diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 085c05af9aeddd..01de59f7eccfc7 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -142,6 +142,7 @@ def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
     self.data = {}
     self.logMonoTime = {}
     self.valid = {}
+    self.valid_cnt = {s: 0 for s in services}
 
     if ignore_alive is not None:
       self.ignore_alive = ignore_alive
@@ -162,6 +163,10 @@ def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
       self.data[s] = getattr(data, s)
       self.logMonoTime[s] = 0
       self.valid[s] = data.valid
+      if data.valid:
+        self.valid_cnt[s] = 0
+      else:
+        self.valid_cnt[s] +=1
 
   def __getitem__(self, s):
     return self.data[s]
@@ -211,6 +216,60 @@ def all_alive_and_valid(self, service_list=None):
       service_list = self.alive.keys()
     return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
 
+  def all_alive_with_info(self, service_list=None):
+    """Returns alive state for tracked processes.
+    Args:
+        service_list (list): Optional service list.
+    Returns:
+        tuple: areAllAlive, processName, count
+    """
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    areAllAlive = True
+    processName = ""
+    count = 0
+    for s in service_list:
+      if not self.alive[s]:
+        areAllAlive = False
+        processName = s
+        count = self.valid_cnt[s]
+        break
+    return (areAllAlive, processName, count)
+
+  def all_valid_with_info(self, service_list=None):
+    """Returns valid state for tracked processes.
+    Args:
+        service_list (list): Optional service list.
+    Returns:
+        tuple: areAllValid, processName, count
+    """
+    if service_list is None:  # check all
+      service_list = self.valid.keys()
+    areAllValid = True
+    processName = ""
+    count = 0
+    for s in service_list:
+      if not self.valid[s]:
+        areAllValid = False
+        processName = s
+        count = self.valid_cnt[s]
+        break
+    return (areAllValid, processName, count)
+
+  def all_alive_and_valid_with_info(self, service_list=None):
+    """Returns alive and valid state for tracked processes.
+    Args:
+        service_list (list): Optional service list.
+    Returns:
+        tuple: areAllAlive, areAllValid, aliveProcessName, aliveCount, validProcessName, validCount
+    """
+    if service_list is None:  # check all
+      service_list = self.alive.keys()
+    areAllAlive, aliveProcessName, aliveCount = self.all_alive(service_list=service_list)
+    areAllValid, validProcessName, validCount = self.all_valid(service_list=service_list)
+    return (areAllAlive, areAllValid, aliveProcessName, aliveCount, validProcessName, )
+
+
 
 class PubMaster():
   def __init__(self, services):
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 22829a8b2c87bd..a3812b524d6514 100644
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -222,6 +222,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
     ret.steerRateCost = 1.0
 
     ret.radarOffCan = not CarSettings().get_value("useTeslaRadar")
+    ret.radarTimeStep = 0.05 #20Hz
 
     return ret
 
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
index 75398fb2d3fdc4..096f75278164e5 100644
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -2,13 +2,14 @@
 import os
 import time
 from cereal import car, tesla
-from selfdrive.can.parser import CANParser
-from common.realtime import DT_RDR
+from opendbc.can.parser import CANParser
 from cereal.services import service_list
 import cereal.messaging as messaging
 from selfdrive.car.interfaces import RadarInterfaceBase
 from selfdrive.car.tesla.readconfig import CarSettings
 from selfdrive.tinklad.tinkla_interface import TinklaClient
+from selfdrive.car.interfaces import RadarInterfaceBase
+
 
 BOSCH_MAX_DIST = 250. #max distance for radar
 #use these for tracks (5 tracks)
@@ -67,11 +68,10 @@ class RadarInterface(RadarInterfaceBase):
   tinklaClient = TinklaClient()
 
   def __init__(self,CP):
-    super().__init__(self)
     # radar
     self.pts = {}
     self.extPts = {}
-    self.delay = int(0.1 / DT_RDR)
+    self.delay = 0 
     self.useTeslaRadar = CarSettings().get_value("useTeslaRadar")
     self.TRACK_LEFT_LANE = True
     self.TRACK_RIGHT_LANE = True
@@ -87,7 +87,7 @@ def __init__(self,CP):
       self.trackId = 1
       self.trigger_start_msg = RADAR_A_MSGS[0]
       self.trigger_end_msg = RADAR_B_MSGS[-1]
-
+    self.radar_ts = CP.radarTimeStep
 
 
   def update(self, can_strings,v_ego):
diff --git a/selfdrive/car/tesla/radar_tools/calibrateRadar.py b/selfdrive/car/tesla/radar_tools/calibrateRadar.py
index 884f2a9804f8d1..a98c551ee286b8 100644
--- a/selfdrive/car/tesla/radar_tools/calibrateRadar.py
+++ b/selfdrive/car/tesla/radar_tools/calibrateRadar.py
@@ -8,7 +8,7 @@
 from cereal import car
 import time
 import os
-from selfdrive.can.parser import CANParser
+from opendbc.can.parser import CANParser
 from common.realtime import sec_since_boot
 from cereal.services import service_list
 import cereal.messaging as messaging
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 06c65ae14a7619..64fc7a91e2ada1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -232,11 +232,8 @@ def state_control(frame, rcv_frame, plan, path_plan, CS, CP, state, events, v_cr
   # check if user has interacted with the car
   driver_engaged = len(CS.buttonEvents) > 0 or \
                    v_cruise_kph != v_cruise_kph_last or \
-                   CS.steeringPressed or \
-                   not dm_enabled
+                   CS.steeringPressed 
 
-  # add eventual driver distracted events
-  events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill)
   if CS.leftBlinker or CS.rightBlinker:
     last_blinker_frame = frame
 
@@ -540,8 +537,6 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
 
   prof = Profiler(False)  # off by default
 
-  dm_enabled = CarSettings().get_value("enableDriverMonitor")
-
   while True:
     start_time = sec_since_boot()
     prof.checkpoint("Ratekeeper", ignore=True)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index c5e5e8a2437f0b..1251c4d46dd87d 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -100,6 +100,7 @@ class RadarD():
   def __init__(self, radar_ts, mocked, RI,use_tesla_radar, delay=0):
     self.current_time = 0
     self.mocked = mocked
+    self.RI = RI
     self.tracks = defaultdict(dict)
     self.kalman_params = KalmanParams(radar_ts)
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 193cf62f1230b7..c4ab5e9674981a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -1011,7 +1011,6 @@ int main(int argc, char* argv[]) {
         s->scene.satelliteCount = -1;
         s->scene.uilayout_sidebarcollapsed = false;
         ui_draw(s);
-        bb_ui_draw_UI(s) ;
         glFinish();
         should_swap = true;
       }
@@ -1034,7 +1033,10 @@ int main(int argc, char* argv[]) {
     // Don't waste resources on drawing in case screen is off
     if (s->awake) {
       ui_draw(s);
-      bb_ui_draw_UI(s) ;
+      if (s->vision_connected) {
+        bb_ui_draw_UI(s) ;
+        ui_draw_infobar(s);
+      }
       glFinish();
       should_swap = true;
     }