diff --git a/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py b/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
index 3cf639d0a1..4be82bef4a 100644
--- a/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
+++ b/openpilot/selfdrive/ui/sunnypilot/onroad/model_renderer.py
@@ -8,6 +8,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.sunnypilot.onroad.chevron_metrics import ChevronMetrics
 from openpilot.selfdrive.ui.sunnypilot.onroad.rainbow_path import RainbowPath
+from openpilot.selfdrive.ui.sunnypilot.ui_state import MADSState
 from openpilot.system.ui.lib.application import gui_app
 
 
@@ -19,6 +20,11 @@ class ModelRendererSP:
 
   @property
   def _lateral_active(self) -> bool:
+    sm = ui_state.sm
+    if sm.valid["selfdriveStateSP"]:
+      mads = sm["selfdriveStateSP"].mads
+      if mads.available:
+        return mads.enabled and mads.state != MADSState.paused
     return ui_state.status in (UIStatus.ENGAGED, UIStatus.LAT_ONLY)
 
   def _get_path_half_width(self) -> float: