messages from camera except LKAS_COMMAND and LKAS_HUD
+    if ((bus_num == 2) && (addr != 658) && (addr != 678)) {
+      bus_fwd = 0;
+    }
   }
   return bus_fwd;
 }
 
 
 const safety_hooks chrysler_hooks = {
-  .init = chrysler_init,
+  .init = nooutput_init,
   .rx = chrysler_rx_hook,
   .tx = chrysler_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
diff --git a/board/safety/safety_defaults.h b/board/safety/safety_defaults.h
index 2743db96fe6eff..4733438c9c4bd1 100644
--- a/board/safety/safety_defaults.h
+++ b/board/safety/safety_defaults.h
@@ -6,7 +6,8 @@ void default_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
 static void nooutput_init(int16_t param) {
   UNUSED(param);
-  controls_allowed = 0;
+  controls_allowed = false;
+  relay_malfunction = false;
 }
 
 static int nooutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -39,7 +40,8 @@ const safety_hooks nooutput_hooks = {
 
 static void alloutput_init(int16_t param) {
   UNUSED(param);
-  controls_allowed = 1;
+  controls_allowed = true;
+  relay_malfunction = false;
 }
 
 static int alloutput_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index 22fc604ff1dd9d..297f9f54a710bb 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -14,6 +14,7 @@ bool ford_moving = false;
 static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
   int addr = GET_ADDR(to_push);
+  int bus = GET_BUS(to_push);
 
   if (addr == 0x217) {
     // wheel speeds are 14 bits every 16
@@ -53,6 +54,10 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     }
     ford_gas_prev = gas;
   }
+
+  if ((bus == 0) && (addr == 0x3CA)) {
+    relay_malfunction = true;
+  }
 }
 
 // all commands: just steering
@@ -64,11 +69,16 @@ static void ford_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   int tx = 1;
+  int addr = GET_ADDR(to_send);
+
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = ford_gas_prev || (ford_brake_prev && ford_moving);
   bool current_controls_allowed = controls_allowed && !(pedal_pressed);
-  int addr = GET_ADDR(to_send);
+
+  if (relay_malfunction) {
+    tx = 0;
+  }
 
   // STEER: safety check
   if (addr == 0x3CA) {
@@ -92,6 +102,8 @@ static int ford_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
+// TODO: keep camera on bus 2 and make a fwd_hook
+
 const safety_hooks ford_hooks = {
   .init = nooutput_init,
   .rx = ford_rx_hook,
diff --git a/board/safety/safety_gm.h b/board/safety/safety_gm.h
index 452f70953df640..a704d91f40cd54 100644
--- a/board/safety/safety_gm.h
+++ b/board/safety/safety_gm.h
@@ -22,8 +22,6 @@ const int GM_MAX_BRAKE = 350;
 int gm_brake_prev = 0;
 int gm_gas_prev = 0;
 bool gm_moving = false;
-// silence everything if stock car control ECUs are still online
-bool gm_ascm_detected = 0;
 int gm_rt_torque_last = 0;
 int gm_desired_torque_last = 0;
 uint32_t gm_ts_last = 0;
@@ -51,8 +49,7 @@ static void gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   // 384 = ASCMLKASteeringCmd
   // 715 = ASCMGasRegenCmd
   if ((bus_number == 0) && ((addr == 384) || (addr == 715))) {
-    gm_ascm_detected = 1;
-    controls_allowed = 0;
+    relay_malfunction = true;
   }
 
   // ACC steering wheel buttons
@@ -114,8 +111,7 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   int tx = 1;
 
-  // There can be only one! (ASCM)
-  if (gm_ascm_detected) {
+  if (relay_malfunction) {
     tx = 0;
   }
 
@@ -213,14 +209,9 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   return tx;
 }
 
-static void gm_init(int16_t param) {
-  UNUSED(param);
-  controls_allowed = 0;
-}
-
 
 const safety_hooks gm_hooks = {
-  .init = gm_init,
+  .init = nooutput_init,
   .rx = gm_rx_hook,
   .tx = gm_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index f59e288812a7cf..53439934dbd065 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -98,6 +98,16 @@ static void honda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       // Leave honda forward brake as is
     }
   }
+
+  // if steering controls messages are received on the destination bus, it's an indication
+  // that the relay might be malfucntioning
+  int bus_rdr_car = (board_has_relay()) ? 0 : 2;  // radar bus, car side
+  if ((addr == 0xE4) || (addr == 0x194)) {
+    if ((honda_bosch_hardware && (bus == bus_rdr_car)) ||
+      (!honda_bosch_hardware && (bus == 0))) {
+      relay_malfunction = true;
+    }
+  }
 }
 
