diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index cf978ada32..3db936e134 100755
--- a/selfdrive/controls/controlsd.py
+++ b/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: