diff --git a/tests/safety/common.py b/tests/safety/common.py
index 63408ce430ed50..572b27176eb1ff 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -13,12 +13,12 @@ def make_msg(bus, addr, length=8):
 
   return to_send
 
-def test_relay_malfunction(test, addr):
-  # input is a test class and the address that, if seen on bus 0, triggers
+def test_relay_malfunction(test, addr, bus=0):
+  # input is a test class and the address that, if seen on specified bus, triggers
   # the relay_malfunction protection logic: both tx_hook and fwd_hook are
   # expected to return failure
   test.assertFalse(test.safety.get_relay_malfunction())
-  test.safety.safety_rx_hook(make_msg(0, addr, 8))
+  test.safety.safety_rx_hook(make_msg(bus, addr, 8))
   test.assertTrue(test.safety.get_relay_malfunction())
   for a in range(1, 0x800):
     for b in range(0, 3):
diff --git a/tests/safety/libpandasafety_py.py b/tests/safety/libpandasafety_py.py
index 74f2ee4671265b..b289e4c5fc2ea8 100644
--- a/tests/safety/libpandasafety_py.py
+++ b/tests/safety/libpandasafety_py.py
@@ -60,7 +60,6 @@
 int get_honda_gas_prev(void);
 void set_honda_fwd_brake(bool);
 void set_honda_alt_brake_msg(bool);
-void set_honda_hw(int);
 int get_honda_hw(void);
 
 void init_tests_cadillac(void);
diff --git a/tests/safety/test.c b/tests/safety/test.c
index 2dac7e9deca3fc..48b94dec6cb734 100644
--- a/tests/safety/test.c
+++ b/tests/safety/test.c
@@ -259,10 +259,6 @@ void set_honda_alt_brake_msg(bool c){
   honda_alt_brake_msg = c;
 }
 
-void set_honda_hw(int c){
-  honda_hw = c;
-}
-
 int get_honda_hw(void) {
   return honda_hw;
 }
diff --git a/tests/safety/test_chrysler.py b/tests/safety/test_chrysler.py
index b2e87e0ce269b0..ec431e9cafa8ed 100755
--- a/tests/safety/test_chrysler.py
+++ b/tests/safety/test_chrysler.py
@@ -42,15 +42,16 @@ def chrysler_checksum(msg, len_msg):
   return ~checksum & 0xFF
 
 class TestChryslerSafety(unittest.TestCase):
+  cnt_torque_meas = 0
+  cnt_gas = 0
+  cnt_cruise = 0
+  cnt_brake = 0
+
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
     cls.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0)
     cls.safety.init_tests_chrysler()
-    cls.cnt_torque_meas = 0
-    cls.cnt_gas = 0
-    cls.cnt_cruise = 0
-    cls.cnt_brake = 0
 
   def _button_msg(self, buttons):
     to_send = make_msg(0, 571)
@@ -62,7 +63,7 @@ def _cruise_msg(self, active):
     to_send[0].RDLR = 0x380000 if active else 0
     to_send[0].RDHR |= (self.cnt_cruise % 16) << 20
     to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
-    self.cnt_cruise += 1
+    self.__class__.cnt_cruise += 1
     return to_send
 
   def _speed_msg(self, speed):
@@ -76,7 +77,7 @@ def _gas_msg(self, gas):
     to_send = make_msg(0, 308)
     to_send[0].RDHR = (gas & 0x7F) << 8
     to_send[0].RDHR |= (self.cnt_gas % 16) << 20
-    self.cnt_gas += 1
+    self.__class__.cnt_gas += 1
     return to_send
 
   def _brake_msg(self, brake):
@@ -84,7 +85,7 @@ def _brake_msg(self, brake):
     to_send[0].RDLR = 5 if brake else 0
     to_send[0].RDHR |= (self.cnt_brake % 16) << 20
     to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
-    self.cnt_brake += 1
+    self.__class__.cnt_brake += 1
     return to_send
 
   def _set_prev_torque(self, t):
@@ -97,7 +98,7 @@ def _torque_meas_msg(self, torque):
     to_send[0].RDHR = ((torque + 1024) >> 8) + (((torque + 1024) & 0xff) << 8)
     to_send[0].RDHR |= (self.cnt_torque_meas % 16) << 20
     to_send[0].RDHR |= chrysler_checksum(to_send[0], 8) << 24
-    self.cnt_torque_meas += 1
+    self.__class__.cnt_torque_meas += 1
     return to_send
 
   def _torque_msg(self, torque):
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 87f708930402a9..52aaa84dfa1057 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -10,7 +10,10 @@
 MAX_BRAKE = 255
 
