diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 950b34e8bc..c2e6135871 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -345,7 +345,7 @@ def thermald_thread():
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
     startup_conditions["completed_training"] = params.get("CompletedTrainingVersion") == training_version or \
-                                               (current_branch in ['dashcam', 'dashcam-staging'])
+                                               params.get_bool("Passive")
     startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
     startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
     # if any CPU gets above 107 or the battery gets above 63, kill all processes
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index 0842a29e97..2c100885ec 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -88,15 +88,6 @@ void TermsPage::showEvent(QShowEvent *event) {
   accept_btn->setEnabled(false);
   buttons->addWidget(accept_btn);
   QObject::connect(accept_btn, &QPushButton::released, this, &TermsPage::acceptedTerms);
-
-  setStyleSheet(R"(
-    QPushButton {
-      padding: 50px;
-      font-size: 50px;
-      border-radius: 10px;
-      background-color: #292929;
-    }
-  )");
 }
 
 void TermsPage::enableAccept() {
@@ -137,23 +128,14 @@ void DeclinePage::showEvent(QShowEvent *event) {
       Params().putBool("DoUninstall", true);
     }
   });
-
-  setStyleSheet(R"(
-    QPushButton {
-      padding: 50px;
-      font-size: 50px;
-      border-radius: 10px;
-      background-color: #292929;
-    }
-  )");
 }
 
 void OnboardingWindow::updateActiveScreen() {
-  updateOnboardingStatus();
-
+  accepted_terms = params.get("HasAcceptedTerms") == current_terms_version;
+  training_done = params.get("CompletedTrainingVersion") == current_training_version;
   if (!accepted_terms) {
     setCurrentIndex(0);
-  } else if (!training_done) {
+  } else if (!training_done && !params.getBool("Passive")) {
     setCurrentIndex(1);
   } else {
     emit onboardingDone();
@@ -161,35 +143,27 @@ void OnboardingWindow::updateActiveScreen() {
 }
 
 OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
-  params = Params();
-  current_terms_version = params.get("TermsVersion", false);
-  current_training_version = params.get("TrainingVersion", false);
+  current_terms_version = params.get("TermsVersion");
+  current_training_version = params.get("TrainingVersion");
 
   TermsPage* terms = new TermsPage(this);
   addWidget(terms);
-
   connect(terms, &TermsPage::acceptedTerms, [=]() {
     Params().put("HasAcceptedTerms", current_terms_version);
     updateActiveScreen();
   });
+  connect(terms, &TermsPage::declinedTerms, [=]() { setCurrentIndex(2); });
 
   TrainingGuide* tr = new TrainingGuide(this);
+  addWidget(tr);
   connect(tr, &TrainingGuide::completedTraining, [=]() {
     Params().put("CompletedTrainingVersion", current_training_version);
     updateActiveScreen();
   });
-  addWidget(tr);
 
   DeclinePage* declinePage = new DeclinePage(this);
   addWidget(declinePage);
-
-  connect(terms, &TermsPage::declinedTerms, [=]() {
-    setCurrentIndex(2);
-  });
-
-  connect(declinePage, &DeclinePage::getBack, [=]() {
-    updateActiveScreen();
-  });
+  connect(declinePage, &DeclinePage::getBack, [=]() { updateActiveScreen(); });
 
   setStyleSheet(R"(
     * {
@@ -198,7 +172,8 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
     }
     QPushButton {
       padding: 50px;
-      border-radius: 30px;
+      font-size: 50px;
+      border-radius: 10px;
       background-color: #292929;
     }
     QPushButton:disabled {
@@ -206,16 +181,8 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
       background-color: #222222;
     }
   )");
-
-  updateActiveScreen();
-}
-
-void OnboardingWindow::updateOnboardingStatus() {
-  accepted_terms = params.get("HasAcceptedTerms", false).compare(current_terms_version) == 0;
-  training_done = params.get("CompletedTrainingVersion", false).compare(current_training_version) == 0;
 }
 
-bool OnboardingWindow::isOnboardingDone() {
-  updateOnboardingStatus();
-  return accepted_terms && training_done;
+void OnboardingWindow::showEvent(QShowEvent *event) {
+  updateActiveScreen();
 }
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index 584adda4f0..8752e831b7 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -14,12 +14,11 @@ class TrainingGuide : public QFrame {
 public:
   explicit TrainingGuide(QWidget *parent = 0) : QFrame(parent) {};
 
-protected:
+private:
   void showEvent(QShowEvent *event) override;
   void paintEvent(QPaintEvent *event) override;
   void mouseReleaseEvent(QMouseEvent* e) override;
 
-private:
   QImage image;
   QPoint imageCorner;
   int currentIndex = 0;
@@ -58,16 +57,15 @@ class TermsPage : public QFrame {
 public:
   explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {};
 
-protected:
-  void showEvent(QShowEvent *event) override;
+public slots:
+  void enableAccept();
 
 private:
+  void showEvent(QShowEvent *event) override;
+
   QPushButton *accept_btn;
   QPushButton *decline_btn;
 
-public slots:
-  void enableAccept();
-
 signals:
   void acceptedTerms();
   void declinedTerms();
@@ -79,10 +77,8 @@ class DeclinePage : public QFrame {
 public:
   explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {};
 
-protected:
-  void showEvent(QShowEvent *event) override;
-
 private:
+  void showEvent(QShowEvent *event) override;
   QPushButton *back_btn;
   QPushButton *uninstall_btn;
 
