diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 971eb673e2..b4c39cafb5 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -605,7 +605,6 @@ void AnnotatedCameraWidget::paintGL() {
   SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
   const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
-  const cereal::RadarState::Reader &radar_state = sm["radarState"].getRadarState();
 
   // draw camera frame
   {
@@ -654,17 +653,13 @@ void AnnotatedCameraWidget::paintGL() {
   painter.setRenderHint(QPainter::Antialiasing);
   painter.setPen(Qt::NoPen);
 
-  if (s->worldObjectsVisible()) {
-    if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
-      update_model(s, model, sm["uiPlan"].getUiPlan());
-      if (sm.rcv_frame("radarState") > s->scene.started_frame) {
-        update_leads(s, radar_state, model.getPosition());
-      }
-    }
-
+  if (s->scene.world_objects_visible) {
+    update_model(s, model, sm["uiPlan"].getUiPlan());
     drawLaneLines(painter, s);
 
-    if (s->scene.longitudinal_control) {
+    if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame) {
+      auto radar_state = sm["radarState"].getRadarState();
+      update_leads(s, radar_state, model.getPosition());
       auto lead_one = radar_state.getLeadOne();
       auto lead_two = radar_state.getLeadTwo();
       if (lead_one.getStatus()) {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 7b2d24b53a..906de7d1ee 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -207,6 +207,12 @@ static void update_state(UIState *s) {
     scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
+
+  scene.world_objects_visible = scene.world_objects_visible ||
+                                (scene.started &&
+                                 sm.rcv_frame("liveCalibration") > scene.started_frame &&
+                                 sm.rcv_frame("modelV2") > scene.started_frame &&
+                                 sm.rcv_frame("uiPlan") > scene.started_frame);
 }
 
 void ui_update_params(UIState *s) {
@@ -233,6 +239,7 @@ void UIState::updateStatus() {
       scene.started_frame = sm->frame;
     }
     started_prev = scene.started;
+    scene.world_objects_visible = false;
     emit offroadTransition(!scene.started);
   }
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index d9a03344b6..86cd70f028 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -158,6 +158,7 @@ typedef struct UIScene {
 
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
+  bool world_objects_visible = false;
   uint64_t started_frame;
 } UIScene;
 
@@ -167,9 +168,6 @@ class UIState : public QObject {
 public:
   UIState(QObject* parent = 0);
   void updateStatus();
-  inline bool worldObjectsVisible() const {
-    return sm->rcv_frame("liveCalibration") > scene.started_frame;
-  }
   inline bool engaged() const {
     return scene.started && (*sm)["controlsState"].getControlsState().getEnabled();
   }