 INTERCEPTOR_THRESHOLD = 328
-TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
+N_TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x200, 0], [0x30C, 0], [0x33D, 0]]
+BH_TX_MSGS = [[0xE4, 0], [0x296, 1], [0x33D, 0]]  # Bosch Harness
+BG_TX_MSGS = [[0xE4, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
+
 
 HONDA_N_HW = 0
 HONDA_BG_HW = 1
@@ -30,39 +33,41 @@ def honda_checksum(msg, addr, len_msg):
 
 
 class TestHondaSafety(unittest.TestCase):
+  cnt_speed = 0
+  cnt_gas = 0
+  cnt_button = 0
+
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
     cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0)
     cls.safety.init_tests_honda()
-    cls.cnt_speed = 0
-    cls.cnt_gas = 0
-    cls.cnt_button = 0
 
   def _speed_msg(self, speed):
-    to_send = make_msg(0, 0x158)
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
+    to_send = make_msg(bus, 0x158)
     to_send[0].RDLR = speed
     to_send[0].RDHR |= (self.cnt_speed % 4) << 28
     to_send[0].RDHR |= honda_checksum(to_send[0], 0x158, 8) << 24
-    self.cnt_speed += 1
+    self.__class__.cnt_speed += 1
     return to_send
 
   def _button_msg(self, buttons, addr):
-    honda_hw = self.safety.get_honda_hw()
-    bus = 1 if honda_hw == HONDA_BH_HW else 0
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
     to_send = make_msg(bus, addr)
     to_send[0].RDLR = buttons << 5
     to_send[0].RDHR |= (self.cnt_button % 4) << 28
     to_send[0].RDHR |= honda_checksum(to_send[0], addr, 8) << 24
-    self.cnt_button += 1
+    self.__class__.cnt_button += 1
     return to_send
 
   def _brake_msg(self, brake):
-    to_send = make_msg(0, 0x17C)
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
+    to_send = make_msg(bus, 0x17C)
     to_send[0].RDHR = 0x200000 if brake else 0
     to_send[0].RDHR |= (self.cnt_gas % 4) << 28
     to_send[0].RDHR |= honda_checksum(to_send[0], 0x17C, 8) << 24
-    self.cnt_gas += 1
+    self.__class__.cnt_gas += 1
     return to_send
 
   def _alt_brake_msg(self, brake):
@@ -71,11 +76,12 @@ def _alt_brake_msg(self, brake):
     return to_send
 
   def _gas_msg(self, gas):
-    to_send = make_msg(0, 0x17C)
+    bus = 1 if self.safety.get_honda_hw() == HONDA_BH_HW else 0
+    to_send = make_msg(bus, 0x17C)
     to_send[0].RDLR = 1 if gas else 0
     to_send[0].RDHR |= (self.cnt_gas % 4) << 28
     to_send[0].RDHR |= honda_checksum(to_send[0], 0x17C, 8) << 24
-    self.cnt_gas += 1
+    self.__class__.cnt_gas += 1
     return to_send
 
   def _send_brake_msg(self, brake):
@@ -91,16 +97,25 @@ def _send_interceptor_msg(self, gas, addr):
     return to_send
 
   def _send_steer_msg(self, steer):
-    to_send = make_msg(0, 0xE4, 6)
+    bus = 2 if self.safety.get_honda_hw() == HONDA_BG_HW else 0
+    to_send = make_msg(bus, 0xE4, 6)
     to_send[0].RDLR = steer
     return to_send
 
   def test_spam_can_buses(self):
-    self.safety.set_honda_hw(HONDA_N_HW)
-    test_spam_can_buses(self, TX_MSGS)
+    hw_type = self.safety.get_honda_hw()
+    if hw_type == HONDA_N_HW:
+      tx_msgs = N_TX_MSGS
+    elif hw_type == HONDA_BH_HW:
+      tx_msgs = BH_TX_MSGS
+    elif hw_type == HONDA_BG_HW:
+      tx_msgs = BG_TX_MSGS
+    test_spam_can_buses(self, tx_msgs)
 
