diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 3347861..a92d622 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -263,7 +263,6 @@ def main() -> NoReturn:
   sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
 
   calibrator = Calibrator(param_put=True)
-  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
 
   while 1:
     timeout = 0 if sm.frame == -1 else 100
@@ -285,14 +284,13 @@ def main() -> NoReturn:
 
     # 4Hz driven by cameraOdometry
     if sm.frame % 5 == 0:
-      cal_valid = sm.all_checks()
-      # CLEARPILOT: log per-sub detail on transition to invalid — goes to calibrationd.log
-      if cal_valid != dbg_prev_valid and not cal_valid:
-        import sys
-        bad = [s for s in sm.alive if not (sm.alive[s] and sm.valid[s] and sm.freq_ok.get(s, True))]
-        details = [f"{s}(a={sm.alive[s]},v={sm.valid[s]},f={sm.freq_ok[s]})" for s in bad]
-        print(f"CLP liveCalibration valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
-      dbg_prev_valid = cal_valid
+      # CLEARPILOT: publish valid based on calibration status, not upstream sm.all_checks().
+      # Original openpilot gated valid on fresh inputs, but that caused a cascade:
+      # upstream freq glitches → liveCalibration.valid=False → locationd stays
+      # uninitialized → paramsd fed garbage → bogus steerRatio/stiffnessFactor → erratic
+      # steering. "valid" semantically means "calibration data is trustworthy"; that's a
+      # question about calibration convergence, not input freshness.
+      cal_valid = calibrator.cal_status == log.LiveCalibrationData.Status.calibrated
       calibrator.send_data(pm, cal_valid)