diff --git a/cereal b/cereal
index 3d09a7508f..f1a9b228c6 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 3d09a7508f9497d77c401d96f8086494a188d786
+Subproject commit f1a9b228c6086eb444d60defb2d43d64ec1e2a94
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 32266813f2..b92a65ab74 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -232,10 +232,13 @@ class Controls:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if self.sm['model'].frameDropPerc > 2 and not SIMULATION:
-       self.events.add(EventName.modeldLagging)
     if not self.sm.alive['frontFrame'] and (self.sm.frame > 5 / DT_CTRL) and not SIMULATION:
-       self.events.add(EventName.cameraMalfunction)
+      self.events.add(EventName.cameraMalfunction)
+
+    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 d0b10ec84e..b1a6b78058 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -451,6 +451,14 @@ 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"),
   },