diff --git a/board/main.c b/board/main.c
index ba60de57fd6..d0d2a214bf9 100644
--- a/board/main.c
+++ b/board/main.c
@@ -197,15 +197,7 @@ static 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 = false;
-        }
-      } else {
-        heartbeat_engaged_mismatches = 0U;
-      }
+      safety_watchdog_reset();
 
       if (!heartbeat_disabled) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save