diff --git a/cereal b/cereal
index f1a9b228c6..bafe019e36 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit f1a9b228c6086eb444d60defb2d43d64ec1e2a94
+Subproject commit bafe019e36f1c854aacc02c77abae4e3a11e680a
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b92a65ab74..22e63a798b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -237,8 +237,6 @@ class Controls:
 
     if self.sm['model'].frameDropPerc > 20 and not SIMULATION:
       self.events.add(EventName.modeldLagging)
-    elif self.sm['model'].frameDropPerc > 2 and not SIMULATION:
-      self.events.add(EventName.modelLagWarning)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
     if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index b1a6b78058..d0b10ec84e 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -451,14 +451,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
       Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
   },
 
-  EventName.modelLagWarning: {
-    ET.WARNING: Alert(
-      "TAKE CONTROL",
-      "Driving Model Lagging",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 1., 1.),
-  },
-
   EventName.fanMalfunction: {
     ET.PERMANENT: NormalPermanentAlert("Fan Malfunction", "Contact Support"),
   },