 // all commands: gas, brake and steering
@@ -112,6 +122,10 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
+  if (relay_malfunction) {
+    tx = 0;
+  }
+
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
   int pedal_pressed = honda_gas_prev || (gas_interceptor_prev > HONDA_GAS_INTERCEPTOR_THRESHOLD) ||
@@ -170,13 +184,15 @@ static int honda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void honda_init(int16_t param) {
   UNUSED(param);
-  controls_allowed = 0;
+  controls_allowed = false;
+  relay_malfunction = false;
   honda_bosch_hardware = false;
   honda_alt_brake_msg = false;
 }
 
 static void honda_bosch_init(int16_t param) {
-  controls_allowed = 0;
+  controls_allowed = false;
+  relay_malfunction = false;
   honda_bosch_hardware = true;
   // Checking for alternate brake override from safety parameter
   honda_alt_brake_msg = (param == 1) ? true : false;
@@ -189,20 +205,22 @@ static int honda_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   // 0x39f is radar hud
   int bus_fwd = -1;
 
-  if (bus_num == 0) {
-    bus_fwd = 2;
-  }
-  if (bus_num == 2) {
-    // block stock lkas messages and stock acc messages (if OP is doing ACC)
-    int addr = GET_ADDR(to_fwd);
-    bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
-    bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
-    bool is_brake_msg = addr == 0x1FA;
-    bool block_fwd = is_lkas_msg ||
-                     (is_acc_hud_msg && long_controls_allowed) ||
-                     (is_brake_msg && long_controls_allowed && !honda_fwd_brake);
-    if (!block_fwd) {
-      bus_fwd = 0;
+  if (!relay_malfunction) {
+    if (bus_num == 0) {
+      bus_fwd = 2;
+    }
+    if (bus_num == 2) {
+      // block stock lkas messages and stock acc messages (if OP is doing ACC)
+      int addr = GET_ADDR(to_fwd);
+      bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D);
+      bool is_acc_hud_msg = (addr == 0x30C) || (addr == 0x39F);
+      bool is_brake_msg = addr == 0x1FA;
+      bool block_fwd = is_lkas_msg ||
+                       (is_acc_hud_msg && long_controls_allowed) ||
+                       (is_brake_msg && long_controls_allowed && !honda_fwd_brake);
+      if (!block_fwd) {
+        bus_fwd = 0;
+      }
     }
   }
   return bus_fwd;
@@ -213,14 +231,16 @@ static int honda_bosch_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int bus_rdr_cam = (board_has_relay()) ? 2 : 1;  // radar bus, camera side
   int bus_rdr_car = (board_has_relay()) ? 0 : 2;  // radar bus, car side
 
-  if (bus_num == bus_rdr_car) {
-    bus_fwd = bus_rdr_cam;
-  }
-  if (bus_num == bus_rdr_cam)  {
-    int addr = GET_ADDR(to_fwd);
-    int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
-    if (!is_lkas_msg) {
-      bus_fwd = bus_rdr_car;
+  if (!relay_malfunction) {
+    if (bus_num == bus_rdr_car) {
+      bus_fwd = bus_rdr_cam;
+    }
+    if (bus_num == bus_rdr_cam)  {
+      int addr = GET_ADDR(to_fwd);
+      int is_lkas_msg = (addr == 0xE4) || (addr == 0x33D);
+      if (!is_lkas_msg) {
+        bus_fwd = bus_rdr_car;
+      }
     }
   }
   return bus_fwd;
diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 2e49f34f73d58b..b4b079521a122e 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -6,9 +6,6 @@ const int HYUNDAI_MAX_RATE_DOWN = 7;
 const int HYUNDAI_DRIVER_TORQUE_ALLOWANCE = 50;
 const int HYUNDAI_DRIVER_TORQUE_FACTOR = 2;
 
-bool hyundai_camera_detected = 0;
-bool hyundai_giraffe_switch_2 = 0;          // is giraffe switch 2 high?
-int hyundai_camera_bus = 0;
 int hyundai_rt_torque_last = 0;
 int hyundai_desired_torque_last = 0;
 int hyundai_cruise_engaged_last = 0;
@@ -25,15 +22,9 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     update_sample(&hyundai_torque_driver, torque_driver_new);
   }
 
-  // check if stock camera ECU is still online
+  // check if stock camera ECU is on bus 0
   if ((bus == 0) && (addr == 832)) {
-    hyundai_camera_detected = 1;
-    controls_allowed = 0;
-  }
-
-  // Find out which bus the camera is on
-  if (addr == 832) {
-    hyundai_camera_bus = bus;
+    relay_malfunction = true;
   }
 
