From e76ef93a833396dba4e3478966f9b48894c08638 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 14 Feb 2022 13:55:30 +0100
Subject: [PATCH] ui: fix onroad transition with active nav (#23757)

---
 selfdrive/ui/qt/onroad.cc | 12 ++++++++----
 selfdrive/ui/ui.cc        |  4 +---
 selfdrive/ui/ui.h         |  2 +-
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index f7e2dc9bf..44dde8581 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -80,11 +80,15 @@ void OnroadWindow::offroadTransition(bool offroad) {
   if (!offroad) {
     if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) {
       MapWindow * m = new MapWindow(get_mapbox_settings());
-      m->setFixedWidth(topWidget(this)->width() / 2);
-      m->offroadTransition(offroad);
-      QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
-      split->addWidget(m, 0, Qt::AlignRight);
       map = m;
+
+      QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
+
+      m->setFixedWidth(topWidget(this)->width() / 2);
+      split->addWidget(m, 0, Qt::AlignRight);
+
+      // Make map visible after adding to split
+      m->offroadTransition(offroad);
     }
   }
 #endif
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 007dc36d0..bbdd6d4f3 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -208,7 +208,7 @@ void UIState::updateStatus() {
   }
 
   // Handle onroad/offroad transition
-  if (scene.started != started_prev) {
+  if (scene.started != started_prev || sm->frame == 1) {
     if (scene.started) {
       status = STATUS_DISENGAGED;
       scene.started_frame = sm->frame;
@@ -217,8 +217,6 @@ void UIState::updateStatus() {
     }
     started_prev = scene.started;
     emit offroadTransition(!scene.started);
-  } else if (sm->frame == 1) {
-    emit offroadTransition(!scene.started);
   }
 }
 
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index cd7ea446e..6847a7bc9 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -141,7 +141,7 @@ private slots:
 
 private:
   QTimer *timer;
-  bool started_prev = true;
+  bool started_prev = false;
 };
 
 UIState *uiState();