   def test_relay_malfunction(self):
-    test_relay_malfunction(self, 0xE4)
+    hw = self.safety.get_honda_hw()
+    bus = 2 if hw == HONDA_BG_HW else 0
+    test_relay_malfunction(self, 0xE4, bus=bus)
 
   def test_default_controls_not_allowed(self):
     self.assertFalse(self.safety.get_controls_allowed())
@@ -111,19 +126,19 @@ def test_manually_enable_controls_allowed(self):
   def test_resume_button(self):
     RESUME_BTN = 4
     self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(RESUME_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(RESUME_BTN, 0x296))
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_set_button(self):
     SET_BTN = 3
     self.safety.set_controls_allowed(0)
-    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
     self.assertTrue(self.safety.get_controls_allowed())
 
   def test_cancel_button(self):
     CANCEL_BTN = 2
     self.safety.set_controls_allowed(1)
-    self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(CANCEL_BTN, 0x296))
     self.assertFalse(self.safety.get_controls_allowed())
 
   def test_sample_speed(self):
@@ -215,29 +230,32 @@ def test_allow_engage_with_gas_interceptor_pressed(self):
     self.safety.set_gas_interceptor_detected(False)
 
   def test_brake_safety_check(self):
-    for fwd_brake in [False, True]:
-      self.safety.set_honda_fwd_brake(fwd_brake)
-      for brake in np.arange(0, MAX_BRAKE + 10, 1):
+    hw = self.safety.get_honda_hw()
+    if hw == HONDA_N_HW:
+      for fwd_brake in [False, True]:
+        self.safety.set_honda_fwd_brake(fwd_brake)
+        for brake in np.arange(0, MAX_BRAKE + 10, 1):
+          for controls_allowed in [True, False]:
+            self.safety.set_controls_allowed(controls_allowed)
+            if fwd_brake:
+              send = False  # block openpilot brake msg when fwd'ing stock msg
+            elif controls_allowed:
+              send = MAX_BRAKE >= brake >= 0
+            else:
+              send = brake == 0
+            self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
+      self.safety.set_honda_fwd_brake(False)
+
+  def test_gas_interceptor_safety_check(self):
+    if self.safety.get_honda_hw() == HONDA_N_HW:
+      for gas in np.arange(0, 4000, 100):
         for controls_allowed in [True, False]:
           self.safety.set_controls_allowed(controls_allowed)
-          if fwd_brake:
-            send = False  # block openpilot brake msg when fwd'ing stock msg
-          elif controls_allowed:
-            send = MAX_BRAKE >= brake >= 0
+          if controls_allowed:
+            send = True
           else:
-            send = brake == 0
-          self.assertEqual(send, self.safety.safety_tx_hook(self._send_brake_msg(brake)))
-    self.safety.set_honda_fwd_brake(False)
-
-  def test_gas_interceptor_safety_check(self):
-    for gas in np.arange(0, 4000, 100):
-      for controls_allowed in [True, False]:
-        self.safety.set_controls_allowed(controls_allowed)
-        if controls_allowed:
-          send = True
-        else:
-          send = gas == 0
-        self.assertEqual(send, self.safety.safety_tx_hook(self._send_interceptor_msg(gas, 0x200)))
+            send = gas == 0
+          self.assertEqual(send, self.safety.safety_tx_hook(self._send_interceptor_msg(gas, 0x200)))
 
   def test_steer_safety_check(self):
     self.safety.set_controls_allowed(0)
@@ -245,12 +263,12 @@ def test_steer_safety_check(self):
     self.assertFalse(self.safety.safety_tx_hook(self._send_steer_msg(0x1000)))
 
   def test_spam_cancel_safety_check(self):
-    RESUME_BTN = 4
-    SET_BTN = 3
-    CANCEL_BTN = 2
-    BUTTON_MSG = 0x296
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
+    hw = self.safety.get_honda_hw()
+    if hw != HONDA_N_HW:
+      RESUME_BTN = 4
+      SET_BTN = 3
+      CANCEL_BTN = 2
+      BUTTON_MSG = 0x296
       self.safety.set_controls_allowed(0)
       self.assertTrue(self.safety.safety_tx_hook(self._button_msg(CANCEL_BTN, BUTTON_MSG)))
       self.assertFalse(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
@@ -260,12 +278,16 @@ def test_spam_cancel_safety_check(self):
       self.assertTrue(self.safety.safety_tx_hook(self._button_msg(RESUME_BTN, BUTTON_MSG)))
 
