diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 882c5c82e5..49457c52f8 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -52,9 +52,9 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
-      self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'frontFrame',
+      self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', 'ubloxRaw',
                                      'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman',
-                                     'ubloxRaw'])
+                                     'frame', 'frontFrame'])
 
     self.can_sock = can_sock
     if can_sock is None:
@@ -211,12 +211,6 @@ class Controls:
     if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
       if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
         self.events.add(EventName.sensorDataInvalid)
-    if not self.sm.alive['ubloxRaw'] and (self.sm.frame > 10. / DT_CTRL) and not SIMULATION:
-      self.events.add(EventName.gpsMalfunction)
-    elif not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
-      # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
-      if not (SIMULATION or NOSENSOR):  # TODO: send GPS in carla
-        self.events.add(EventName.noGps)
     if not self.sm['pathPlan'].paramsValid:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
@@ -231,11 +225,19 @@ class Controls:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if not self.sm.alive['frontFrame'] and (self.sm.frame > 5 / DT_CTRL) and not SIMULATION:
-      self.events.add(EventName.cameraMalfunction)
 
-    if self.sm['model'].frameDropPerc > 20 and not SIMULATION:
-      self.events.add(EventName.modeldLagging)
+    # TODO: fix simulator
+    if not SIMULATION:
+      if not NOSENSOR:
+        if not self.sm.alive['ubloxRaw'] and (self.sm.frame > 10. / DT_CTRL):
+          self.events.add(EventName.gpsMalfunction)
+        elif not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
+          # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
+          self.events.add(EventName.noGps)
+      if not self.sm.all_alive(['frame', 'frontFrame']) and (self.sm.frame > 5 / DT_CTRL):
+        self.events.add(EventName.cameraMalfunction)
+      if self.sm['model'].frameDropPerc > 20:
+        self.events.add(EventName.modeldLagging)
 
     # 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/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index e45fb62696..a8e6561c07 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -110,7 +110,7 @@ class Plant():
     self.rate = rate
 
     if not Plant.messaging_initialized:
-      Plant.pm = messaging.PubMaster(['frontFrame', 'ubloxRaw'])
+      Plant.pm = messaging.PubMaster(['frame', 'frontFrame', 'ubloxRaw'])
       Plant.logcan = messaging.pub_sock('can')
       Plant.sendcan = messaging.sub_sock('sendcan')
       Plant.model = messaging.pub_sock('model')
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 0ed457a376..e98879ff0e 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -222,7 +222,7 @@ CONFIGS = [
     pub_sub={
       "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
       "thermal": [], "health": [], "liveCalibration": [], "dMonitoringState": [], "plan": [], "pathPlan": [], "gpsLocation": [], "liveLocationKalman": [],
-      "model": [], "frontFrame": [], "ubloxRaw": [],
+      "model": [], "frontFrame": [], "frame": [], "ubloxRaw": [],
     },
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
     init_callback=fingerprint,
diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
index 5b714069a8..cdaee02036 100644
--- a/selfdrive/ui/paint.cc
+++ b/selfdrive/ui/paint.cc
@@ -431,8 +431,9 @@ void ui_draw(UIState *s) {
     s->scene.viz_rect.w -= sbr_w;
   }
 
-  const bool draw_vision = s->started && s->status != STATUS_OFFROAD &&
-    s->active_app == cereal::UiLayoutState::App::NONE && s->vipc_client->connected;
+  const bool draw_alerts = s->started && s->status != STATUS_OFFROAD &&
+                           s->active_app == cereal::UiLayoutState::App::NONE;
+  const bool draw_vision = draw_alerts && s->vipc_client->connected;
 
   // GL drawing functions
   ui_draw_background(s);
@@ -450,7 +451,7 @@ void ui_draw(UIState *s) {
     ui_draw_vision(s);
   }
 
-  if (draw_vision && s->scene.alert_size != cereal::ControlsState::AlertSize::NONE) {
+  if (draw_alerts && s->scene.alert_size != cereal::ControlsState::AlertSize::NONE) {
     ui_draw_vision_alert(s);
   }
   nvgEndFrame(s->vg);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index bd6b453dde..9e8b8437b1 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -254,7 +254,7 @@ void ui_update(UIState *s) {
     s->scene.alert_size = cereal::ControlsState::AlertSize::NONE;
   }
 
-  // Handle controls/fcamera timeout
+  // Handle controls timeout
   if (s->started && !s->scene.frontview && ((s->sm)->frame - s->started_frame) > 10*UI_FREQ) {
     if ((s->sm)->rcv_frame("controlsState") < s->started_frame) {
       // car is started, but controlsState hasn't been seen at all
@@ -263,8 +263,7 @@ void ui_update(UIState *s) {
       s->scene.alert_size = cereal::ControlsState::AlertSize::MID;
     } else if (((s->sm)->frame - (s->sm)->rcv_frame("controlsState")) > 5*UI_FREQ) {
       // car is started, but controls is lagging or died
-      if (s->scene.alert_text2 != "Controls Unresponsive" &&
-          s->scene.alert_text1 != "Camera Malfunction") {
+      if (s->scene.alert_text2 != "Controls Unresponsive") {
         s->sound->play(AudibleAlert::CHIME_WARNING_REPEAT);
         LOGE("Controls unresponsive");
       }
@@ -274,17 +273,5 @@ void ui_update(UIState *s) {
       s->scene.alert_size = cereal::ControlsState::AlertSize::FULL;
       s->status = STATUS_ALERT;
     }
-
-    const uint64_t frame_pkt = (s->sm)->rcv_frame("frame");
-    const uint64_t frame_delayed = (s->sm)->frame - frame_pkt;
-    const uint64_t since_started = (s->sm)->frame - s->started_frame;
-    if ((frame_pkt > s->started_frame || since_started > 15*UI_FREQ) && frame_delayed > 5*UI_FREQ) {
-      // controls is fine, but rear camera is lagging or died
-      s->scene.alert_text1 = "Camera Malfunction";
-      s->scene.alert_text2 = "Contact Support";
-      s->scene.alert_size = cereal::ControlsState::AlertSize::FULL;
-      s->status = STATUS_DISENGAGED;
-      s->sound->stop();
-    }
   }
 }