diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index c2b608943e..8328bf67f0 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -493,6 +493,8 @@ class SelfdriveD:
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
+
+      self.mads.read_params()
       time.sleep(0.1)
 
   def run(self):
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 454af30633..f385a9aba2 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -43,7 +43,7 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
-    mads_params = MadsParams()
+    self.mads_params = MadsParams()
 
     self.enabled = False
     self.active = False
@@ -60,10 +60,15 @@ class ModularAssistiveDrivingSystem:
             (self.selfdrive.CP.flags & HyundaiFlags.CANFD):
         self.allow_always = True
 
-    self.enabled_toggle = mads_params.read_param("Mads")
-    self.main_enabled_toggle = mads_params.read_param("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = mads_params.read_param("MadsPauseLateralOnBrake")
-    self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode")
+    # read params on init
+    self.enabled_toggle = self.mads_params.read_param("Mads")
+    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
+    self.pause_lateral_on_brake_toggle = self.mads_params.read_param("MadsPauseLateralOnBrake")
+    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
+
+  def read_params(self):
+    self.main_enabled_toggle = self.mads_params.read_param("MadsMainCruiseAllowed")
+    self.unified_engagement_mode = self.mads_params.read_param("MadsUnifiedEngagementMode")
 
   def update_controls_mismatch(self, sm: messaging.SubMaster):
     heartbeat_engaged = self.active if self.pause_lateral_on_brake_toggle else self.enabled