   // enter controls on rising edge of ACC, exit controls on ACC off
@@ -48,11 +39,6 @@ static void hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     }
     hyundai_cruise_engaged_last = cruise_engaged;
   }
-
-  // 832 is lkas cmd. If it is on camera bus, then giraffe switch 2 is high
-  if ((addr == 832) && (bus == hyundai_camera_bus) && (hyundai_camera_bus != 0)) {
-    hyundai_giraffe_switch_2 = 1;
-  }
 }
 
 static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -60,8 +46,7 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int tx = 1;
   int addr = GET_ADDR(to_send);
 
-  // There can be only one! (camera)
-  if (hyundai_camera_detected) {
+  if (relay_malfunction) {
     tx = 0;
   }
 
@@ -128,29 +113,22 @@ static int hyundai_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 static int hyundai_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
   int bus_fwd = -1;
+  int addr = GET_ADDR(to_fwd);
   // forward cam to ccan and viceversa, except lkas cmd
-  if (hyundai_giraffe_switch_2) {
+  if (!relay_malfunction) {
     if (bus_num == 0) {
-      bus_fwd = hyundai_camera_bus;
+      bus_fwd = 2;
     }
-    if (bus_num == hyundai_camera_bus) {
-      int addr = GET_ADDR(to_fwd);
-      if (addr != 832) {
-        bus_fwd = 0;
-      }
+    if ((bus_num == 2) && (addr != 832)) {
+      bus_fwd = 0;
     }
   }
   return bus_fwd;
 }
 
-static void hyundai_init(int16_t param) {
-  UNUSED(param);
-  controls_allowed = 0;
-  hyundai_giraffe_switch_2 = 0;
-}
 
 const safety_hooks hyundai_hooks = {
-  .init = hyundai_init,
+  .init = nooutput_init,
   .rx = hyundai_rx_hook,
   .tx = hyundai_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
diff --git a/board/safety/safety_mazda.h b/board/safety/safety_mazda.h
index 043f337c7017ce..acb60e1457f2ea 100644
--- a/board/safety/safety_mazda.h
+++ b/board/safety/safety_mazda.h
@@ -30,12 +30,6 @@ uint32_t mazda_ts_last = 0;
 struct sample_t mazda_torque_driver;         // last few driver torques measured
 
 // track msgs coming from OP so that we know what CAM msgs to drop and what to forward
-int mazda_op_lkas_detected = 0;
-int mazda_op_laneinfo_detected = 0;
-
-int mazda_forward_cam = 0;
-int mazda_giraffe_switch_2_on = 0;
-
 void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
@@ -60,17 +54,9 @@ void mazda_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     mazda_cruise_engaged_last = cruise_engaged;
   }
 
-  // we have msgs on bus MAZDA_CAM
-  if (bus == MAZDA_CAM) {
-    // the stock CAM is connected
-    if (addr == MAZDA_LKAS) {
-      mazda_forward_cam = 1;
-    }
-    // if we see wheel speed msgs on MAZDA_CAM bus then giraffe switch 2 is high
-    // (hardware passthru)
-    if (addr == MAZDA_WHEEL_SPEED) {
-      mazda_giraffe_switch_2_on = 1;
-    }
+  // if we see wheel speed msgs on MAZDA_CAM bus then relay is closed
+  if ((bus == MAZDA_CAM) && (addr == MAZDA_WHEEL_SPEED)) {
+    relay_malfunction = true;
   }
 }
 
@@ -79,15 +65,12 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
+  if (relay_malfunction) {
+    tx = 0;
+  }
+
   // Check if msg is sent on the main BUS
   if (bus == MAZDA_MAIN) {
-    if ((addr == MAZDA_LKAS) && !mazda_op_lkas_detected){
-      mazda_op_lkas_detected = 1;
-    }
-    if ((addr == MAZDA_LANEINFO) && !mazda_op_laneinfo_detected){
-      mazda_op_laneinfo_detected = 1;
-    }
-
     // steer cmd checks
     if (addr == MAZDA_LKAS) {
       int desired_torque = (((GET_BYTE(to_send, 0) & 0x0f) << 8) | GET_BYTE(to_send, 1)) - MAZDA_MAX_STEER;
@@ -140,15 +123,13 @@ static int mazda_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static int mazda_fwd_hook(int bus, CAN_FIFOMailBox_TypeDef *to_fwd) {
   int bus_fwd = -1;
-  if (mazda_forward_cam && !mazda_giraffe_switch_2_on) {
+  if (!relay_malfunction) {
     int addr = GET_ADDR(to_fwd);
     if (bus == MAZDA_MAIN) {
       bus_fwd = MAZDA_CAM;
     }
     else if (bus == MAZDA_CAM) {
-      // drop stock CAM_LKAS and CAM_LANEINFI if OP is sending them
-      if (!((addr == MAZDA_LKAS) && mazda_op_lkas_detected) &&
-          !((addr == MAZDA_LANEINFO) && mazda_op_laneinfo_detected)) {
+      if (!(addr == MAZDA_LKAS)) {
         bus_fwd = MAZDA_MAIN;
       }
     }
diff --git a/board/safety/safety_subaru.h b/board/safety/safety_subaru.h
index c09b9d6225ed19..147fbb2d28e08f 100644
--- a/board/safety/safety_subaru.h
+++ b/board/safety/safety_subaru.h
@@ -38,12 +38,20 @@ static void subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     }
     subaru_cruise_engaged_last = cruise_engaged;
   }
+
+  if ((bus == 0) && ((addr == 0x122) || (addr == 0x164))) {
+    relay_malfunction = true;
+  }
 }
 
 static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int tx = 1;
   int addr = GET_ADDR(to_send);
 
