better alert when controls takes too long to start

old-commit-hash: f8ce6502a9

selfdrive/ui/ui.cc

@@ -514,7 +514,6 @@ static void ui_update(UIState *s) {
 
     s->vision_connect_firstrun = false;
 
-    s->controls_timeout = 6 * UI_FREQ;
     s->alert_blinking_alpha = 1.0;
     s->alert_blinked = false;
   }
@@ -813,6 +812,10 @@ int main(int argc, char* argv[]) {
     if (!s->started) {
       // always process events offroad
       check_messages(s);
+
+      if (s->started) {
+        s->controls_timeout = 5 * UI_FREQ;
+      }
     } else {
       set_awake(s, true);
       // Car started, fetch a new rgb image from ipc
@@ -860,11 +863,9 @@ int main(int argc, char* argv[]) {
     } else if (s->started) {
       if (!s->controls_seen) {
         // car is started, but controlsState hasn't been seen at all
-        LOGE("Controls failed to start");
         s->scene.alert_text1 = "openpilot Unavailable";
-        s->scene.alert_text2 = "Controls Failed to Start";
+        s->scene.alert_text2 = "Waiting for controls to start";
         s->scene.alert_size = cereal::ControlsState::AlertSize::MID;
-        update_status(s, STATUS_WARNING);
       } else {
         // car is started, but controls is lagging or died
         LOGE("Controls unresponsive");