diff --git a/firmware/brake/kia_soul_ev_niro/src/brake_control.cpp b/firmware/brake/kia_soul_ev_niro/src/brake_control.cpp
index 2cde1912..fcfc3ef8 100644
--- a/firmware/brake/kia_soul_ev_niro/src/brake_control.cpp
+++ b/firmware/brake/kia_soul_ev_niro/src/brake_control.cpp
@@ -27,6 +27,7 @@ static void read_brake_pedal_position_sensor(
 void check_for_faults( void )
 {
     static condition_state_s grounded_fault_state = CONDITION_STATE_INIT;
+    static condition_state_s operator_override_state = CONDITION_STATE_INIT;
 
     brake_pedal_position_s brake_pedal_position;
 
@@ -38,6 +39,11 @@ void check_for_faults( void )
         uint32_t brake_pedal_position_average =
             (brake_pedal_position.low + brake_pedal_position.high) / 2;
 
+        bool operator_overridden = condition_exceeded_duration(
+                brake_pedal_position_average >= BRAKE_PEDAL_OVERRIDE_THRESHOLD,
+                FAULT_HYSTERESIS,
+                &operator_override_state);
+
         bool inputs_grounded = check_voltage_grounded(
                 brake_pedal_position.high,
                 brake_pedal_position.low,
@@ -56,7 +62,7 @@ void check_for_faults( void )
 
             DEBUG_PRINTLN( "Bad value read from brake pedal position sensor" );
         }
-        else if ( brake_pedal_position_average >= BRAKE_PEDAL_OVERRIDE_THRESHOLD )
+        else if ( operator_overridden == true )
         {
             disable_control( );
 
diff --git a/firmware/brake/kia_soul_ev_niro/tests/features/checking_faults.feature b/firmware/brake/kia_soul_ev_niro/tests/features/checking_faults.feature
index 3dd374c0..00daab88 100644
--- a/firmware/brake/kia_soul_ev_niro/tests/features/checking_faults.feature
+++ b/firmware/brake/kia_soul_ev_niro/tests/features/checking_faults.feature
@@ -18,7 +18,7 @@ Feature: Checking for faults
   Scenario Outline: Operator override
     Given brake control is enabled
 
-    When the operator applies <sensor_val> to the accelerator
+    When the operator applies <sensor_val> to the brake pedal for 200 ms
 
     Then control should be disabled
     And a fault report should be published
diff --git a/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/checking_faults.cpp b/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/checking_faults.cpp
index aef811fe..245b8b8d 100644
--- a/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/checking_faults.cpp
+++ b/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/checking_faults.cpp
@@ -3,23 +3,26 @@ WHEN("^a sensor becomes permanently disconnected$")
     g_mock_arduino_analog_read_return[0] = 0;
     g_mock_arduino_analog_read_return[1] = 0;
 
+    g_mock_arduino_millis_return = 1;
     check_for_faults();
 
-    // must call function enough times to exceed the fault limit
-    g_mock_arduino_millis_return = 105;
-
+    g_mock_arduino_millis_return += FAULT_HYSTERESIS * 2;
     check_for_faults();
 }
 
 
-WHEN("^the operator applies (.*) to the accelerator$")
+WHEN("^the operator applies (.*) to the brake pedal for (\\d+) ms$")
 {
     REGEX_PARAM(int, brake_sensor_val);
+    REGEX_PARAM(int, duration);
 
     g_mock_arduino_analog_read_return[0] = brake_sensor_val;
     g_mock_arduino_analog_read_return[1] = brake_sensor_val;
 
+    g_mock_arduino_millis_return = 1;
+    check_for_faults();
 
+    g_mock_arduino_millis_return += duration;
     check_for_faults();
 }
 
diff --git a/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/common.cpp b/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/common.cpp
index 2e1ec6e7..d3ca2dd0 100644
--- a/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/common.cpp
+++ b/firmware/brake/kia_soul_ev_niro/tests/features/step_definitions/common.cpp
@@ -12,6 +12,7 @@
 #include "can_protocols/fault_can_protocol.h"
 #include "can_protocols/brake_can_protocol.h"
 #include "globals.h"
+#include "vehicles.h"
 
 using namespace cgreen;
 
