diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index 6039475eb0..7c9206bee7 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -381,7 +381,7 @@ class SelfdriveD:
     self.sm.update(0)
 
     if not self.initialized:
-      all_valid = CS.canValid and self.sm.all_checks()
+      all_valid = CS.canValid and self.sm.all_checks() and self.CP_initialized
       timed_out = self.sm.frame * DT_CTRL > 6.
       if all_valid or timed_out or (SIMULATION and not REPLAY):
         available_streams = VisionIpcClient.available_streams("camerad", block=False)