diff --git a/board/main.c b/board/main.c
index b8831c9d1..b3a92831f 100644
--- a/board/main.c
+++ b/board/main.c
@@ -209,16 +209,6 @@ void tick_handler(void) {
 
       }
 
-      // exit controls allowed if unused by openpilot for a few seconds
-      if (controls_allowed && !heartbeat_engaged) {
-        heartbeat_engaged_mismatches += 1U;
-        if (heartbeat_engaged_mismatches >= 3U) {
-          controls_allowed = 0U;
-        }
-      } else {
-        heartbeat_engaged_mismatches = 0U;
-      }
-
       if (!heartbeat_disabled) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
         if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {
diff --git a/board/safety.h b/board/safety.h
index 4d7efd2a0..74e1a4a97 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -161,8 +161,9 @@ int get_addr_check_index(CANPacket_t *to_push, AddrCheckStruct addr_list[], cons
   return index;
 }
 
-// 1Hz safety function called by main. Now just a check for lagging safety messages
+// 1Hz safety function called by main
 void safety_tick(const addr_checks *rx_checks) {
+  // check for lagging messages
   bool rx_checks_invalid = false;
   uint32_t ts = microsecond_timer_get();
   if (rx_checks != NULL) {
@@ -182,8 +183,17 @@ void safety_tick(const addr_checks *rx_checks) {
       }
     }
   }
-
   safety_rx_checks_invalid = rx_checks_invalid;
+
+  // exit controls allowed if unused by openpilot for a few seconds
+  if (controls_allowed && !heartbeat_engaged) {
+    heartbeat_engaged_mismatches += 1U;
+    if (heartbeat_engaged_mismatches >= 3U) {
+      controls_allowed = 0U;
+    }
+  } else {
+    heartbeat_engaged_mismatches = 0U;
+  }
 }
 
 void update_counter(AddrCheckStruct addr_list[], int index, uint8_t counter) {