diff --git a/Jenkinsfile b/Jenkinsfile
index 80360dc097..cb2393d727 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -150,7 +150,7 @@ pipeline {
                       ["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
-                      //["test camerad", "SEND_REAR=1 SEND_FRONT=1 python selfdrive/camerad/test/test_camerad.py"], // wait for shelf refactor
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                       //["test updater", "python installer/updater/test_updater.py"],
                     ])
                   }
@@ -162,6 +162,7 @@ pipeline {
                       ["build", "SCONS_CACHE=1 scons -j16"],
                       ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
                       ["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
+                      ["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
                     ])
                   }
                 }
diff --git a/selfdrive/camerad/test/test_camerad.py b/selfdrive/camerad/test/test_camerad.py
index 35be2fa6df..b405f58962 100755
--- a/selfdrive/camerad/test/test_camerad.py
+++ b/selfdrive/camerad/test/test_camerad.py
@@ -1,7 +1,5 @@
 #!/usr/bin/env python3
 
-import os
-import random
 import time
 import unittest
 import numpy as np
@@ -13,9 +11,9 @@ from selfdrive.camerad.snapshot.snapshot import get_snapshots
 # only tests for EON and TICI
 from selfdrive.hardware import EON, TICI
 
-TEST_TIMESPAN = random.randint(60, 180) # seconds
+TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds
 SKIP_FRAME_TOLERANCE = 0
-FRAME_COUNT_TOLERANCE = 1 # over the whole test time
+LAG_FRAME_TOLERANCE = 2 # ms
 
 FPS_BASELINE = 20
 CAMERAS = {
@@ -33,8 +31,8 @@ class TestCamerad(unittest.TestCase):
     if not (EON or TICI):
       raise unittest.SkipTest
 
-    assert "SEND_REAR" in os.environ
-    assert "SEND_FRONT" in os.environ
+    # assert "SEND_REAR" in os.environ
+    # assert "SEND_FRONT" in os.environ
 
   def _numpy_bgr2gray(self, im):
     ret = np.clip(im[:,:,0] * 0.114 + im[:,:,1] * 0.587 + im[:,:,2] * 0.299, 0, 255).astype(np.uint8)
@@ -74,6 +72,7 @@ class TestCamerad(unittest.TestCase):
     print([i_median, i_mean])
     return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
 
+  @unittest.skip # skip for now
   @with_processes(['camerad'])
   def test_camera_operation(self):
     print("checking image outputs")
@@ -104,25 +103,29 @@ class TestCamerad(unittest.TestCase):
     sm = messaging.SubMaster([socket_name for socket_name in CAMERAS])
 
     last_frame_id = dict.fromkeys(CAMERAS, None)
-    start_frame_id = dict.fromkeys(CAMERAS, None)
-    start_time_milli = int(round(time.time() * 1000))
-    while int(round(time.time() * 1000)) - start_time_milli < (TEST_TIMESPAN+1) * 1000:
+    last_ts = dict.fromkeys(CAMERAS, None)
+    start_time_sec = time.time()
+    while time.time()- start_time_sec < TEST_TIMESPAN:
       sm.update()
 
       for camera in CAMERAS:
         if sm.updated[camera]:
-          if start_frame_id[camera] is None:
-            start_frame_id[camera] = last_frame_id[camera] = sm[camera].frameId
+          ct = (sm[camera].timestampEof if not TICI else sm[camera].timestampSof) / 1e6
+          if last_frame_id[camera] is None:
+            last_frame_id[camera] = sm[camera].frameId
+            last_ts[camera] = ct
             continue
+
           dfid = sm[camera].frameId - last_frame_id[camera]
-          self.assertTrue(abs(dfid - 1) <= SKIP_FRAME_TOLERANCE)
+          self.assertTrue(abs(dfid - 1) <= SKIP_FRAME_TOLERANCE, "%s frame id diff is %d" % (camera, dfid))
+
+          dts = ct - last_ts[camera]
+          self.assertTrue(abs(dts - (1000/CAMERAS[camera])) < LAG_FRAME_TOLERANCE, "%s frame t(ms) diff is %f" % (camera, dts))
+
           last_frame_id[camera] = sm[camera].frameId
+          last_ts[camera] = ct
 
       time.sleep(0.01)
 
-    for camera in CAMERAS:
-      print(camera, (last_frame_id[camera] - start_frame_id[camera]))
-      self.assertTrue(abs((last_frame_id[camera] - start_frame_id[camera]) - TEST_TIMESPAN*CAMERAS[camera]) <= FRAME_COUNT_TOLERANCE)
-
 if __name__ == "__main__":
   unittest.main()