diff --git a/firmware/brake/kia_soul_petrol/CMakeLists.txt b/firmware/brake/kia_soul_petrol/CMakeLists.txt
index 3c809742..b854ddc9 100644
--- a/firmware/brake/kia_soul_petrol/CMakeLists.txt
+++ b/firmware/brake/kia_soul_petrol/CMakeLists.txt
@@ -9,6 +9,7 @@ generate_arduino_firmware(
     ${CMAKE_SOURCE_DIR}/common/libs/serial/oscc_serial.cpp
     ${CMAKE_SOURCE_DIR}/common/libs/can/oscc_can.cpp
     ${CMAKE_SOURCE_DIR}/common/libs/timer/oscc_timer.cpp
+    ${CMAKE_SOURCE_DIR}/common/libs/fault_check/oscc_check.cpp
     src/main.cpp
     src/globals.cpp
     src/accumulator.cpp
@@ -30,6 +31,7 @@ target_include_directories(
     ${CMAKE_SOURCE_DIR}/common/libs/serial
     ${CMAKE_SOURCE_DIR}/common/libs/can
     ${CMAKE_SOURCE_DIR}/common/libs/timer
+    ${CMAKE_SOURCE_DIR}/common/libs/fault_check
     ${CMAKE_SOURCE_DIR}/../api/include)
 
 add_subdirectory(utils)
diff --git a/firmware/brake/kia_soul_petrol/src/brake_control.cpp b/firmware/brake/kia_soul_petrol/src/brake_control.cpp
index ca361054..56114288 100644
--- a/firmware/brake/kia_soul_petrol/src/brake_control.cpp
+++ b/firmware/brake/kia_soul_petrol/src/brake_control.cpp
@@ -18,7 +18,7 @@
 #include "master_cylinder.h"
 #include "oscc_pid.h"
 #include "vehicles.h"
-
+#include "oscc_check.h"
 
 /*
  * @brief Number of consecutive faults that can occur when reading the
@@ -100,6 +100,8 @@ void disable_control( void )
 
 void check_for_operator_override( void )
 {
+    static condition_state_s operator_override_state = CONDITION_STATE_INIT;
+
     if( g_brake_control_state.enabled == true
         || g_brake_control_state.operator_override == true )
     {
@@ -107,8 +109,16 @@ void check_for_operator_override( void )
 
         master_cylinder_read_pressure( &master_cylinder_pressure );
 
-        if ( ( master_cylinder_pressure.sensor_1_pressure >= BRAKE_OVERRIDE_PEDAL_THRESHOLD_IN_DECIBARS ) ||
-            ( master_cylinder_pressure.sensor_2_pressure >= BRAKE_OVERRIDE_PEDAL_THRESHOLD_IN_DECIBARS ) )
+        bool override_detected =
+            ( master_cylinder_pressure.sensor_1_pressure >= BRAKE_OVERRIDE_PEDAL_THRESHOLD_IN_DECIBARS ) ||
+            ( master_cylinder_pressure.sensor_2_pressure >= BRAKE_OVERRIDE_PEDAL_THRESHOLD_IN_DECIBARS );
+
+        bool operator_overridden = condition_exceeded_duration(
+                override_detected,
+                FAULT_HYSTERESIS,
+                &operator_override_state);
+
+        if ( operator_overridden == true )
         {
             disable_control( );
 
diff --git a/firmware/brake/kia_soul_petrol/tests/CMakeLists.txt b/firmware/brake/kia_soul_petrol/tests/CMakeLists.txt
index a65710c0..5da335ed 100644
--- a/firmware/brake/kia_soul_petrol/tests/CMakeLists.txt
+++ b/firmware/brake/kia_soul_petrol/tests/CMakeLists.txt
@@ -11,6 +11,7 @@ add_library(
     ../src/helper.cpp
     ${CMAKE_SOURCE_DIR}/common/libs/can/oscc_can.cpp
     ${CMAKE_SOURCE_DIR}/common/libs/pid/oscc_pid.cpp
+    ${CMAKE_SOURCE_DIR}/common/libs/fault_check/oscc_check.cpp
     ${CMAKE_SOURCE_DIR}/common/testing/mocks/Arduino_mock.cpp
     ${CMAKE_SOURCE_DIR}/common/testing/mocks/mcp_can_mock.cpp
     ${CMAKE_SOURCE_DIR}/common/testing/mocks/DAC_MCP49xx_mock.cpp)
@@ -22,6 +23,7 @@ target_include_directories(
     ${CMAKE_SOURCE_DIR}/common/include
     ${CMAKE_SOURCE_DIR}/common/libs/can
     ${CMAKE_SOURCE_DIR}/common/libs/pid
+    ${CMAKE_SOURCE_DIR}/common/libs/fault_check
     ${CMAKE_SOURCE_DIR}/common/libs/signal_smoothing
     ${CMAKE_SOURCE_DIR}/common/testing/mocks
     ${CMAKE_SOURCE_DIR}/../api/include)
diff --git a/firmware/brake/kia_soul_petrol/tests/features/checking_faults.feature b/firmware/brake/kia_soul_petrol/tests/features/checking_faults.feature
index 3c036eeb..9aa560b0 100644
--- a/firmware/brake/kia_soul_petrol/tests/features/checking_faults.feature
+++ b/firmware/brake/kia_soul_petrol/tests/features/checking_faults.feature
@@ -27,7 +27,7 @@ Feature: Timeouts and overrides
   Scenario Outline: Operator override
     Given brake control is enabled
 
