diff --git a/common/dp_conf.py b/common/dp_conf.py
index 9cff4f2b8..f1414a510 100644
--- a/common/dp_conf.py
+++ b/common/dp_conf.py
@@ -125,6 +125,7 @@ confs = [
   {'name': 'dp_nav_amap_key_2', 'default': '', 'type': 'Text', 'conf_type': ['param']},
   {'name': 'dp_nav_style_day', 'default': 'mapbox://styles/rav4kumar/ckv7dtfba6oik15r0w8dh1c1q', 'type': 'Text', 'conf_type': ['param']},
   {'name': 'dp_nav_style_night', 'default': 'mapbox://styles/rav4kumar/ckvsf3f4u0zb414tcz9vof5jc', 'type': 'Text', 'conf_type': ['param']},
+  {'name': 'dp_no_offroad_fix', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
 ]
 
 # from 0.8.9 to 0.8.10
diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index ae33c00d3..1ad35e445 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -299,6 +299,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"dp_nav_amap_key_2", PERSISTENT},
     {"dp_nav_style_day", PERSISTENT},
     {"dp_nav_style_night", PERSISTENT},
+    {"dp_no_offroad_fix", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 8ebfcec0f..af4290009 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -251,6 +251,7 @@ def thermald_thread():
     params.put_bool("BootedOnroad", True)
 
   # dp
+  peripheralStateLast = None
   dp_no_batt = params.get_bool("dp_no_batt")
   dp_temp_monitor = True
   dp_last_modified_temp_monitor = None
@@ -268,6 +269,7 @@ def thermald_thread():
   last_modified = None
   last_modified_check = None
 
+  dp_no_offroad_fix = params.get_bool('dp_no_offroad_fix')
   if JETSON:
     handle_fan = handle_fan_jetson
 
@@ -469,6 +471,9 @@ def thermald_thread():
 
     # Handle offroad/onroad transition
     should_start = all(startup_conditions.values())
+    # dp - check usb_present to fix not going offroad on "EON/LEON + battery - Comma Power"
+    if dp_no_offroad_fix:
+      should_start = should_start and HARDWARE.get_usb_present()
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsOnroad", should_start)
       params.put_bool("IsOffroad", not should_start)
@@ -496,6 +501,14 @@ def thermald_thread():
     # Check if we need to disable charging (handled by boardd)
     msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(startup_conditions["ignition"], in_car, off_ts, dp_auto_shutdown, dp_auto_shutdown_in)
 
+    # dp - for battery powered device
+    # when peripheralState is not changing (panda offline), and usb is not present (not charging)
+    if dp_no_offroad_fix and (peripheralStateLast == peripheralState) and not msg.deviceState.usbOnline:
+      if (sec_since_boot() - off_ts) > dp_auto_shutdown_in * 60:
+        time.sleep(10)
+        HARDWARE.shutdown()
+    peripheralStateLast = peripheralState
+
     # Check if we need to shut down
     if power_monitor.should_shutdown(peripheralState, startup_conditions["ignition"], in_car, off_ts, started_seen, LEON, dp_auto_shutdown, dp_auto_shutdown_in):
       cloudlog.info(f"shutting device down, offroad since {off_ts}")