diff --git a/tests/libpanda/safety_helpers.h b/tests/libpanda/safety_helpers.h
index ab4db4757c..c33d593c6b 100644
--- a/tests/libpanda/safety_helpers.h
+++ b/tests/libpanda/safety_helpers.h
@@ -158,6 +158,9 @@ int get_angle_meas_max(void){
   return angle_meas.max;
 }
 
+int get_angle_meas_last(void){
+  return angle_meas.values[0];
+}
 
 // ***** car specific helpers *****
 
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index 6b510da6a8..c1ae880083 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -34,6 +34,7 @@ def setup_safety_helpers(ffi):
   void set_angle_meas(int min, int max);
   int get_angle_meas_min(void);
   int get_angle_meas_max(void);
+  int get_angle_meas_last(void);
 
   bool get_cruise_engaged_prev(void);
   void set_cruise_engaged_prev(bool engaged);
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index 7d07f79aaf..6839f661d9 100755
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -106,6 +106,21 @@ def _pcm_status_msg(self, enable):
     values = {"Cruise_Activated": enable}
     return self.packer.make_can_msg_panda("CruiseControl", self.ALT_MAIN_BUS, values)
 
+  def test_angle_meas(self):
+    self.assertTrue(self._rx(self._angle_meas_msg(0)))
+    self.assertEqual(self.safety.get_angle_meas_last(), 0)
+
+    self.assertTrue(self._rx(self._angle_meas_msg(1)))
+    self.assertEqual(self.safety.get_angle_meas_last(), 100)
+
+  def test_vehicle_speed(self):
+    self.assertTrue(self._rx(self._speed_msg(0)))
+    self.assertFalse(self.safety.get_vehicle_moving())
+    self.assertEqual(self.safety.get_vehicle_speed_last(), 0)
+
+    self.assertTrue(self._rx(self._speed_msg(1)))
+    self.assertTrue(self.safety.get_vehicle_moving())
+    self.assertEqual(self.safety.get_vehicle_speed_last(), 103)
 
 class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase):
   def _cancel_msg(self, cancel, cruise_throttle=0):