+  if (relay_malfunction) {
+    tx = 0;
+  }
+
   // steer cmd checks
   if ((addr == 0x122) || (addr == 0x164)) {
     int bit_shift = (addr == 0x122) ? 16 : 8;
@@ -98,23 +106,24 @@ static int subaru_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 }
 
 static int subaru_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
-
   int bus_fwd = -1;
-  if (bus_num == 0) {
-    bus_fwd = 2;  // Camera CAN
-  }
-  if (bus_num == 2) {
-    // 290 is LKAS for Global Platform
-    // 356 is LKAS for outback 2015
-    // 545 is ES_Distance
-    // 802 is ES_LKAS
-    int addr = GET_ADDR(to_fwd);
-    int block_msg = (addr == 290) || (addr == 356) || (addr == 545) || (addr == 802);
-    if (!block_msg) {
-      bus_fwd = 0;  // Main CAN
+
+  if (!relay_malfunction) {
+    if (bus_num == 0) {
+      bus_fwd = 2;  // Camera CAN
+    }
+    if (bus_num == 2) {
+      // 290 is LKAS for Global Platform
+      // 356 is LKAS for outback 2015
+      // 545 is ES_Distance
+      // 802 is ES_LKAS
+      int addr = GET_ADDR(to_fwd);
+      int block_msg = (addr == 290) || (addr == 356) || (addr == 545) || (addr == 802);
+      if (!block_msg) {
+        bus_fwd = 0;  // Main CAN
+      }
     }
   }
-
   // fallback to do not forward
   return bus_fwd;
 }
diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 134cc845c97283..849101368a5ea1 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -22,8 +22,6 @@ const int TOYOTA_GAS_INTERCEPTOR_THRESHOLD = 475;  // ratio between offset and g
 int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
 // states
-int toyota_giraffe_switch_1 = 0;          // is giraffe switch 1 high?
-int toyota_camera_forwarded = 0;          // should we forward the camera bus?
 int toyota_desired_torque_last = 0;       // last desired steer torque
 int toyota_rt_torque_last = 0;            // last desired torque for real time check
 uint32_t toyota_ts_last = 0;
@@ -87,14 +85,9 @@ static void toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     toyota_gas_prev = gas;
   }
 
-  // msgs are only on bus 2 if panda is connected to frc
-  if (bus == 2) {
-    toyota_camera_forwarded = 1;
-  }
-
-  // 0x2E4 is lkas cmd. If it is on bus 0, then giraffe switch 1 is high
+  // 0x2E4 is lkas cmd. If it is on bus 0, then relay is unexpectedly closed
   if ((addr == 0x2E4) && (bus == 0)) {
-    toyota_giraffe_switch_1 = 1;
+    relay_malfunction = true;
   }
 }
 
@@ -104,6 +97,10 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int addr = GET_ADDR(to_send);
   int bus = GET_BUS(to_send);
 
+  if (relay_malfunction) {
+    tx = 0;
+  }
+
   // Check if msg is sent on BUS 0
   if (bus == 0) {
 
@@ -191,15 +188,14 @@ static int toyota_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
 static void toyota_init(int16_t param) {
   controls_allowed = 0;
-  toyota_giraffe_switch_1 = 0;
-  toyota_camera_forwarded = 0;
+  relay_malfunction = 0;
   toyota_dbc_eps_torque_factor = param;
 }
 
 static int toyota_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
   int bus_fwd = -1;
-  if (toyota_camera_forwarded && !toyota_giraffe_switch_1) {
+  if (!relay_malfunction) {
     if (bus_num == 0) {
       bus_fwd = 2;
     }
diff --git a/board/safety/safety_volkswagen.h b/board/safety/safety_volkswagen.h
index bb184cd91f5418..761905b842f943 100644
--- a/board/safety/safety_volkswagen.h
+++ b/board/safety/safety_volkswagen.h
@@ -21,11 +21,6 @@ int volkswagen_gas_prev = 0;
 #define MSG_LDW_02              0x397
 #define MSG_KLEMMEN_STATUS_01   0x3C0
 
