diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 38e0e7eb8d..d0c3c04879 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -152,14 +152,14 @@ static void update_state(UIState *s) {
   if (sm.updated("carParams")) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
-  if (sm.updated("sensorEvents")) {
+  if (!scene.started && sm.updated("sensorEvents")) {
     for (auto sensor : sm["sensorEvents"].getSensorEvents()) {
-      if (!scene.started && sensor.which() == cereal::SensorEventData::ACCELERATION) {
+      if (sensor.which() == cereal::SensorEventData::ACCELERATION) {
         auto accel = sensor.getAcceleration().getV();
         if (accel.totalSize().wordCount) { // TODO: sometimes empty lists are received. Figure out why
           scene.accel_sensor = accel[2];
         }
-      } else if (!scene.started && sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
+      } else if (sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) {
         auto gyro = sensor.getGyroUncalibrated().getV();
         if (gyro.totalSize().wordCount) {
           scene.gyro_sensor = gyro[1];