diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 32f0f29f..9f3ebfa0 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -148,7 +148,7 @@ def fingerprint(logcan, sendcan):
           car_fingerprint = candidate_cars[b][0]
 
     # bail if no cars left or we've been waiting for more than 2s
-    failed = all(len(cc) == 0 for cc in candidate_cars.values()) or frame > 200
+    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
     succeeded = car_fingerprint is not None
     done = failed or succeeded