From e2e3703ae4630cb2ae9e61c4c94aef9011fcc108 Mon Sep 17 00:00:00 2001
From: Andi Radulescu <andi.radulescu@gmail.com>
Date: Wed, 17 Jun 2026 18:14:07 +0300
Subject: [PATCH] ui: fix false "NO PANDA" flash on screen wake (#37404)

* ui: fix false "NO PANDA" flash on screen wake

* ui: use recv_time for panda timeout instead of frame counting

* ui: use sm.alive for panda timeout
---
 selfdrive/ui/ui_state.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index 6309642fd..643054e50 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -1,4 +1,3 @@
-import pyray as rl
 import numpy as np
 import time
 import threading
@@ -141,7 +140,7 @@ class UIState:
         # Check ignition status across all pandas
         if self.panda_type != log.PandaState.PandaType.unknown:
           self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states)
-    elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps():
+    elif not self.sm.alive["pandaStates"]:
       self.panda_type = log.PandaState.PandaType.unknown
 
     # Handle wide road camera state updates