diff --git a/openpilot/selfdrive/test/test_onroad.py b/openpilot/selfdrive/test/test_onroad.py
index b2192b0d5..b15d89045 100644
--- a/openpilot/selfdrive/test/test_onroad.py
+++ b/openpilot/selfdrive/test/test_onroad.py
@@ -175,8 +175,9 @@ class TestOnroad:
       if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'):
         continue
 
+      duration = TEST_DURATION - 5.0  # subtract some selfdrived initializing time
       with subtests.test(service=s):
-        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(TEST_DURATION*0.8))
+        assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*int(duration*0.8))
 
   def test_manager_starting_time(self):
     st = self.ts['managerState']['t'][0]