   def test_rx_hook(self):
+
     # checksum checks
     SET_BTN = 3
     for msg in ["btn1", "btn2", "gas", "speed"]:
       self.safety.set_controls_allowed(1)
       if msg == "btn1":
-        to_push = self._button_msg(SET_BTN, 0x1A6)
+        if self.safety.get_honda_hw() == HONDA_N_HW:
+          to_push = self._button_msg(SET_BTN, 0x1A6)  # only in Honda_NIDEC
+        else:
+          continue
       if msg == "btn2":
         to_push = self._button_msg(SET_BTN, 0x296)
       if msg == "gas":
@@ -273,23 +295,23 @@ def test_rx_hook(self):
       if msg == "speed":
         to_push = self._speed_msg(0)
       self.assertTrue(self.safety.safety_rx_hook(to_push))
-      to_push[0].RDHR = 0
+      to_push[0].RDHR = 0  # invalidate checksum
       self.assertFalse(self.safety.safety_rx_hook(to_push))
       self.assertFalse(self.safety.get_controls_allowed())
 
     # counter
     # reset wrong_counters to zero by sending valid messages
     for i in range(MAX_WRONG_COUNTERS + 1):
-      self.cnt_speed = 0
-      self.cnt_gas = 0
-      self.cnt_button = 0
+      self.__class__.cnt_speed += 1
+      self.__class__.cnt_gas += 1
+      self.__class__.cnt_button += 1
       if i < MAX_WRONG_COUNTERS:
         self.safety.set_controls_allowed(1)
-        self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+        self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
         self.safety.safety_rx_hook(self._speed_msg(0))
         self.safety.safety_rx_hook(self._gas_msg(0))
       else:
-        self.assertFalse(self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6)))
+        self.assertFalse(self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296)))
         self.assertFalse(self.safety.safety_rx_hook(self._speed_msg(0)))
         self.assertFalse(self.safety.safety_rx_hook(self._gas_msg(0)))
         self.assertFalse(self.safety.get_controls_allowed())
@@ -297,10 +319,10 @@ def test_rx_hook(self):
     # restore counters for future tests with a couple of good messages
     for i in range(2):
       self.safety.set_controls_allowed(1)
-      self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+      self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
       self.safety.safety_rx_hook(self._speed_msg(0))
       self.safety.safety_rx_hook(self._gas_msg(0))
-    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x1A6))
+    self.safety.safety_rx_hook(self._button_msg(SET_BTN, 0x296))
     self.assertTrue(self.safety.get_controls_allowed())
 
 
@@ -309,8 +331,6 @@ def test_fwd_hook(self):
     msgs = list(range(0x1, 0x800))
     fwd_brake = [False, True]
 
-    self.safety.set_honda_hw(HONDA_N_HW)
-
     for f in fwd_brake:
       self.safety.set_honda_fwd_brake(f)
       blocked_msgs = [0xE4, 0x194, 0x33D]
@@ -332,5 +352,43 @@ def test_fwd_hook(self):
     self.safety.set_honda_fwd_brake(False)
 
