diff --git a/cereal b/cereal
index 80bbbd4bf7..f725dcd617 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 80bbbd4bf70698a3e7b7eaa1e463753c3db2ab5f
+Subproject commit f725dcd617b0ff577ad5caee8b9b3c861d6be4a8
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 349a6cb840..4c11c5e05a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -227,7 +227,7 @@ class Controls:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
       self.events.add(EventName.fcw)
-    if self.sm['model'].frameAge > 1:
+    if self.sm['model'].frameDropPerc > 1:
       self.events.add(EventName.modeldLagging)
 
     # Only allow engagement with brake pressed when stopped behind another stopped car
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 369c446141..68b370124c 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -163,7 +163,7 @@ int main(int argc, char **argv) {
   VisionStream stream;
   while (!do_exit) {
     VisionStreamBufs buf_info;
-    err = visionstream_init(&stream, VISION_STREAM_YUV, false, &buf_info);
+    err = visionstream_init(&stream, VISION_STREAM_YUV, true, &buf_info);
     if (err) {
       LOGW("visionstream connect failed");
       usleep(100000);
@@ -171,10 +171,17 @@ int main(int argc, char **argv) {
     }
     LOGW("connected with buffer size: %d", buf_info.buf_len);
 
+    // setup filter to track dropped frames
+    const float dt = 1. / MODEL_FREQ;
+    const float ts = 5.0;  // 5 s filter time constant
+    const float frame_filter_k = (dt / ts) / (1. + dt / ts);
+    float frames_dropped = 0;
+
     // one frame in memory
     cl_mem yuv_cl;
     VisionBuf yuv_ion = visionbuf_allocate_cl(buf_info.buf_len, device_id, context, &yuv_cl);
 
+    uint32_t last_vipc_frame_id = 0;
     double last = 0;
     int desire = -1;
     while (!do_exit) {
@@ -217,11 +224,17 @@ int main(int argc, char **argv) {
                              model_transform, NULL, vec_desire);
         mt2 = millis_since_boot();
 
-        model_publish(pm, extra.frame_id, frame_id,  model_buf, extra.timestamp_eof);
-        posenet_publish(pm, extra.frame_id, frame_id, model_buf, extra.timestamp_eof);
+        // tracked dropped frames
+        uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
+        frames_dropped = (1. - frame_filter_k) * frames_dropped + frame_filter_k * (float)std::min(vipc_dropped_frames, 10U);
+        float frame_drop_perc = frames_dropped / MODEL_FREQ;
+
+        model_publish(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
+        posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
 
-        LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu", mt2-mt1, mt1-last, extra.frame_id, frame_id);
+        LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f%", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_perc);
         last = mt1;
+        last_vipc_frame_id = extra.frame_id;
       }
 
     }
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 9ac7604195..af481712b1 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -246,7 +246,7 @@ void fill_longi(cereal::ModelData::LongitudinalData::Builder longi, const float
 }
 
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                   const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
+                   uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
   // make msg
   capnp::MallocMessageBuilder msg;
   cereal::Event::Builder event = msg.initRoot<cereal::Event>();
@@ -257,6 +257,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
   auto framed = event.initModel();
   framed.setFrameId(vipc_frame_id);
   framed.setFrameAge(frame_age);
+  framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
 
   auto lpath = framed.initPath();
@@ -293,13 +294,13 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 
   auto meta = framed.initMeta();
   fill_meta(meta, net_outputs.meta);
-  event.setValid(frame_age < MAX_FRAME_AGE);
+  event.setValid(frame_drop < MAX_FRAME_DROP);
 
   pm.send("model", msg);
 }
 
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                     const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
+                     uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
   capnp::MallocMessageBuilder msg;
   cereal::Event::Builder event = msg.initRoot<cereal::Event>();
   event.setLogMonoTime(nanos_since_boot());
@@ -331,8 +332,7 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
   posenetd.setTimestampEof(timestamp_eof);
   posenetd.setFrameId(vipc_frame_id);
 
-  uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
-  event.setValid(frame_age < MAX_FRAME_AGE);
+  event.setValid(vipc_dropped_frames < 1);
 
   pm.send("cameraOdometry", msg);
 }
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 97941db198..83d967d23a 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -35,7 +35,8 @@
 #define TIME_DISTANCE 100
 #define POSE_SIZE 12
 
-#define MAX_FRAME_AGE 5
+#define MODEL_FREQ 20
+#define MAX_FRAME_DROP 0.05
 
 struct ModelDataRaw {
     float *path;
@@ -74,7 +75,7 @@ void model_free(ModelState* s);
 void poly_fit(float *in_pts, float *in_stds, float *out);
 
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                   const ModelDataRaw &data, uint64_t timestamp_eof);
+                   uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                     const ModelDataRaw &data, uint64_t timestamp_eof);
+                     uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
 #endif
diff --git a/selfdrive/test/test_cpu_usage.py b/selfdrive/test/test_cpu_usage.py
index 0ed651ad4b..eba08fd872 100755
--- a/selfdrive/test/test_cpu_usage.py
+++ b/selfdrive/test/test_cpu_usage.py
@@ -17,7 +17,7 @@ def print_cpu_usage(first_proc, last_proc):
   procs = [
     ("selfdrive.controls.controlsd", 59.46),
     ("selfdrive.locationd.locationd", 34.38),
-    ("./loggerd", 28.49),
+    ("./loggerd", 33.90),
     ("selfdrive.controls.plannerd", 19.77),
     ("./_modeld", 12.74),
     ("selfdrive.locationd.paramsd", 11.53),