-static void volkswagen_init(int16_t param) {
-  UNUSED(param); // May use param in the future to indicate MQB vs PQ35/PQ46/NMS vs MLB, or wiring configuration.
-  controls_allowed = 0;
-}
-
 static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
   int bus = GET_BUS(to_push);
   int addr = GET_ADDR(to_push);
@@ -58,6 +53,10 @@ static void volkswagen_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     }
     volkswagen_gas_prev = gas;
   }
+
+  if ((bus == 0) && (addr == MSG_HCA_01)) {
+    relay_malfunction = true;
+  }
 }
 
 static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
@@ -65,6 +64,10 @@ static int volkswagen_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
   int bus = GET_BUS(to_send);
   int tx = 1;
 
+  if (relay_malfunction) {
+    tx = 0;
+  }
+
   // Safety check for HCA_01 Heading Control Assist torque.
   if (addr == MSG_HCA_01) {
     bool violation = false;
@@ -135,31 +138,32 @@ static int volkswagen_fwd_hook(int bus_num, CAN_FIFOMailBox_TypeDef *to_fwd) {
 
   // NOTE: Will need refactoring for other bus layouts, such as no-forwarding at camera or J533 running-gear CAN
 
-  switch (bus_num) {
-    case 0:
-      // Forward all traffic from J533 gateway to Extended CAN devices.
-      bus_fwd = 2;
-      break;
-    case 2:
-      if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
-        // OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera.
+  if (!relay_malfunction) {
+    switch (bus_num) {
+      case 0:
+        // Forward all traffic from J533 gateway to Extended CAN devices.
+        bus_fwd = 2;
+        break;
+      case 2:
+        if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) {
+          // OP takes control of the Heading Control Assist and Lane Departure Warning messages from the camera.
+          bus_fwd = -1;
+        } else {
+          // Forward all remaining traffic from Extended CAN devices to J533 gateway.
+          bus_fwd = 0;
+        }
+        break;
+      default:
+        // No other buses should be in use; fallback to do-not-forward.
         bus_fwd = -1;
-      } else {
-        // Forward all remaining traffic from Extended CAN devices to J533 gateway.
-        bus_fwd = 0;
-      }
-      break;
-    default:
-      // No other buses should be in use; fallback to do-not-forward.
-      bus_fwd = -1;
-      break;
+        break;
+    }
   }
-
   return bus_fwd;
 }
 
 const safety_hooks volkswagen_hooks = {
-  .init = volkswagen_init,
+  .init = nooutput_init,
   .rx = volkswagen_rx_hook,
   .tx = volkswagen_tx_hook,
   .tx_lin = nooutput_tx_lin_hook,
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index efa6a4e2b8744c..27d3d1f68a6a8a 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -40,13 +40,14 @@ typedef struct {
   fwd_hook fwd;
 } safety_hooks;
 
-// This can be set by the safety hooks.
-bool controls_allowed = 0;
-bool gas_interceptor_detected = 0;
+// This can be set by the safety hooks
+bool controls_allowed = false;
+bool relay_malfunction = false;
+bool gas_interceptor_detected = false;
 int gas_interceptor_prev = 0;
 
 // This is set by USB command 0xdf
-bool long_controls_allowed = 1;
+bool long_controls_allowed = true;
 
 // avg between 2 tracks
 #define GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + ((GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2 ) / 2)
diff --git a/tests/safety/common.py b/tests/safety/common.py
new file mode 100644
index 00000000000000..c16f7391118f69
--- /dev/null
+++ b/tests/safety/common.py
@@ -0,0 +1,9 @@
+def test_relay_malfunction(test, addr):
+  # input is a test class and the address that, if seen on bus 0, triggers
+  # the relay_malfunction logic
+  test.assertFalse(test.safety.get_relay_malfunction())
+  test.safety.safety_rx_hook(test._send_msg(0, addr, 8))
+  test.assertTrue(test.safety.get_relay_malfunction())
+  for a in range(1, 0x800):
+    for b in range(0, 3):
+      test.assertFalse(test.safety.safety_tx_hook(test._send_msg(b, a, 8)))
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index ffe23c70d39aaf..5b1bd28c9ad7d9 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -34,6 +34,8 @@
 
 void set_controls_allowed(bool c);
 bool get_controls_allowed(void);
+void set_relay_malfunction(bool c);
+bool get_relay_malfunction(void);
 void set_long_controls_allowed(bool c);
 bool get_long_controls_allowed(void);
 void set_gas_interceptor_detected(bool c);
@@ -54,7 +56,6 @@
 int get_toyota_gas_prev(void);
 void set_toyota_torque_meas(int min, int max);
 void set_toyota_desired_torque_last(int t);
-void set_toyota_camera_forwarded(int t);
 void set_toyota_rt_torque_last(int t);
 
