diff --git a/selfdrive/ui/qt/body.h b/selfdrive/ui/qt/body.h
index 567a54d49b..68495aaf73 100644
--- a/selfdrive/ui/qt/body.h
+++ b/selfdrive/ui/qt/body.h
@@ -5,7 +5,11 @@
 #include <QPushButton>
 
 #include "common/util.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class RecordButton : public QPushButton {
   Q_OBJECT
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index a84460d5e9..acf6add481 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -6,7 +6,11 @@
 #include <QScrollBar>
 #include <QStyle>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 #include "selfdrive/ui/qt/qt_window.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index 717da47096..7cfa17f774 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -2,7 +2,11 @@
 
 #include <utility>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 #include "selfdrive/ui/qt/widgets/prime.h"
 
 #include "common/params.h"
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 76f83104b5..1185e5cdea 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -34,8 +34,7 @@ void ExperimentalButton::changeMode() {
 
 void ExperimentalButton::updateState(const UIState &s) {
   const auto cs = (*s.sm)["controlsState"].getControlsState();
-  const auto lp_sp = (*s.sm)["longitudinalPlanSP"].getLongitudinalPlanSP();
-  bool eng = (cs.getEngageable() || cs.getEnabled()) && !(lp_sp.getVisionTurnControllerState() > cereal::LongitudinalPlanSP::VisionTurnControllerState::DISABLED);
+  bool eng = cs.getEngageable() || cs.getEnabled();
   if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
     engageable = eng;
     experimental_mode = cs.getExperimentalMode();
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index cfb9f1c5fd..791b87506b 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -2,7 +2,11 @@
 
 #include <QPushButton>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
@@ -14,6 +18,10 @@ public:
   explicit ExperimentalButton(QWidget *parent = 0);
   void updateState(const UIState &s);
 
+protected:
+  bool experimental_mode;
+  bool engageable;
+
 private:
   void paintEvent(QPaintEvent *event) override;
   void changeMode();
@@ -21,9 +29,6 @@ private:
   Params params;
   QPixmap engage_img;
   QPixmap experimental_img;
-  bool experimental_mode;
-  bool engageable;
 };
 
-
-void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
+void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
\ No newline at end of file
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index acb9cad89d..1b3f9ac8ab 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -35,8 +35,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   alerts->raise();
 
   setAttribute(Qt::WA_OpaquePaintEvent);
+
+  // We handle the connection of the signals on the derived class
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+#endif
 }
 
 void OnroadWindow::updateState(const UIState &s) {
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 046ef62545..3ca4494a75 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -5,7 +5,8 @@
 
 #if SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.h"
-// #define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#define AnnotatedCameraWidget AnnotatedCameraWidgetSP
+#define UIState UIStateSP
 #else
 #include "selfdrive/ui/qt/onroad/annotated_camera.h"
 #endif
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 40b515434b..a427d8210b 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -4,8 +4,13 @@
 
 #include <QFrame>
 #include <QMap>
+#include "cereal/messaging/messaging.h"
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 typedef QPair<QPair<QString, QString>, QColor> ItemStatus;
 Q_DECLARE_METATYPE(ItemStatus);
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
index 60c865f2b8..bdcd9aa2ca 100644
--- a/selfdrive/ui/qt/widgets/wifi.h
+++ b/selfdrive/ui/qt/widgets/wifi.h
@@ -4,7 +4,11 @@
 #include <QStackedLayout>
 #include <QWidget>
 
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
+#else
 #include "selfdrive/ui/ui.h"
+#endif
 
 class WiFiPromptWidget : public QFrame {
   Q_OBJECT
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.cc b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.cc
index 6aa7f61d1f..3048f00987 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.cc
@@ -36,7 +36,7 @@ AnnotatedCameraWidgetSP::AnnotatedCameraWidgetSP(VisionStreamType type, QWidget*
   main_layout->setMargin(UI_BORDER_SIZE);
   main_layout->setSpacing(0);
 
-  experimental_btn = new ExperimentalButton(this);
+  experimental_btn = new ExperimentalButtonSP(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
 
   onroad_settings_btn = new OnroadSettingsButton(this);
@@ -1501,6 +1501,6 @@ void AnnotatedCameraWidgetSP::paintEvent(QPaintEvent *event) {
 void AnnotatedCameraWidgetSP::showEvent(QShowEvent *event) {
   CameraWidget::showEvent(event);
 
-  ui_update_params(uiStateSP());
+  sp_ui_update_params(uiStateSP());
   prev_draw_t = millis_since_boot();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.h b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.h
index 7f778db0da..341d684af1 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_annotated_camera.h
@@ -59,7 +59,7 @@ private:
   void drawRoadNameText(QPainter &p, int x, int y, const QString &text, QColor color);
 
   QVBoxLayout *main_layout;
-  ExperimentalButton *experimental_btn;
+  ExperimentalButtonSP *experimental_btn;
   QPixmap dm_img;
   float speed;
   QString speedUnit;
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.cc b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.cc
index ff6d57ddf9..3ec138425d 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.cc
@@ -14,6 +14,17 @@ static void drawCustomButtonIcon(QPainter &p, const int btn_size_x, const int bt
     p.setOpacity(1.0);
 }
 
