From 748adb4c63baab7da2888abcb7b79c88546c07e3 Mon Sep 17 00:00:00 2001
From: sshane <shane@smiskol.com>
Date: Tue, 13 Jul 2021 14:58:54 -0700
Subject: [PATCH] ui: fix finish setup button (#21538)

old-commit-hash: c10d46d336d91b9eb1732477d58351022485ce11
---
 selfdrive/ui/qt/home.cc | 6 +++---
 selfdrive/ui/ui.cc      | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 6299f54e7c..4800fc5c5b 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -25,15 +25,15 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout = new QStackedLayout();
   main_layout->addLayout(slayout);
 
+  home = new OffroadHome();
+  slayout->addWidget(home);
+
   onroad = new OnroadWindow(this);
   slayout->addWidget(onroad);
 
   QObject::connect(this, &HomeWindow::update, onroad, &OnroadWindow::update);
   QObject::connect(this, &HomeWindow::offroadTransitionSignal, onroad, &OnroadWindow::offroadTransitionSignal);
 
-  home = new OffroadHome();
-  slayout->addWidget(home);
-
   driver_view = new DriverViewWindow(this);
   connect(driver_view, &DriverViewWindow::done, [=] {
     showDriverView(false);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index f9b4f2eee7..62f621de4e 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -134,7 +134,7 @@ static void update_state(UIState *s) {
     scene.engageable = sm["controlsState"].getControlsState().getEngageable();
     scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode();
   }
-  if (sm.updated("radarState")) {
+  if (sm.updated("radarState") && s->vg) {
     std::optional<cereal::ModelDataV2::XYZTData::Reader> line;
     if (sm.rcv_frame("modelV2") > 0) {
       line = sm["modelV2"].getModelV2().getPosition();
@@ -158,7 +158,7 @@ static void update_state(UIState *s) {
       }
     }
   }
-  if (sm.updated("modelV2")) {
+  if (sm.updated("modelV2") && s->vg) {
     update_model(s, sm["modelV2"].getModelV2());
   }
   if (sm.updated("pandaState")) {