diff --git a/Jenkinsfile b/Jenkinsfile
index 8cc505654b..c6458e92b6 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -164,6 +164,7 @@ pipeline {
                       ["build", "SCONS_CACHE=1 scons -j16"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
                       //["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
                     ])
                   }
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 4ebb772a56..43a32993d9 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -9,33 +9,47 @@ import cereal.messaging as messaging
 from cereal.services import service_list
 from common.basedir import BASEDIR
 from common.timeout import Timeout
+from selfdrive.hardware import TICI
 from selfdrive.loggerd.config import ROOT
 from selfdrive.test.helpers import set_params_enabled
 from tools.lib.logreader import LogReader
 
-PROCS = [
-  ("selfdrive.controls.controlsd", 47.0),
-  ("./loggerd", 45.0),
-  ("selfdrive.locationd.locationd", 32.8),
-  ("selfdrive.controls.plannerd", 20.0),
-  ("./_ui", 15.0),
-  ("selfdrive.locationd.paramsd", 9.1),
-  ("./camerad", 7.07),
-  ("./_sensord", 6.17),
-  ("selfdrive.controls.radard", 5.67),
-  ("./_modeld", 4.48),
-  ("./boardd", 3.63),
-  ("./_dmonitoringmodeld", 2.67),
-  ("selfdrive.thermald.thermald", 2.41),
-  ("selfdrive.locationd.calibrationd", 2.0),
-  ("selfdrive.monitoring.dmonitoringd", 1.90),
-  ("./proclogd", 1.54),
-  ("selfdrive.logmessaged", 0.2),
-  ("./clocksd", 0.02),
-  ("./ubloxd", 0.02),
-  ("selfdrive.tombstoned", 0),
-  ("./logcatd", 0),
-]
+# Baseline CPU usage by process
+PROCS = {
+  "selfdrive.controls.controlsd": 47.0,
+  "./loggerd": 45.0,
+  "selfdrive.locationd.locationd": 32.8,
+  "selfdrive.controls.plannerd": 20.0,
+  "./_ui": 15.0,
+  "selfdrive.locationd.paramsd": 9.1,
+  "./camerad": 7.07,
+  "./_sensord": 6.17,
+  "selfdrive.controls.radard": 5.67,
+  "./_modeld": 4.48,
+  "./boardd": 3.63,
+  "./_dmonitoringmodeld": 2.67,
+  "selfdrive.thermald.thermald": 2.41,
+  "selfdrive.locationd.calibrationd": 2.0,
+  "selfdrive.monitoring.dmonitoringd": 1.90,
+  "./proclogd": 1.54,
+  "selfdrive.logmessaged": 0.2,
+  "./clocksd": 0.02,
+  "./ubloxd": 0.02,
+  "selfdrive.tombstoned": 0,
+  "./logcatd": 0,
+}
+
+if TICI:
+  PROCS.update({
+    "./loggerd": 55.0,
+    "selfdrive.controls.controlsd": 26.0,
+    "./camerad": 20.0,
+    "selfdrive.locationd.locationd": 21.0,
+    "selfdrive.controls.plannerd": 12.0,
+    "selfdrive.locationd.paramsd": 5.0,
+    "./_dmonitoringmodeld": 10.0,
+    "selfdrive.thermald.thermald": 1.5,
+  })
 
 
 def cputime_total(ct):
@@ -49,7 +63,7 @@ def check_cpu_usage(first_proc, last_proc):
 
   r = True
   dt = (last_proc.logMonoTime - first_proc.logMonoTime) / 1e9
-  for proc_name, normal_cpu_usage in PROCS:
+  for proc_name, normal_cpu_usage in PROCS.items():
     first, last = None, None
     try:
       first = [p for p in first_proc.procLog.procs if proc_name in p.cmdline][0]
@@ -82,7 +96,10 @@ class TestOnroad(unittest.TestCase):
     os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
     set_params_enabled()
 
-    initial_segments = set(Path(ROOT).iterdir())
+    logger_root = Path(ROOT)
+    initial_segments = set()
+    if logger_root.exists():
+      initial_segments = set(Path(ROOT).iterdir())
 
     # start manager and run openpilot for a minute
     try:
@@ -98,7 +115,9 @@ class TestOnroad(unittest.TestCase):
       cls.segments = []
       with Timeout(300, "timed out waiting for logs"):
         while len(cls.segments) < 3:
-          new_paths = set(Path(ROOT).iterdir()) - initial_segments
+          new_paths = set()
+          if logger_root.exists():
+            new_paths = set(logger_root.iterdir()) - initial_segments
           segs = [p for p in new_paths if "--" in str(p)]
           cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1]))
           time.sleep(5)