-    When the operator applies <sensor_val> to the brake pedal
+    When the operator applies <sensor_val> to the brake pedal for 200 ms
 
     Then control should be disabled
     And a fault report should be published
diff --git a/firmware/brake/kia_soul_petrol/tests/features/step_definitions/checking_faults.cpp b/firmware/brake/kia_soul_petrol/tests/features/step_definitions/checking_faults.cpp
index f0b078c2..79c7f1bb 100644
--- a/firmware/brake/kia_soul_petrol/tests/features/step_definitions/checking_faults.cpp
+++ b/firmware/brake/kia_soul_petrol/tests/features/step_definitions/checking_faults.cpp
@@ -3,10 +3,10 @@ WHEN("^a sensor becomes temporarily disconnected$")
     g_mock_arduino_analog_read_return[0] = 0;
     g_mock_arduino_analog_read_return[1] = 0;
 
+    g_mock_arduino_millis_return = 1;
     check_for_sensor_faults();
 
-    check_for_sensor_faults();
-
+    g_mock_arduino_millis_return += FAULT_HYSTERESIS / 2;
     check_for_sensor_faults();
 }
 
@@ -16,23 +16,27 @@ WHEN("^a sensor becomes permanently disconnected$")
     g_mock_arduino_analog_read_return[0] = 0;
     g_mock_arduino_analog_read_return[1] = 0;
 
-    // must call function enough times to exceed the fault limit
-    for( int i = 0; i < 100; ++i )
-    {
-        check_for_sensor_faults();
-    }
+    g_mock_arduino_millis_return = 1;
+    check_for_sensor_faults();
+
+    g_mock_arduino_millis_return += FAULT_HYSTERESIS * 2;
+    check_for_sensor_faults();
 }
 
 
-WHEN("^the operator applies (.*) to the brake pedal$")
+WHEN("^the operator applies (.*) to the brake pedal for (\\d+) ms$")
 {
     REGEX_PARAM(int, pedal_val);
+    REGEX_PARAM(int, duration);
 
     g_mock_arduino_analog_read_return[10] = pedal_val;
     g_mock_arduino_analog_read_return[11] = pedal_val;
 
+    g_mock_arduino_millis_return = 1;
     check_for_operator_override();
 
+    g_mock_arduino_millis_return += duration;
+    check_for_operator_override();
 }
 
 
diff --git a/firmware/brake/kia_soul_petrol/tests/features/step_definitions/common.cpp b/firmware/brake/kia_soul_petrol/tests/features/step_definitions/common.cpp
index db167b02..d7c806e6 100644
--- a/firmware/brake/kia_soul_petrol/tests/features/step_definitions/common.cpp
+++ b/firmware/brake/kia_soul_petrol/tests/features/step_definitions/common.cpp
@@ -17,6 +17,7 @@
 using namespace cgreen;
 
 extern unsigned long g_mock_arduino_micros_return;
+extern unsigned long g_mock_arduino_millis_return;
 
 extern uint8_t g_mock_arduino_digital_write_pins[100];
 extern uint8_t g_mock_arduino_digital_write_val[100];
diff --git a/firmware/brake/kia_soul_petrol/utils/serial_actuator/CMakeLists.txt b/firmware/brake/kia_soul_petrol/utils/serial_actuator/CMakeLists.txt
index ea132815..4627e237 100644
--- a/firmware/brake/kia_soul_petrol/utils/serial_actuator/CMakeLists.txt
+++ b/firmware/brake/kia_soul_petrol/utils/serial_actuator/CMakeLists.txt
@@ -9,6 +9,7 @@ generate_arduino_firmware(
     ${CMAKE_SOURCE_DIR}/common/libs/serial/oscc_serial.cpp
     ${CMAKE_SOURCE_DIR}/common/libs/can/oscc_can.cpp
     ${CMAKE_SOURCE_DIR}/common/libs/timer/oscc_timer.cpp
+    ${CMAKE_SOURCE_DIR}/common/libs/fault_check/oscc_check.cpp
     ../../src/globals.cpp
     ../../src/accumulator.cpp
     ../../src/helper.cpp
@@ -29,4 +30,5 @@ target_include_directories(
     ${CMAKE_SOURCE_DIR}/common/libs/serial
     ${CMAKE_SOURCE_DIR}/common/libs/can
     ${CMAKE_SOURCE_DIR}/common/libs/timer
+    ${CMAKE_SOURCE_DIR}/common/libs/fault_check
     ${CMAKE_SOURCE_DIR}/../api/include)
diff --git a/firmware/throttle/src/throttle_control.cpp b/firmware/throttle/src/throttle_control.cpp
index c82b88f6..3745a0e8 100644
--- a/firmware/throttle/src/throttle_control.cpp
+++ b/firmware/throttle/src/throttle_control.cpp
@@ -25,6 +25,7 @@ static void read_accelerator_position_sensor(
 void check_for_faults( void )
 {
     static condition_state_s grounded_fault_state = CONDITION_STATE_INIT;
+    static condition_state_s operator_override_state = CONDITION_STATE_INIT;
 