 void init_tests_honda(void);
@@ -80,13 +81,10 @@
 void set_hyundai_desired_torque_last(int t);
 void set_hyundai_rt_torque_last(int t);
 void set_hyundai_torque_driver(int min, int max);
-void set_hyundai_giraffe_switch_2(int t);
-void set_hyundai_camera_bus(int t);
 
 void init_tests_chrysler(void);
 void set_chrysler_desired_torque_last(int t);
 void set_chrysler_rt_torque_last(int t);
-void set_chrysler_camera_detected(int t);
 int get_chrysler_torque_meas_min(void);
 int get_chrysler_torque_meas_max(void);
 void set_chrysler_torque_meas(int min, int max);
diff --git a/tests/safety/test.c b/tests/safety/test.c
index c61f64077c63b1..553d61edfa35e8 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -80,6 +80,10 @@ void set_controls_allowed(bool c){
   controls_allowed = c;
 }
 
+void set_relay_malfunction(bool c){
+  relay_malfunction = c;
+}
+
 void set_long_controls_allowed(bool c){
   long_controls_allowed = c;
 }
@@ -96,6 +100,10 @@ bool get_controls_allowed(void){
   return controls_allowed;
 }
 
+bool get_relay_malfunction(void){
+  return relay_malfunction;
+}
+
 bool get_long_controls_allowed(void){
   return long_controls_allowed;
 }
@@ -116,10 +124,6 @@ void set_timer(uint32_t t){
   timer.CNT = t;
 }
 
-void set_toyota_camera_forwarded(int t){
-  toyota_camera_forwarded = t;
-}
-
 void set_toyota_torque_meas(int min, int max){
   toyota_torque_meas.min = min;
   toyota_torque_meas.max = max;
@@ -140,18 +144,6 @@ void set_hyundai_torque_driver(int min, int max){
   hyundai_torque_driver.max = max;
 }
 
-void set_hyundai_camera_bus(int t){
-  hyundai_camera_bus = t;
-}
-
-void set_hyundai_giraffe_switch_2(int t){
-  hyundai_giraffe_switch_2 = t;
-}
-
-void set_chrysler_camera_detected(int t){
-  chrysler_camera_detected = t;
-}
-
 void set_chrysler_torque_meas(int min, int max){
   chrysler_torque_meas.min = min;
   chrysler_torque_meas.max = max;
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index 32eb1cded35ecc..5d3db35153267d 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -3,6 +3,7 @@
 import numpy as np
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety.common import test_relay_malfunction
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 3
@@ -67,6 +68,9 @@ def _torque_msg(self, torque):
     to_send[0].RDLR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
     return to_send
 
+  def test_relay_malfunction(self):
+    test_relay_malfunction(self, 0x292)
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
@@ -182,14 +186,14 @@ def test_torque_measurements(self):
   def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
-    chrysler_camera_detected = [0, 1]
+    relay_malfunction = [0, 1]
 
-    for ccd in chrysler_camera_detected:
-      self.safety.set_chrysler_camera_detected(ccd)
+    for rm in relay_malfunction:
+      self.safety.set_relay_malfunction(rm)
       blocked_msgs = [658, 678]
       for b in buss:
         for m in msgs:
-          if not ccd:
+          if not rm:
             if b == 0:
               fwd_bus = 2
             elif b == 1:
diff --git a/tests/safety/test_gm.py b/tests/safety/test_gm.py
index 9a2db31c354998..657336e8bf6ef2 100644
--- a/tests/safety/test_gm.py
+++ b/tests/safety/test_gm.py
@@ -3,6 +3,7 @@
 import numpy as np
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety.common import test_relay_malfunction
 
 MAX_RATE_UP = 7
 MAX_RATE_DOWN = 17
@@ -100,6 +101,9 @@ def _torque_msg(self, torque):
     to_send[0].RDLR = ((t >> 8) & 0x7) | ((t & 0xFF) << 8)
     return to_send
 
+  def test_relay_malfunction(self):
+    test_relay_malfunction(self, 384)
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 7436dae4637eef..9187edd5ce62c4 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -3,6 +3,7 @@
 import numpy as np
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety.common import test_relay_malfunction
 
 MAX_BRAKE = 255
 
@@ -86,6 +87,9 @@ def _send_steer_msg(self, steer):
 
     return to_send
 
+  def test_relay_malfunction(self):
+    test_relay_malfunction(self, 0xE4)
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
@@ -258,30 +262,36 @@ def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
     long_controls_allowed = [0, 1]
+    relay_malfunction = [0, 1]
     fwd_brake = [False, True]
 
     self.safety.set_honda_bosch_hardware(0)
 
