diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index cb7bca7f53..c8ea55088c 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -210,8 +210,8 @@ class Controls:
       self.events.add(EventName.radarFault)
     if self.sm['plan'].radarCanError:
       self.events.add(EventName.radarCanError)
-    if not CS.canValid:
-      self.events.add(EventName.canError)
+    if not CS.canValid and self.sm.frame > 5 / DT_CTRL:
+        self.events.add(EventName.canError)
     if log.HealthData.FaultType.relayMalfunction in self.sm['health'].faults:
       self.events.add(EventName.relayMalfunction)
     if self.sm['plan'].fcw:
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 4693f0c9cc..0202119337 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -607,6 +607,11 @@ EVENTS = {
   EventName.canError: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("CAN Error: Check Connections"),
     ET.NO_ENTRY: NoEntryAlert("CAN Error: Check Connections"),
+    ET.PERMANENT: Alert(
+      "CAN Error: Check Connections",
+      "",
+      AlertStatus.normal, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 0., .2),
   },
 
   EventName.steerUnavailable: {
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index baaafb0f8d..012e6ca16c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-59bd32350139796784708f51c233d37c18f33e6e
\ No newline at end of file
+dadb4f96017c4f6b36fd829c41315b0a7f31c8e5
\ No newline at end of file