diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index db7f2ab56..c5bf955e7 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -163,10 +163,11 @@ def thermald_thread():
   fan_speed = 0
   count = 0
 
-  startup_conditions = {
+  onroad_conditions = {
     "ignition": False,
   }
-  startup_conditions_prev = startup_conditions.copy()
+  startup_conditions = {}
+  startup_conditions_prev = {}
 
   off_ts = None
   started_ts = None
@@ -220,12 +221,12 @@ def thermald_thread():
       if pandaState.pandaType == log.PandaState.PandaType.unknown:
         no_panda_cnt += 1
         if no_panda_cnt > DISCONNECT_TIMEOUT / DT_TRML:
-          if startup_conditions["ignition"]:
+          if onroad_conditions["ignition"]:
             cloudlog.error("Lost panda connection while onroad")
-          startup_conditions["ignition"] = False
+          onroad_conditions["ignition"] = False
       else:
         no_panda_cnt = 0
-        startup_conditions["ignition"] = pandaState.ignitionLine or pandaState.ignitionCan
+        onroad_conditions["ignition"] = pandaState.ignitionLine or pandaState.ignitionCan
 
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
       usb_power = peripheralState.usbPowerMode != log.PeripheralState.UsbPowerMode.client
@@ -304,7 +305,7 @@ def thermald_thread():
     )
 
     if handle_fan is not None:
-      fan_speed = handle_fan(controller, max_comp_temp, fan_speed, startup_conditions["ignition"])
+      fan_speed = handle_fan(controller, max_comp_temp, fan_speed, onroad_conditions["ignition"])
       msg.deviceState.fanSpeedPercentDesired = fan_speed
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
@@ -339,14 +340,17 @@ def thermald_thread():
     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
     # controls will warn with CPU above 95 or battery above 60
-    startup_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
-    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not startup_conditions["device_temp_good"]))
+    onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
+    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"]))
 
     if TICI:
       set_offroad_alert_if_changed("Offroad_StorageMissing", (not Path("/data/media").is_mount()))
 
     # Handle offroad/onroad transition
-    should_start = all(startup_conditions.values())
+    should_start = all(onroad_conditions.values())
+    if started_ts is None:
+      should_start = should_start and all(startup_conditions.values())
+
     if should_start != should_start_prev or (count == 0):
       params.put_bool("IsOnroad", should_start)
       params.put_bool("IsOffroad", not should_start)
@@ -358,25 +362,25 @@ def thermald_thread():
         started_ts = sec_since_boot()
         started_seen = True
     else:
-      if startup_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
-        cloudlog.event("Startup blocked", startup_conditions=startup_conditions)
+      if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
+        cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions)
 
       started_ts = None
       if off_ts is None:
         off_ts = sec_since_boot()
 
     # Offroad power monitoring
-    power_monitor.calculate(peripheralState, startup_conditions["ignition"])
+    power_monitor.calculate(peripheralState, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
     current_power_draw = HARDWARE.get_current_power_draw()  # pylint: disable=assignment-from-none
     msg.deviceState.powerDrawW = current_power_draw if current_power_draw is not None else 0
 
     # 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)
+    msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts)
 
     # Check if we need to shut down
-    if power_monitor.should_shutdown(peripheralState, startup_conditions["ignition"], in_car, off_ts, started_seen):
+    if power_monitor.should_shutdown(peripheralState, onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.info(f"shutting device down, offroad since {off_ts}")
       # TODO: add function for blocking cloudlog instead of sleep
       time.sleep(10)