diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index bbd1aa1f4a..706470f349 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -11,7 +11,6 @@
 #include <libyuv.h>
 #include <sys/resource.h>
 #include <pthread.h>
-#include <math.h>
 
 #include <string>
 #include <iostream>
@@ -703,8 +702,6 @@ int main(int argc, char** argv) {
   double start_ts = seconds_since_boot();
   double last_rotate_tms = millis_since_boot();
   double last_camera_seen_tms = millis_since_boot();
-  uint32_t last_seen_log_frame_id[LOG_CAMERA_ID_MAX-1] = {0};
-  uint32_t last_seen_log_frame_id_max = 0;
   while (!do_exit) {
    for (auto sock : poller->poll(100 * 1000)) {
      Message * last_msg = nullptr;
@@ -753,8 +750,6 @@ int main(int argc, char** argv) {
           } else if (fpkt_id == LOG_CAMERA_ID_ECAMERA) {
             s.rotate_state[fpkt_id].setLogFrameId(event.getWideFrame().getFrameId());
           }
-          last_seen_log_frame_id[fpkt_id] = s.rotate_state[fpkt_id].log_frame_id;
-          last_seen_log_frame_id_max = fmax(last_seen_log_frame_id_max, s.rotate_state[fpkt_id].log_frame_id);
           last_camera_seen_tms = millis_since_boot();
         }
         delete last_msg;
@@ -774,7 +769,6 @@ int main(int argc, char** argv) {
           new_segment &= (((s.rotate_state[cid].stream_frame_id >= s.rotate_state[cid].last_rotate_frame_id + segment_length * MAIN_FPS) &&
                            (!s.rotate_state[cid].should_rotate) && (s.rotate_state[cid].last_rotate_frame_id != UINT32_MAX)) ||
                           (!s.rotate_state[cid].enabled));
-          if (last_seen_log_frame_id[cid] + 2 < last_seen_log_frame_id_max) { LOGW("camera %d lags behind", cid); }
 #ifndef QCOM2
           break; // only look at fcamera frame id if not QCOM2
 #endif