diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 1632a9e..6c9d745 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -481,12 +481,16 @@ class Controls:
           self.events.add(EventName.cameraMalfunction)
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
-    # CLEARPILOT: also gate on model_suppress + lat_engage_suppress — the fps transition
-    # on engage briefly pushes avg cycle time over the 11.1ms (90% of 10ms) threshold
-    # while downstream services (plannerd, locationd) drain the sudden 5x message rate
-    if not REPLAY and self.rk.lagging and not model_suppress and not lat_engage_suppress:
+    # CLEARPILOT: alert only when avg cycle time exceeds 20ms (≈50Hz effective).
+    # Stock rk.lagging fires at 11.1ms (90% of 10ms) which the Hyundai CAN load
+    # routinely crosses while driving — that's normal, not a fault. 50Hz control is
+    # still plenty responsive. `rk.lagging` is still used defensively elsewhere
+    # (lines ~479, 492) to skip secondary checks when slightly overloaded.
+    avg_dt = sum(self.rk._dts) / len(self.rk._dts)
+    alert_lagging = avg_dt > 0.020
+    if not REPLAY and alert_lagging and not model_suppress and not lat_engage_suppress:
       import sys
-      print(f"CLP controlsdLagging: remaining={self.rk.remaining:.4f} standstill={CS.standstill} vEgo={CS.vEgo:.2f}", file=sys.stderr)
+      print(f"CLP controlsdLagging: avg_dt={avg_dt*1000:.2f}ms remaining={self.rk.remaining:.4f} standstill={CS.standstill} vEgo={CS.vEgo:.2f}", file=sys.stderr)
       self.events.add(EventName.controlsdLagging)
     if not self.radarless_model:
       if not model_suppress and (len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState']))):