@@ -95,20 +91,17 @@ class OnboardingWindow : public QStackedWidget {
 
 public:
   explicit OnboardingWindow(QWidget *parent = 0);
-  bool isOnboardingDone();
 
 private:
+  void showEvent(QShowEvent *event) override;
+  void updateActiveScreen();
+
   Params params;
   std::string current_terms_version;
   std::string current_training_version;
   bool accepted_terms = false;
   bool training_done = false;
-  void updateOnboardingStatus();
 
 signals:
   void onboardingDone();
-  void resetTrainingGuide();
-
-public slots:
-  void updateActiveScreen();
 };
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 5256bfa50a..84f3533858 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -147,13 +147,16 @@ DevicePanel::DevicePanel(QWidget* parent) : QWidget(parent) {
     resetCalibBtn->setDescription(desc);
   });
 
-  auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
-  connect(retrainingBtn, &ButtonControl::released, [=]() {
-    if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
-      Params().remove("CompletedTrainingVersion");
-      emit reviewTrainingGuide();
-    }
-  });
+  ButtonControl *retrainingBtn = nullptr;
+  if (!params.getBool("Passive")) {
+    retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
+    connect(retrainingBtn, &ButtonControl::released, [=]() {
+      if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
+        Params().remove("CompletedTrainingVersion");
+        emit reviewTrainingGuide();
+      }
+    });
+  }
 
   auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL");
   connect(uninstallBtn, &ButtonControl::released, [=]() {
@@ -163,9 +166,11 @@ DevicePanel::DevicePanel(QWidget* parent) : QWidget(parent) {
   });
 
   for (auto btn : {dcamBtn, resetCalibBtn, retrainingBtn, uninstallBtn}) {
-    main_layout->addWidget(horizontal_line());
-    connect(parent, SIGNAL(offroadTransition(bool)), btn, SLOT(setEnabled(bool)));
-    main_layout->addWidget(btn);
+    if (btn) {
+      main_layout->addWidget(horizontal_line());
+      connect(parent, SIGNAL(offroadTransition(bool)), btn, SLOT(setEnabled(bool)));
+      main_layout->addWidget(btn);
+    }
   }
 
   // power buttons
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 8edfb2efae..2a821abde4 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -8,6 +8,12 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout = new QStackedLayout(this);
   main_layout->setMargin(0);
 
+  onboardingWindow = new OnboardingWindow(this);
+  main_layout->addWidget(onboardingWindow);
+  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
+    main_layout->setCurrentWidget(homeWindow);
+  });
+
   homeWindow = new HomeWindow(this);
   main_layout->addWidget(homeWindow);
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
@@ -21,26 +27,25 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(settingsWindow);
   QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings);
   QObject::connect(&qs, &QUIState::offroadTransition, settingsWindow, &SettingsWindow::offroadTransition);
-  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, this, &MainWindow::reviewTrainingGuide);
+  QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() {
+    main_layout->setCurrentWidget(onboardingWindow);
+  });
   QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] {
     homeWindow->showDriverView(true);
   });
 
-  onboardingWindow = new OnboardingWindow(this);
-  onboardingDone = onboardingWindow->isOnboardingDone();
-  main_layout->addWidget(onboardingWindow);
-
-  main_layout->setCurrentWidget(onboardingWindow);
-  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
-    onboardingDone = true;
-    closeSettings();
-  });
-  onboardingWindow->updateActiveScreen();
-
   device.setAwake(true, true);
   QObject::connect(&qs, &QUIState::uiUpdate, &device, &Device::update);
-  QObject::connect(&qs, &QUIState::offroadTransition, this, &MainWindow::offroadTransition);
-  QObject::connect(&device, &Device::displayPowerChanged, this, &MainWindow::closeSettings);
+  QObject::connect(&qs, &QUIState::offroadTransition, [=](bool offroad) {
+    if (!offroad) {
+      closeSettings();
+    }
+  });
+  QObject::connect(&device, &Device::displayPowerChanged, [=]() {
+     if(main_layout->currentWidget() != onboardingWindow) {
+       closeSettings();
+     }
+  });
 
   // load fonts
   QFontDatabase::addApplicationFont("../assets/fonts/opensans_regular.ttf");
@@ -56,26 +61,12 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   )");
 }
 
-void MainWindow::offroadTransition(bool offroad) {
-  if(!offroad) {
-    closeSettings();
-  }
-}
-
 void MainWindow::openSettings() {
   main_layout->setCurrentWidget(settingsWindow);
 }
 
 void MainWindow::closeSettings() {
-  if(onboardingDone) {
-    main_layout->setCurrentWidget(homeWindow);
-  }
-}
-
-void MainWindow::reviewTrainingGuide() {
-  onboardingDone = false;
-  main_layout->setCurrentWidget(onboardingWindow);
-  onboardingWindow->updateActiveScreen();
+  main_layout->setCurrentWidget(homeWindow);
 }
 
 bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 5a40e94bb2..069831cffe 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -6,18 +6,18 @@
 #include "selfdrive/ui/qt/home.h"
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
-#include "selfdrive/ui/ui.h"
 
 class MainWindow : public QWidget {
   Q_OBJECT
 
-protected:
-  bool eventFilter(QObject *obj, QEvent *event) override;
-
 public:
   explicit MainWindow(QWidget *parent = 0);
 
 private:
+  bool eventFilter(QObject *obj, QEvent *event) override;
+  void openSettings();
+  void closeSettings();
+
   Device device;
   QUIState qs;
 
@@ -25,11 +25,4 @@ private:
   HomeWindow *homeWindow;
   SettingsWindow *settingsWindow;
   OnboardingWindow *onboardingWindow;
-  bool onboardingDone = false;
-
-public slots:
-  void offroadTransition(bool offroad);
-  void openSettings();
-  void closeSettings();
-  void reviewTrainingGuide();
 };