diff --git a/board/safety.h b/board/safety.h
index ce80dc9..e419403 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -239,7 +239,29 @@ const safety_hook_config safety_hook_registry[] = {
 };
 
 int set_safety_hooks(uint16_t mode, int16_t param) {
-  safety_mode_cnt = 0U;  // reset safety mode timer
+  // reset state set by safety mode
+  safety_mode_cnt = 0U;
+  relay_malfunction = false;
+  gas_interceptor_detected = false;
+  gas_interceptor_prev = 0;
+  gas_pressed_prev = false;
+  brake_pressed_prev = false;
+  cruise_engaged_prev = false;
+  vehicle_speed = 0;
+  vehicle_moving = false;
+  desired_torque_last = 0;
+  rt_torque_last = 0;
+  ts_angle_last = 0;
+  desired_angle_last = 0;
+  ts_last = 0;
+
+  torque_meas.max = 0;
+  torque_meas.max = 0;
+  torque_driver.min = 0;
+  torque_driver.max = 0;
+  angle_meas.min = 0;
+  angle_meas.max = 0;
+
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
   for (int i = 0; i < hook_config_count; i++) {
@@ -247,7 +269,12 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
       current_hooks = safety_hook_registry[i].hooks;
       current_safety_mode = safety_hook_registry[i].id;
       set_status = 0;  // set
-      break;
+    }
+
+    // reset message index and seen flags in addr struct
+    for (int j = 0; j < safety_hook_registry[i].hooks->addr_check_len; j++) {
+      safety_hook_registry[i].hooks->addr_check[j].index = 0;
+      safety_hook_registry[i].hooks->addr_check[j].msg_seen = false;
     }
   }
   if ((set_status == 0) && (current_hooks->init != NULL)) {
diff --git a/board/safety/safety_chrysler.h b/board/safety/safety_chrysler.h
index f3e7a5d..be3b9c5 100644
--- a/board/safety/safety_chrysler.h
+++ b/board/safety/safety_chrysler.h
@@ -17,8 +17,6 @@ AddrCheckStruct chrysler_rx_checks[] = {
 };
 const int CHRYSLER_RX_CHECK_LEN = sizeof(chrysler_rx_checks) / sizeof(chrysler_rx_checks[0]);
 
-int chrysler_speed = 0;
-
 static uint8_t chrysler_get_checksum(CAN_FIFOMailBox_TypeDef *to_push) {
   int checksum_byte = GET_LEN(to_push) - 1;
   return (uint8_t)(GET_BYTE(to_push, checksum_byte));
@@ -97,14 +95,14 @@ static int chrysler_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == 514) {
       int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4);
       int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4);
-      chrysler_speed = (speed_l + speed_r) / 2;
-      vehicle_moving = chrysler_speed > CHRYSLER_STANDSTILL_THRSLD;
+      vehicle_speed = (speed_l + speed_r) / 2;
+      vehicle_moving = (int)vehicle_speed > CHRYSLER_STANDSTILL_THRSLD;
     }
 
     // exit controls on rising edge of gas press
     if (addr == 308) {
       bool gas_pressed = (GET_BYTE(to_push, 5) & 0x7F) != 0;
-      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && (chrysler_speed > CHRYSLER_GAS_THRSLD)) {
+      if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev && ((int)vehicle_speed > CHRYSLER_GAS_THRSLD)) {
         controls_allowed = 0;
       }
       gas_pressed_prev = gas_pressed;
diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
index 4460661..2f1a384 100644
--- a/board/safety/safety_nissan.h
+++ b/board/safety/safety_nissan.h
@@ -24,13 +24,6 @@ AddrCheckStruct nissan_rx_checks[] = {
 };
 const int NISSAN_RX_CHECK_LEN = sizeof(nissan_rx_checks) / sizeof(nissan_rx_checks[0]);
 