     accelerator_position_s accelerator_position;
 
@@ -36,6 +37,11 @@ void check_for_faults( void )
         uint32_t accelerator_position_average =
             (accelerator_position.low + accelerator_position.high) / 2;
 
+        bool operator_overridden = condition_exceeded_duration(
+                accelerator_position_average >= ACCELERATOR_OVERRIDE_THRESHOLD,
+                FAULT_HYSTERESIS,
+                &operator_override_state);
+
         bool inputs_grounded = check_voltage_grounded(
                 accelerator_position.high,
                 accelerator_position.low,
@@ -55,7 +61,7 @@ void check_for_faults( void )
 
             DEBUG_PRINTLN( "Bad value read from accelerator position sensor" );
         }
-        else if ( accelerator_position_average >= ACCELERATOR_OVERRIDE_THRESHOLD
+        else if ( operator_overridden == true
           && g_throttle_control_state.operator_override == false )
         {
             disable_control( );
diff --git a/firmware/throttle/tests/features/checking_faults.feature b/firmware/throttle/tests/features/checking_faults.feature
index bc6f480b..e3f0c823 100644
--- a/firmware/throttle/tests/features/checking_faults.feature
+++ b/firmware/throttle/tests/features/checking_faults.feature
@@ -17,7 +17,7 @@ Feature: Checking for faults
   Scenario Outline: Operator override
     Given throttle control is enabled
 
-    When the operator applies <sensor_val> to the accelerator
+    When the operator applies <sensor_val> to the accelerator for 200 ms
 
     Then control should be disabled
     And a fault report should be published
diff --git a/firmware/throttle/tests/features/step_definitions/checking_faults.cpp b/firmware/throttle/tests/features/step_definitions/checking_faults.cpp
index 34f7f118..e32b2cb9 100644
--- a/firmware/throttle/tests/features/step_definitions/checking_faults.cpp
+++ b/firmware/throttle/tests/features/step_definitions/checking_faults.cpp
@@ -3,22 +3,26 @@ WHEN("^a sensor becomes permanently disconnected$")
     g_mock_arduino_analog_read_return[0] = 0;
     g_mock_arduino_analog_read_return[1] = 0;
 
+    g_mock_arduino_millis_return = 1;
     check_for_faults();
 
-    // must call function enough times to exceed the fault limit
-    g_mock_arduino_millis_return = 105;
-
+    g_mock_arduino_millis_return += FAULT_HYSTERESIS * 2;
     check_for_faults();
 }
 
 
-WHEN("^the operator applies (.*) to the accelerator$")
+WHEN("^the operator applies (.*) to the accelerator for (\\d+) ms$")
 {
     REGEX_PARAM(int, throttle_sensor_val);
+    REGEX_PARAM(int, duration);
 
     g_mock_arduino_analog_read_return[0] = throttle_sensor_val;
     g_mock_arduino_analog_read_return[1] = throttle_sensor_val;
 
+    g_mock_arduino_millis_return = 1;
+    check_for_faults();
+
+    g_mock_arduino_millis_return += duration;
     check_for_faults();
 }
 
diff --git a/firmware/throttle/tests/features/step_definitions/common.cpp b/firmware/throttle/tests/features/step_definitions/common.cpp
index f4166445..5440350e 100644
--- a/firmware/throttle/tests/features/step_definitions/common.cpp
+++ b/firmware/throttle/tests/features/step_definitions/common.cpp
@@ -12,6 +12,7 @@
 #include "can_protocols/fault_can_protocol.h"
 #include "can_protocols/throttle_can_protocol.h"
 #include "globals.h"
+#include "vehicles.h"
 
 using namespace cgreen;