controlsd: check all_valid only if not initialized (#23437)

* check all valid in if statement

* apply review

selfdrive/controls/controlsd.py

@@ -366,8 +366,9 @@ class Controls:
 
     self.sm.update(0)
 
+    if not self.initialized:
       all_valid = CS.canValid and self.sm.all_alive_and_valid()
-    if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION):
+      if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
         if not self.read_only:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
         self.initialized = True