-float nissan_speed = 0;
-//int nissan_controls_allowed_last = 0;
-uint32_t nissan_ts_angle_last = 0;
-int nissan_desired_angle_last = 0;
-
-struct sample_t nissan_angle_meas;            // last 3 steer angles
-
 
 static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
 
@@ -52,14 +45,14 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
         angle_meas_new = to_signed(angle_meas_new, 16) * 10;
 
         // update array of samples
-        update_sample(&nissan_angle_meas, angle_meas_new);
+        update_sample(&angle_meas, angle_meas_new);
       }
 
       if (addr == 0x285) {
         // Get current speed
         // Factor 0.005
-        nissan_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
-        vehicle_moving = nissan_speed > 0.;
+        vehicle_speed = ((GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3))) * 0.005 / 3.6;
+        vehicle_moving = vehicle_speed > 0.;
       }
 
       // exit controls on rising edge of gas press
@@ -142,24 +135,22 @@ static int nissan_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
     if (controls_allowed && lka_active) {
       // add 1 to not false trigger the violation
       float delta_angle_float;
-      delta_angle_float = (interpolate(NISSAN_LOOKUP_ANGLE_RATE_UP, nissan_speed) * NISSAN_DEG_TO_CAN) + 1.;
+      delta_angle_float = (interpolate(NISSAN_LOOKUP_ANGLE_RATE_UP, vehicle_speed) * NISSAN_DEG_TO_CAN) + 1.;
       int delta_angle_up = (int)(delta_angle_float);
-      delta_angle_float =  (interpolate(NISSAN_LOOKUP_ANGLE_RATE_DOWN, nissan_speed) * NISSAN_DEG_TO_CAN) + 1.;
+      delta_angle_float =  (interpolate(NISSAN_LOOKUP_ANGLE_RATE_DOWN, vehicle_speed) * NISSAN_DEG_TO_CAN) + 1.;
       int delta_angle_down = (int)(delta_angle_float);
-      int highest_desired_angle = nissan_desired_angle_last + ((nissan_desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
-      int lowest_desired_angle = nissan_desired_angle_last - ((nissan_desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
+      int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down);
+      int lowest_desired_angle = desired_angle_last - ((desired_angle_last >= 0) ? delta_angle_down : delta_angle_up);
 
       // check for violation;
       violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle);
-
-      //nissan_controls_allowed_last = controls_allowed;
     }
-    nissan_desired_angle_last = desired_angle;
+    desired_angle_last = desired_angle;
 
     // desired steer angle should be the same as steer angle measured when controls are off
     if ((!controls_allowed) &&
-          ((desired_angle < (nissan_angle_meas.min - 1)) ||
-          (desired_angle > (nissan_angle_meas.max + 1)))) {
+          ((desired_angle < (angle_meas.min - 1)) ||
+          (desired_angle > (angle_meas.max + 1)))) {
       violation = 1;
     }
 
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 05eb7a7..eeaf50b 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -98,15 +98,21 @@ int gas_interceptor_prev = 0;
 bool gas_pressed_prev = false;
 bool brake_pressed_prev = false;
 bool cruise_engaged_prev = false;
+float vehicle_speed = 0;
 bool vehicle_moving = false;
 
-// for torque-based safety modes
+// for safety modes with torque steering control
 int desired_torque_last = 0;       // last desired steer torque
 int rt_torque_last = 0;            // last desired torque for real time check
 struct sample_t torque_meas;       // last 3 motor torques produced by the eps
 struct sample_t torque_driver;     // last 3 driver torques measured
 uint32_t ts_last = 0;
 
