diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index d505e4f5ff..3d6e35f383 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -163,8 +163,9 @@ void MapWindow::updateState(const UIState &s) {
 
   if (sm.updated("modelV2")) {
     // set path color on change, and show map on rising edge of navigate on openpilot
+    auto car_control = sm["carControl"].getCarControl();
     bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
-                       sm["controlsState"].getControlsState().getEnabled();
+                       (car_control.getLatActive() || car_control.getLongActive());
     if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
       if (loaded_once) {
         m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));