diff --git a/cereal b/cereal
index 9915b2086a..b93b165a5c 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 9915b2086a4205d9a28eead6139d5d7cbb73b00b
+Subproject commit b93b165a5c9de33325d7b01aa033073c978d1007
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2c1a444d9f..4f42eb804b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -118,7 +118,6 @@ class Controls:
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.can_error_counter = 0
-    self.consecutive_can_error_count = 0
     self.last_blinker_frame = 0
     self.saturated_count = 0
     self.events_prev = []
@@ -191,11 +190,6 @@ class Controls:
 
     if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
       self.events.add(EventName.canError)
-      self.consecutive_can_error_count += 1
-    else:
-      self.consecutive_can_error_count = 0
-    if self.consecutive_can_error_count > 2 / DT_CTRL:
-      self.events.add(EventName.canErrorPersistent)
     if self.mismatch_counter >= 200:
       self.events.add(EventName.controlsMismatch)
     if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 3e8f985fe7..e365dfc926 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -1,7 +1,7 @@
 from cereal import log, car
 
+from common.realtime import DT_CTRL
 from selfdrive.config import Conversions as CV
-
 from selfdrive.locationd.calibration_helpers import Filter
 
 AlertSize = log.ControlsState.AlertSize
@@ -37,6 +37,7 @@ class Events:
   def __init__(self):
     self.events = []
     self.static_events = []
+    self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
 
   @property
   def names(self):
@@ -51,6 +52,7 @@ class Events:
     self.events.append(event_name)
 
   def clear(self):
+    self.events_prev = {k: (v+1 if k in self.events else 0) for k, v in self.events_prev.items()}
     self.events = self.static_events.copy()
 
   def any(self, event_type):
@@ -71,8 +73,10 @@ class Events:
           alert = EVENTS[e][et]
           if not isinstance(alert, Alert):
             alert = alert(*callback_args)
-          alert.alert_type = EVENT_NAME[e]
-          ret.append(alert)
+
+          if DT_CTRL * (self.events_prev[e] + 1) >= alert.creation_delay:
+            alert.alert_type = EVENT_NAME[e]
+            ret.append(alert)
     return ret
 
   def add_from_msg(self, events):
@@ -101,7 +105,8 @@ class Alert:
                duration_sound,
                duration_hud_alert,
                duration_text,
-               alert_rate=0.):
+               alert_rate=0.,
+               creation_delay=0.):
 
     self.alert_type = ""
     self.alert_text_1 = alert_text_1
@@ -118,6 +123,7 @@ class Alert:
 
     self.start_time = 0.
     self.alert_rate = alert_rate
+    self.creation_delay = creation_delay
 
     # typecheck that enums are valid on startup
     tst = car.CarControl.new_message()
@@ -308,14 +314,6 @@ EVENTS = {
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
   },
 
-  EventName.canErrorPersistent: {
-    ET.PERMANENT: Alert(
-      "CAN Error: Check Connections",
-      "",
-      AlertStatus.normal, AlertSize.small,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
-  },
-
   # ********** events only containing alerts that display while engaged **********
 
   EventName.vehicleModelInvalid: {
@@ -515,7 +513,7 @@ EVENTS = {
       "No Data from Device Sensors",
       "Reboot your Device",
       AlertStatus.normal, AlertSize.mid,
-      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"),
   },
 
@@ -617,6 +615,11 @@ EVENTS = {
 
   EventName.canError: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
+    ET.PERMANENT: Alert(
+      "CAN Error: Check Connections",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2, creation_delay=1.),
     ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
   },
 
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index d6f4f35172..8e0be9100a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6f46eed874e85f41de1bca4a7b0b65bfc4a295d8
\ No newline at end of file
+b85c090b3dba832b4af83a847df5b5ac2c824284
\ No newline at end of file