diff --git a/board/boards/dos.h b/board/boards/dos.h
index b6451bd6a..2af19d7cb 100644
--- a/board/boards/dos.h
+++ b/board/boards/dos.h
@@ -217,7 +217,7 @@ const board board_dos = {
   .fan_max_rpm = 6500U,
   .adc_scale = 8862U,
   .fan_stall_recovery = true,
-  .fan_enable_cooldown_time = 0U,
+  .fan_enable_cooldown_time = 3U,
   .init = dos_init,
   .enable_can_transceiver = dos_enable_can_transceiver,
   .enable_can_transceivers = dos_enable_can_transceivers,
diff --git a/board/drivers/fan.h b/board/drivers/fan.h
index cf4faa09b..bd3b59d11 100644
--- a/board/drivers/fan.h
+++ b/board/drivers/fan.h
@@ -48,7 +48,7 @@ void fan_tick(void){
           current_board->set_fan_enabled(false);
 
           // clip integral, can't fully reset otherwise we may always be stuck in stall detection
-          fan_state.error_integral = MIN(50.0f, MAX(0.0f, fan_state.error_integral));
+          fan_state.error_integral = MIN(0.0f, fan_state.error_integral);
         }
       } else {
         fan_state.stall_counter = 0U;
@@ -57,13 +57,10 @@ void fan_tick(void){
     }
 
     // Update controller
-    float feedforward = (fan_state.target_rpm * 100.0f) / current_board->fan_max_rpm;
-    float error = fan_state.target_rpm - fan_rpm_fast;
+    fan_state.error_integral += FAN_I * (fan_state.target_rpm - fan_rpm_fast);
+    fan_state.error_integral = MIN(100.0f, MAX(0.0f, fan_state.error_integral));
 
-    fan_state.error_integral += FAN_I * error;
-    fan_state.error_integral = MIN(70.0f, MAX(-70.0f, fan_state.error_integral));
-
-    fan_state.power = MIN(100U, MAX(0U, feedforward + fan_state.error_integral));
+    fan_state.power = MIN(100U, MAX(0U, fan_state.error_integral));
     pwm_set(TIM3, 3, fan_state.power);
 
     // Cooldown counter
diff --git a/python/__init__.py b/python/__init__.py
index dd135c4ef..eca478dbb 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -194,6 +194,12 @@ class Panda:
   INTERNAL_DEVICES = (HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_TRES)
   HAS_OBD = (HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS, HW_TYPE_RED_PANDA, HW_TYPE_RED_PANDA_V2, HW_TYPE_TRES)
 
+  MAX_FAN_RPMs = {
+    HW_TYPE_UNO: 5100,
+    HW_TYPE_DOS: 6500,
+    HW_TYPE_TRES: 6600,
+  }
+
   # first byte is for EPS scaling factor
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
   FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
diff --git a/tests/fan_overshoot_test.py b/tests/fan_overshoot_test.py
new file mode 100755
index 000000000..56fd7650c
--- /dev/null
+++ b/tests/fan_overshoot_test.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+
+import time
+from panda import Panda
+
+def get_overshoot_rpm(p, power):
+  # make sure the fan is stopped completely
+  p.set_fan_power(0)
+  while p.get_fan_rpm() > 100:
+    time.sleep(0.1)
+  time.sleep(1)
+
+  # set it to 30% power to mimic going onroad
+  p.set_fan_power(power)
+  max_rpm = 0
+  for _ in range(70):
+    max_rpm = max(max_rpm, p.get_fan_rpm())
+    time.sleep(0.1)
+
+  # tolerate 10% overshoot
+  expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * power / 100
+  overshoot = (max_rpm / expected_rpm) - 1
+
+  return overshoot, max_rpm
+
+if __name__ == "__main__":
+  p = Panda()
+
+  for power in range(10, 101, 10):
+    overshoot, max_rpm = get_overshoot_rpm(p, power)
+    print(f"Fan power {power}% overshoot: {overshoot:.2f} Max RPM: {max_rpm}")