From 80c5bfb44c60cfa9a906d70180c310a138273dbe Mon Sep 17 00:00:00 2001
From: Comma Device <device@comma.ai>
Date: Tue, 15 Dec 2020 14:16:47 -0800
Subject: [PATCH] fix camera malfunction ui timeout

old-commit-hash: 54c6931b5cbf1bc0e064f9a3c45d012ffcfbfdea
---
 selfdrive/ui/ui.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 68c45e4333..08b929fb61 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -285,7 +285,8 @@ void ui_update(UIState *s) {
 
     const uint64_t frame_pkt = (s->sm)->rcv_frame("frame");
     const uint64_t frame_delayed = (s->sm)->frame - frame_pkt;
-    if ((frame_pkt > s->started_frame && frame_delayed > 5 * UI_FREQ) || frame_delayed > 35 * UI_FREQ) {
+    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";