controlsd: allow mismatch while boardd reads back mode (#31505)

* controlsd: allow mismatch while boardd reads back mode

* self
old-commit-hash: b28daef34a

selfdrive/controls/controlsd.py

@@ -312,7 +312,8 @@ class Controls:
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
+      # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
+      if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         self.events.add(EventName.controlsMismatch)
 
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults: