diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 914cb06756..9cf3cbc04a 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -420,6 +420,8 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
 
   // run at 2hz
   while (!do_exit && check_all_connected(pandas)) {
+    uint64_t start_time = nanos_since_boot();
+
     // send out peripheralState
     send_peripheral_state(pm, peripheral_panda);
     ignition = send_panda_states(pm, pandas, spoofing_started);
@@ -452,7 +454,9 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
     for (const auto &panda : pandas) {
       panda->send_heartbeat(engaged);
     }
-    util::sleep_for(500);
+
+    uint64_t dt = nanos_since_boot() - start_time;
+    util::sleep_for(500 - dt / 1000000ULL);
   }
 }
 
diff --git a/selfdrive/common/util.h b/selfdrive/common/util.h
index 9a6a4d9bdb..89eacf69a2 100644
--- a/selfdrive/common/util.h
+++ b/selfdrive/common/util.h
@@ -91,7 +91,9 @@ bool create_directories(const std::string &dir, mode_t mode);
 std::string check_output(const std::string& command);
 
 inline void sleep_for(const int milliseconds) {
-  std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+  if (milliseconds > 0) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds));
+  }
 }
 
 }  // namespace util