diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 04df53a574..cf997ed953 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -267,6 +267,11 @@ void OnroadHud::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo
 }
 
 // NvgWindow
+
+NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) {
+
+}
+
 void NvgWindow::initializeGL() {
   CameraViewWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -376,9 +381,9 @@ void NvgWindow::paintGL() {
 
   double cur_draw_t = millis_since_boot();
   double dt = cur_draw_t - prev_draw_t;
-  if (dt > 66) {
-    // warn on sub 15fps
-    LOGW("slow frame time: %.2f", dt);
+  double fps = fps_filter.update(1. / dt * 1000);
+  if (fps < 15) {
+    LOGW("slow frame rate: %.2f fps", fps);
   }
   prev_draw_t = cur_draw_t;
 }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 61da7698c1..90a62c8771 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -3,6 +3,7 @@
 #include <QStackedLayout>
 #include <QWidget>
 
+#include "selfdrive/common/util.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "selfdrive/ui/ui.h"
 
@@ -66,7 +67,7 @@ class NvgWindow : public CameraViewWidget {
   Q_OBJECT
 
 public:
-  explicit NvgWindow(VisionStreamType type, QWidget* parent = 0) : CameraViewWidget("camerad", type, true, parent) {}
+  explicit NvgWindow(VisionStreamType type, QWidget* parent = 0);
 
 protected:
   void paintGL() override;
@@ -77,7 +78,9 @@ protected:
   void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
   inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); }
   inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); }
+
   double prev_draw_t = 0;
+  FirstOrderFilter fps_filter;
 };
 
 // container for all onroad widgets