diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 81a8c7eacd..7017580368 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,4 +1,5 @@
 import os
+import time
 from typing import Callable, Dict, List, Optional, Tuple
 
 from cereal import car
@@ -125,6 +126,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   ecu_rx_addrs = set()
   params = Params()
 
+  start_time = time.monotonic()
   if not skip_fw_query:
     # Vin query only reliably works through OBDII
     bus = 1
@@ -165,6 +167,8 @@ def fingerprint(logcan, sendcan, num_pandas):
   set_obd_multiplexing(params, False)
   params.put_bool("FirmwareQueryDone", True)
 
+  fw_query_time = time.monotonic() - start_time
+
   # CAN fingerprint
   # drain CAN socket so we get the latest messages
   messaging.drain_sock_raw(logcan)
@@ -185,7 +189,7 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
-                 error=True)
+                 fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match