diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
index f44dc152bb..0e1710c240 100644
--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -100,7 +100,7 @@ class UIState(UIStateSP):
 
   @property
   def engaged(self) -> bool:
-    return self.started and self.sm["selfdriveState"].enabled
+    return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled)
 
   def is_onroad(self) -> bool:
     return self.started