-    for f in fwd_brake:
-      self.safety.set_honda_fwd_brake(f)
-      for l in long_controls_allowed:
-        self.safety.set_long_controls_allowed(l)
-        blocked_msgs = [0xE4, 0x194, 0x33D]
-        if l:
-          blocked_msgs += [0x30C, 0x39F]
-          if not f:
-            blocked_msgs += [0x1FA]
-        for b in buss:
-          for m in msgs:
-            if b == 0:
-              fwd_bus = 2
-            elif b == 1:
-              fwd_bus = -1
-            elif b == 2:
-              fwd_bus = -1 if m in blocked_msgs else 0
-
-            # assume len 8
-            self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+    for rm in relay_malfunction:
+      self.safety.set_relay_malfunction(rm)
+      for f in fwd_brake:
+        self.safety.set_honda_fwd_brake(f)
+        for l in long_controls_allowed:
+          self.safety.set_long_controls_allowed(l)
+          blocked_msgs = [0xE4, 0x194, 0x33D]
+          if l:
+            blocked_msgs += [0x30C, 0x39F]
+            if not f:
+              blocked_msgs += [0x1FA]
+          for b in buss:
+            for m in msgs:
+              if not rm:
+                if b == 0:
+                  fwd_bus = 2
+                elif b == 1:
+                  fwd_bus = -1
+                elif b == 2:
+                  fwd_bus = -1 if m in blocked_msgs else 0
+              else:
+                fwd_bus = -1
+
+              # assume len 8
+              self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
 
     self.safety.set_long_controls_allowed(True)
     self.safety.set_honda_fwd_brake(False)
diff --git a/tests/safety/test_honda_bosch.py b/tests/safety/test_honda_bosch.py
index 6e0b21a997f26d..d717138f3aae4c 100755
--- a/tests/safety/test_honda_bosch.py
+++ b/tests/safety/test_honda_bosch.py
@@ -28,19 +28,25 @@ def test_fwd_hook(self):
     bus_rdr_cam = 2 if has_relay else 1
     bus_rdr_car = 0 if has_relay else 2
     bus_pt = 1 if has_relay else 0
+    relay_malfunction = [0, 1]
 
     blocked_msgs = [0xE4, 0x33D]
-    for b in buss:
-      for m in msgs:
-        if b == bus_pt:
-          fwd_bus = -1
-        elif b == bus_rdr_cam:
-          fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
-        elif b == bus_rdr_car:
-          fwd_bus = bus_rdr_cam
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+    for rm in relay_malfunction:
+      self.safety.set_relay_malfunction(rm)
+      for b in buss:
+        for m in msgs:
+          if not rm:
+            if b == bus_pt:
+              fwd_bus = -1
+            elif b == bus_rdr_cam:
+              fwd_bus = -1 if m in blocked_msgs else bus_rdr_car
+            elif b == bus_rdr_car:
+              fwd_bus = bus_rdr_cam
+          else:
+            fwd_bus = -1
+
+          # assume len 8
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
 
 
 if __name__ == "__main__":
diff --git a/tests/safety/test_hyundai.py b/tests/safety/test_hyundai.py
index 0821fafa4bf119..780a7557430371 100644
--- a/tests/safety/test_hyundai.py
+++ b/tests/safety/test_hyundai.py
@@ -3,6 +3,7 @@
 import numpy as np
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety.common import test_relay_malfunction
 
 MAX_RATE_UP = 3
 MAX_RATE_DOWN = 7
@@ -62,6 +63,9 @@ def _torque_msg(self, torque):
     to_send[0].RDLR = (torque + 1024) << 16
     return to_send
 
+  def test_relay_malfunction(self):
+    test_relay_malfunction(self, 832)
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
@@ -180,7 +184,6 @@ def test_spam_cancel_safety_check(self):
     RESUME_BTN = 1
     SET_BTN = 2
     CANCEL_BTN = 4
-    BUTTON_MSG = 1265
     self.safety.set_controls_allowed(0)
     self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN)))
     self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN)))
@@ -193,15 +196,14 @@ def test_fwd_hook(self):
 
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
-    hyundai_giraffe_switch_2 = [0, 1]
+    relay_malfunction = [0, 1]
 
-    self.safety.set_hyundai_camera_bus(2)
-    for hgs in hyundai_giraffe_switch_2:
-      self.safety.set_hyundai_giraffe_switch_2(hgs)
+    for rm in relay_malfunction:
+      self.safety.set_relay_malfunction(rm)
       blocked_msgs = [832]
       for b in buss:
         for m in msgs:
-          if hgs:
+          if not rm:
             if b == 0:
               fwd_bus = 2
             elif b == 1:
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 1985e9c4ea28e5..bf1e11c0329efb 100644
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -3,6 +3,7 @@
 import numpy as np
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety.common import test_relay_malfunction
 
