diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py
index 983c7cc0b1..f8607fffc6 100644
--- a/selfdrive/manager/helpers.py
+++ b/selfdrive/manager/helpers.py
@@ -36,3 +36,8 @@ def unblock_stdout() -> None:
     # whose low byte is the signal number and whose high byte is the exit status
     exit_status = os.wait()[1] >> 8
     os._exit(exit_status)
+
+
+def write_onroad_params(started, params):
+  params.put_bool("IsOnroad", started)
+  params.put_bool("IsOffroad", not started)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 5511663777..a1efd564f0 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -14,7 +14,7 @@ from common.params import Params, ParamKeyType
 from common.text_window import TextWindow
 from selfdrive.boardd.set_time import set_time
 from system.hardware import HARDWARE, PC
-from selfdrive.manager.helpers import unblock_stdout
+from selfdrive.manager.helpers import unblock_stdout, write_onroad_params
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
@@ -136,6 +136,7 @@ def manager_thread() -> None:
   sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
   pm = messaging.PubMaster(['managerState'])
 
+  write_onroad_params(False, params)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
   started_prev = False
@@ -150,10 +151,9 @@ def manager_thread() -> None:
     elif not started and started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
 
-    # initialize and update onroad params, which drives boardd's safety setter thread
-    if started != started_prev or sm.frame == 0:
-      params.put_bool("IsOnroad", started)
-      params.put_bool("IsOffroad", not started)
+    # update onroad params, which drives boardd's safety setter thread
+    if started != started_prev:
+      write_onroad_params(started, params)
 
     started_prev = started