 
+class TestHondaBoschGiraffeSafety(TestHondaSafety):
+  @classmethod
+  def setUp(cls):
+    TestHondaSafety.setUp()
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
+    cls.safety.init_tests_honda()
+
+  def test_fwd_hook(self):
+    buss = range(0x0, 0x3)
+    msgs = range(0x1, 0x800)
+    hw = self.safety.get_honda_hw()
+    bus_rdr_cam = 2 if hw == HONDA_BH_HW else 1
+    bus_rdr_car = 0 if hw == HONDA_BH_HW else 2
+    bus_pt = 1 if hw == HONDA_BH_HW else 0
+
+    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, make_msg(b, m, 8)))
+
+
+class TestHondaBoschHarnessSafety(TestHondaBoschGiraffeSafety):
+  @classmethod
+  def setUp(cls):
+    TestHondaBoschGiraffeSafety.setUp()
+    cls.safety = libpandasafety_py.libpandasafety
+    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_HARNESS, 0)
+    cls.safety.init_tests_honda()
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/tests/safety/test_honda_bosch.py b/tests/safety/test_honda_bosch.py
deleted file mode 100755
index 99c8d35464d956..00000000000000
--- a/tests/safety/test_honda_bosch.py
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-from panda import Panda
-from panda.tests.safety import libpandasafety_py
-from panda.tests.safety.common import make_msg, test_spam_can_buses
-from panda.tests.safety.test_honda import HONDA_BG_HW, HONDA_BH_HW
-
-MAX_BRAKE = 255
-
-H_TX_MSGS = [[0xE4, 0], [0x296, 1], [0x33D, 0]]  # Bosch Harness
-G_TX_MSGS = [[0xE4, 2], [0x296, 0], [0x33D, 2]]  # Bosch Giraffe
-
-
-class TestHondaSafety(unittest.TestCase):
-  @classmethod
-  def setUp(cls):
-    cls.safety = libpandasafety_py.libpandasafety
-    cls.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH_GIRAFFE, 0)
-    cls.safety.init_tests_honda()
-
-  def test_spam_can_buses(self):
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
-      test_spam_can_buses(self, H_TX_MSGS if hw == HONDA_BH_HW else G_TX_MSGS)
-
-  def test_fwd_hook(self):
-    buss = range(0x0, 0x3)
-    msgs = range(0x1, 0x800)
-    for hw in [HONDA_BG_HW, HONDA_BH_HW]:
-      self.safety.set_honda_hw(hw)
-      bus_rdr_cam = 2 if hw == HONDA_BH_HW else 1
-      bus_rdr_car = 0 if hw == HONDA_BH_HW else 2
-      bus_pt = 1 if hw == HONDA_BH_HW else 0
-
-      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, make_msg(b, m, 8)))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/tests/safety/test_subaru.py b/tests/safety/test_subaru.py
index ce2eca6ee9ad44..4fbe3376b8ce41 100644
--- a/tests/safety/test_subaru.py
+++ b/tests/safety/test_subaru.py
@@ -41,14 +41,15 @@ def subaru_checksum(msg, addr, len_msg):
 
 
 class TestSubaruSafety(unittest.TestCase):
+  cnt_gas = 0
+  cnt_torque_driver = 0
+  cnt_cruise = 0
+
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
     cls.safety.set_safety_hooks(Panda.SAFETY_SUBARU, 0)
     cls.safety.init_tests_subaru()
-    cls.cnt_gas = 0
-    cls.cnt_torque_driver = 0
-    cls.cnt_cruise = 0
 
   def _set_prev_torque(self, t):
     self.safety.set_subaru_desired_torque_last(t)
@@ -61,7 +62,7 @@ def _torque_driver_msg(self, torque):
       to_send[0].RDLR = ((t & 0x7FF) << 16)
       to_send[0].RDLR |= (self.cnt_torque_driver & 0xF) << 8
       to_send[0].RDLR |= subaru_checksum(to_send, 0x119, 8)
-      self.cnt_torque_driver += 1
+      self.__class__.cnt_torque_driver += 1
     else:
       to_send = make_msg(0, 0x371)
       to_send[0].RDLR = (t & 0x7) << 29
@@ -84,7 +85,7 @@ def _gas_msg(self, gas):
       to_send[0].RDHR = gas & 0xFF
       to_send[0].RDLR |= (self.cnt_gas & 0xF) << 8
       to_send[0].RDLR |= subaru_checksum(to_send, 0x40, 8)
-      self.cnt_gas += 1
+      self.__class__.cnt_gas += 1
     else:
       to_send = make_msg(0, 0x140)
       to_send[0].RDLR = gas & 0xFF
@@ -96,7 +97,7 @@ def _cruise_msg(self, cruise):
       to_send[0].RDHR = cruise << 9
       to_send[0].RDLR |= (self.cnt_cruise & 0xF) << 8
       to_send[0].RDLR |= subaru_checksum(to_send, 0x240, 8)
-      self.cnt_cruise += 1
+      self.__class__.cnt_cruise += 1
     else:
       to_send = make_msg(0, 0x144)
       to_send[0].RDHR = cruise << 17
diff --git a/tests/safety/test_volkswagen_mqb.py b/tests/safety/test_volkswagen_mqb.py
index 8874c59cdc3ebd..1e4fc7ce5a25a5 100644
--- a/tests/safety/test_volkswagen_mqb.py
+++ b/tests/safety/test_volkswagen_mqb.py
@@ -61,17 +61,18 @@ def volkswagen_mqb_crc(msg, addr, len_msg):
   return volkswagen_crc_8h2f(msg_bytes[1:len_msg] + magic_pad.to_bytes(1, 'little'))
 