 MAX_RATE_UP = 50
 MAX_RATE_DOWN = 70
@@ -60,6 +61,9 @@ def _torque_msg(self, torque):
     to_send[0].RDLR = (t << 16)
     return to_send
 
+  def test_relay_malfunction(self):
+    test_relay_malfunction(self, 0x122)
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
@@ -178,17 +182,23 @@ def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
     blocked_msgs = [290, 356, 545, 802]
-    for b in buss:
-      for m in msgs:
-        if b == 0:
-          fwd_bus = 2
-        elif b == 1:
-          fwd_bus = -1
-        elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs else 0
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+    relay_malfunction = [0, 1]
+    for rm in relay_malfunction:
+      self.safety.set_relay_malfunction(rm)
+      for b in buss:
+        for m in msgs:
+          if not rm:
+            if b == 0:
+              fwd_bus = 2
+            elif b == 1:
+              fwd_bus = -1
+            elif b == 2:
+              fwd_bus = -1 if m in blocked_msgs else 0
+          else:
+            fwd_bus = -1
+
+          # assume len 8
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
 
 
 if __name__ == "__main__":
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index 7d2c3aa525ecb4..b5fdcac4a9e9a6 100644
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -3,6 +3,7 @@
 import numpy as np
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety.common import test_relay_malfunction
 
 MAX_RATE_UP = 10
 MAX_RATE_DOWN = 25
@@ -97,6 +98,9 @@ def _pcm_cruise_msg(self, cruise_on):
 
     return to_send
 
+  def test_relay_malfunction(self):
+    test_relay_malfunction(self, 0x2E4)
+
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
 
@@ -285,10 +289,10 @@ def test_fwd_hook(self):
     buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
     long_controls_allowed = [0, 1]
-    toyota_camera_forwarded = [0, 1]
+    relay_malfunction = [0, 1]
 
-    for tcf in toyota_camera_forwarded:
-      self.safety.set_toyota_camera_forwarded(tcf)
+    for rm in relay_malfunction:
+      self.safety.set_relay_malfunction(rm)
       for lca in long_controls_allowed:
         self.safety.set_long_controls_allowed(lca)
         blocked_msgs = [0x2E4, 0x412, 0x191]
@@ -296,7 +300,7 @@ def test_fwd_hook(self):
           blocked_msgs += [0x343]
         for b in buss:
           for m in msgs:
-            if tcf:
+            if not rm:
               if b == 0:
                 fwd_bus = 2
               elif b == 1:
diff --git a/tests/safety/test_volkswagen.py b/tests/safety/test_volkswagen.py
index 90c3e74c4c60d3..b41eb22491063b 100644
--- a/tests/safety/test_volkswagen.py
+++ b/tests/safety/test_volkswagen.py
@@ -3,6 +3,7 @@
 import numpy as np
 import libpandasafety_py  # pylint: disable=import-error
 from panda import Panda
+from panda.tests.safety.common import test_relay_malfunction
 
 MAX_RATE_UP = 4
 MAX_RATE_DOWN = 10
@@ -73,6 +74,9 @@ def _button_msg(self, bit):
 
     return to_send
 
+  def test_relay_malfunction(self):
+    test_relay_malfunction(self, 0x126)
+
   def test_prev_gas(self):
     for g in range(0, 256):
       self.safety.safety_rx_hook(self._gas_msg(g))
@@ -226,21 +230,29 @@ def test_realtime_limits(self):
 
 
   def test_fwd_hook(self):
-    buss = list(range(0x0, 0x2))
+    buss = list(range(0x0, 0x3))
     msgs = list(range(0x1, 0x800))
     blocked_msgs_0to2 = []
-    blocked_msgs_2to0 = [0x122, 0x397]
-    for b in buss:
-      for m in msgs:
-        if b == 0:
-          fwd_bus = -1 if m in blocked_msgs_0to2 else 2
-        elif b == 1:
-          fwd_bus = -1
-        elif b == 2:
-          fwd_bus = -1 if m in blocked_msgs_2to0 else 0
-
-        # assume len 8
-        self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
+    blocked_msgs_2to0 = [0x126, 0x397]
+    relay_malfunction = [0, 1]
+    for rm in relay_malfunction:
+      self.safety.set_relay_malfunction(rm)
+      for b in buss:
+        for m in msgs:
+          if not rm:
+            if b == 0:
+              fwd_bus = -1 if m in blocked_msgs_0to2 else 2
+            elif b == 1:
+              fwd_bus = -1
+            elif b == 2:
+              fwd_bus = -1 if m in blocked_msgs_2to0 else 0
+          else:
+            fwd_bus = -1
+
+          # assume len 8
+          if fwd_bus != self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)):
+            print(b, hex(m), fwd_bus)
+          self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(b, self._send_msg(b, m, 8)))
 
 
 if __name__ == "__main__":