+// for safety modes with angle steering control
+uint32_t ts_angle_last = 0;
+int desired_angle_last = 0;
+struct sample_t angle_meas;         // last 3 steer angles
+
 // This can be set with a USB command
 // It enables features we consider to be unsafe, but understand others may have different opinions
 // It is always 0 on mainline comma.ai openpilot
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index 00209c6..7a250f1 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -50,6 +50,7 @@ int get_torque_driver_min(void);
 int get_torque_driver_max(void);
 void set_desired_torque_last(int t);
 void set_rt_torque_last(int t);
+void set_desired_angle_last(int t);
 
 bool get_cruise_engaged_prev(void);
 bool get_vehicle_moving(void);
@@ -69,13 +70,7 @@ void set_honda_alt_brake_msg(bool);
 void set_honda_bosch_long(bool c);
 int get_honda_hw(void);
 
-void init_tests_chrysler(void);
-
 bool get_subaru_global(void);
-
-void init_tests_nissan(void);
-void set_nissan_desired_angle_last(int t);
-
 """)
 
 libpandasafety = ffi.dlopen(libpandasafety_fn)
diff --git a/tests/safety/test.c b/tests/safety/test.c
index cf43baa..c0fd4bd 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -180,6 +180,10 @@ void set_desired_torque_last(int t){
   desired_torque_last = t;
 }
 
+void set_desired_angle_last(int t){
+  desired_angle_last = t;
+}
+
 void set_honda_alt_brake_msg(bool c){
   honda_alt_brake_msg = c;
 }
@@ -196,46 +200,19 @@ void set_honda_fwd_brake(bool c){
   honda_fwd_brake = c;
 }
 
-void set_nissan_desired_angle_last(int t){
-  nissan_desired_angle_last = t;
-}
-
 void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   hw_type = atoi(getenv("HW_TYPE"));
   safety_mode_cnt = 2U;  // avoid ignoring relay_malfunction logic
-  gas_pressed_prev = false;
-  brake_pressed_prev = false;
-  desired_torque_last = 0;
-  rt_torque_last = 0;
-  ts_last = 0;
-  torque_driver.min = 0;
-  torque_driver.max = 0;
-  torque_meas.min = 0;
-  torque_meas.max = 0;
-  vehicle_moving = false;
   unsafe_mode = 0;
   set_timer(0);
 }
 
-void init_tests_chrysler(void){
-  init_tests();
-  chrysler_speed = 0;
-}
-
 void init_tests_honda(void){
   init_tests();
   honda_fwd_brake = false;
 }
 
-void init_tests_nissan(void){
-  init_tests();
-  nissan_angle_meas.min = 0;
-  nissan_angle_meas.max = 0;
-  nissan_desired_angle_last = 0;
-  set_timer(0);
-}
-
 void set_gmlan_digital_output(int to_set){
 }
 
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index 369f1f9..f387d83 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -30,7 +30,7 @@ class TestChryslerSafety(common.PandaSafetyTest, common.TorqueSteeringSafetyTest
     self.packer = CANPackerPanda("chrysler_pacifica_2017_hybrid")
     self.safety = libpandasafety_py.libpandasafety
     self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
-    self.safety.init_tests_chrysler()
+    self.safety.init_tests()
 
   def _button_msg(self, cancel):
     values = {"ACC_CANCEL": cancel}
diff --git a/tests/safety/test_nissan.py b/tests/safety/test_nissan.py
index 853899a..a1af098 100644
--- a/tests/safety/test_nissan.py
+++ b/tests/safety/test_nissan.py
@@ -29,7 +29,7 @@ class TestNissanSafety(common.PandaSafetyTest):
     self.packer = CANPackerPanda("nissan_x_trail_2017")
     self.safety = libpandasafety_py.libpandasafety
     self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, 0)
-    self.safety.init_tests_nissan()
+    self.safety.init_tests()
 
   def _angle_meas_msg(self, angle):
     values = {"STEER_ANGLE": angle}
@@ -37,7 +37,7 @@ class TestNissanSafety(common.PandaSafetyTest):
 
   def _set_prev_angle(self, t):
     t = int(t * -100)
-    self.safety.set_nissan_desired_angle_last(t)
+    self.safety.set_desired_angle_last(t)
 
   def _angle_meas_msg_array(self, angle):
     for i in range(6):