 class TestVolkswagenMqbSafety(unittest.TestCase):
+  cnt_eps_01 = 0
+  cnt_esp_05 = 0
+  cnt_motor_20 = 0
+  cnt_acc_06 = 0
+  cnt_hca_01 = 0
+  cnt_gra_acc_01 = 0
+
   @classmethod
   def setUp(cls):
     cls.safety = libpandasafety_py.libpandasafety
     cls.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0)
     cls.safety.init_tests_volkswagen()
-    cls.cnt_eps_01 = 0
-    cls.cnt_esp_05 = 0
-    cls.cnt_motor_20 = 0
-    cls.cnt_acc_06 = 0
-    cls.cnt_hca_01 = 0
-    cls.cnt_gra_acc_01 = 0
 
   def _set_prev_torque(self, t):
     self.safety.set_volkswagen_desired_torque_last(t)
@@ -91,7 +92,7 @@ def _esp_05_msg(self, brake):
     to_send[0].RDLR = (0x1 << 26) if brake else 0
     to_send[0].RDLR |= (self.cnt_esp_05 % 16) << 8
     to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_ESP_05, 8)
-    self.cnt_esp_05 += 1
+    self.__class__.cnt_esp_05 += 1
     return to_send
 
   # Driver steering input torque
@@ -103,7 +104,7 @@ def _eps_01_msg(self, torque):
       to_send[0].RDHR |= 0x1 << 23
     to_send[0].RDLR |= (self.cnt_eps_01 % 16) << 8
     to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_EPS_01, 8)
-    self.cnt_eps_01 += 1
+    self.__class__.cnt_eps_01 += 1
     return to_send
 
   # openpilot steering output torque
@@ -115,7 +116,7 @@ def _hca_01_msg(self, torque):
       to_send[0].RDLR |= 0x1 << 31
     to_send[0].RDLR |= (self.cnt_hca_01 % 16) << 8
     to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_HCA_01, 8)
-    self.cnt_hca_01 += 1
+    self.__class__.cnt_hca_01 += 1
     return to_send
 
   # ACC engagement status
@@ -124,7 +125,7 @@ def _acc_06_msg(self, status):
     to_send[0].RDHR = (status & 0x7) << 28
     to_send[0].RDLR |= (self.cnt_acc_06 % 16) << 8
     to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_ACC_06, 8)
-    self.cnt_acc_06 += 1
+    self.__class__.cnt_acc_06 += 1
     return to_send
 
   # Driver throttle input
@@ -133,7 +134,7 @@ def _motor_20_msg(self, gas):
     to_send[0].RDLR = (gas & 0xFF) << 12
     to_send[0].RDLR |= (self.cnt_motor_20 % 16) << 8
     to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_MOTOR_20, 8)
-    self.cnt_motor_20 += 1
+    self.__class__.cnt_motor_20 += 1
     return to_send
 
   # Cruise control buttons
@@ -142,7 +143,7 @@ def _gra_acc_01_msg(self, bit):
     to_send[0].RDLR = 1 << bit
     to_send[0].RDLR |= (self.cnt_gra_acc_01 % 16) << 8
     to_send[0].RDLR |= volkswagen_mqb_crc(to_send[0], MSG_GRA_ACC_01, 8)
-    self.cnt_gra_acc_01 += 1
+    self.__class__.cnt_gra_acc_01 += 1
     return to_send
 
   def test_spam_can_buses(self):
@@ -368,10 +369,10 @@ def test_rx_hook(self):
     # counter
     # reset wrong_counters to zero by sending valid messages
     for i in range(MAX_WRONG_COUNTERS + 1):
-      self.cnt_eps_01 = 0
-      self.cnt_esp_05 = 0
-      self.cnt_motor_20 = 0
-      self.cnt_acc_06 = 0
+      self.__class__.cnt_eps_01 += 1
+      self.__class__.cnt_esp_05 += 1
+      self.__class__.cnt_motor_20 += 1
+      self.__class__.cnt_acc_06 += 1
       if i < MAX_WRONG_COUNTERS:
         self.safety.set_controls_allowed(1)
         self.safety.safety_rx_hook(self._eps_01_msg(0))