diff --git a/cereal/log.capnp b/cereal/log.capnp
index 20b033196e..3a53db9cc4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -871,6 +871,7 @@ struct ControlsState @0x97ff69c53601abf1 {
 struct DrivingModelData {
   frameId @0 :UInt32;
   frameIdExtra @1 :UInt32;
+  frameDropPerc @6 :Float32;
 
   action @2 :ModelDataV2.Action;
 
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 2f719c1ee6..03f6d1b016 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -53,6 +53,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
+  frame_drop_perc = frame_drop * 100
   extended_msg.valid = valid
   base_msg.valid = valid
 
@@ -60,6 +61,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
 
   action = driving_model_data.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
@@ -68,7 +70,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop * 100
+  modelV2.frameDropPerc = frame_drop_perc
   modelV2.timestampEof = timestamp_eof
   modelV2.modelExecutionTime = model_execution_time
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9a7b9695ff..0e43cad820 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -105,6 +105,7 @@ if __name__ == "__main__":
 
       ignore = [
         'logMonoTime',
+        'drivingModelData.frameDropPerc',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',