+// ExperimentalButtonSP
+void ExperimentalButtonSP::updateState(const UIStateSP &s) {
+    const auto cs = (*s.sm)["controlsState"].getControlsState();
+    bool eng = cs.getEngageable() || cs.getEnabled();
+    if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
+        engageable = eng;
+        experimental_mode = cs.getExperimentalMode();
+        update();
+    }
+}
+
 
 // OnroadSettingsButton
 OnroadSettingsButton::OnroadSettingsButton(QWidget *parent) : QPushButton(parent) {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.h b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.h
index f89a97c60c..a64eede128 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_buttons.h
@@ -1,10 +1,20 @@
 #pragma once
 
 #include <QPushButton>
+#include "selfdrive/ui/qt/onroad/buttons.h"
+
 #include "selfdrive/ui/sunnypilot/sp_priv_ui.h"
 
 #include "selfdrive/ui/ui.h"
 
+class ExperimentalButtonSP : public ExperimentalButton {
+    Q_OBJECT
+
+  public:
+    explicit ExperimentalButtonSP(QWidget *parent = 0) : ExperimentalButton(parent) {};
+    void updateState(const UIStateSP &s);
+};
+
 class OnroadSettingsButton : public QPushButton {
     Q_OBJECT
 
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.cc b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.cc
index 9a91d34264..65b42e4fe5 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.cc
@@ -12,14 +12,16 @@
 #endif
 
 #include "selfdrive/ui/qt/util.h"
-
 OnroadWindowSP::OnroadWindowSP(QWidget *parent) : OnroadWindow(parent) {
-  
+  // QObject::disconnect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
+  // QObject::disconnect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+
   if (getenv("MAP_RENDER_VIEW")) {
     CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
     split->insertWidget(0, map_render); //TODO: We MIGHT  to override the split variable because it is added on onroad_home.cc and we need to access it before. I am not sure so we will need to test it before 
   }
-  QObject::connect(uiStateSP(), &UIStateSP::primeChanged, this, &OnroadWindowSP::primeChanged);
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &OnroadWindowSP::updateState);
+  QObject::connect(uiStateSP(), &UIStateSP::offroadTransition, this, &OnroadWindowSP::offroadTransition);
 }
 
 void OnroadWindowSP::updateState(const UIStateSP &s) {
@@ -100,6 +102,7 @@ void OnroadWindowSP::createOnroadSettingsWidget() {
 }
 
 void OnroadWindowSP::offroadTransition(bool offroad) {
+
   if (!offroad) {
 #ifdef ENABLE_MAPS
     if (map == nullptr && (uiStateSP()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.h b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.h
index 0ef9e25701..746239cf3d 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/sp_priv_onroad_home.h
@@ -36,7 +36,7 @@ private:
   void createMapWidget();
   void createOnroadSettingsWidget();
   void mousePressEvent(QMouseEvent* e) override;
-  AnnotatedCameraWidgetSP *nvg;
+  // AnnotatedCameraWidgetSP *nvg;
   QWidget *map = nullptr;
   QWidget *onroad_settings = nullptr;
 
@@ -44,7 +44,7 @@ private:
 
 protected slots:
   void offroadTransition(bool offroad) override;
-  void updateState(const UIStateSP &s);
+  void updateState(const UIStateSP &s) override;
   void primeChanged(bool prime);
   void updateMapSize(const UISceneSP &scene);
 };
diff --git a/selfdrive/ui/sunnypilot/qt/sp_priv_ui_scene.h b/selfdrive/ui/sunnypilot/qt/sp_priv_ui_scene.h
index 1dd25f31f8..bedd80468e 100644
--- a/selfdrive/ui/sunnypilot/qt/sp_priv_ui_scene.h
+++ b/selfdrive/ui/sunnypilot/qt/sp_priv_ui_scene.h
@@ -4,7 +4,7 @@
 const float DRIVING_PATH_WIDE = 0.9;
 const float DRIVING_PATH_NARROW = 0.25;
 
-typedef struct UISceneSP : public UIScene {
+typedef struct UISceneSP : UIScene {
     cereal::ControlsState::Reader controlsState;
 
     // Debug UI
diff --git a/selfdrive/ui/sunnypilot/sp_priv_ui.cc b/selfdrive/ui/sunnypilot/sp_priv_ui.cc
index 5c96ea52a8..c11469584d 100644
--- a/selfdrive/ui/sunnypilot/sp_priv_ui.cc
+++ b/selfdrive/ui/sunnypilot/sp_priv_ui.cc
@@ -294,6 +294,7 @@ void UIStateSP::setSunnylinkDeviceUsers(const std::vector<UserModel>& users) {
 }
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent){
+  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
 }
 
 //todo: revisit this
@@ -320,6 +321,7 @@ UIStateSP *uiStateSP() {
   static UIStateSP ui_state;
   return &ui_state;
 }
+UIStateSP *uiState() { return uiStateSP(); }
 
 DeviceSP *deviceSP() {
   static DeviceSP _device;
diff --git a/selfdrive/ui/sunnypilot/sp_priv_ui.h b/selfdrive/ui/sunnypilot/sp_priv_ui.h
index fcb9940d97..74ec647889 100644
--- a/selfdrive/ui/sunnypilot/sp_priv_ui.h
+++ b/selfdrive/ui/sunnypilot/sp_priv_ui.h
@@ -54,8 +54,6 @@ public:
   void setSunnylinkRoles(const std::vector<RoleModel> &roles);
   void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
 
-  UISceneSP scene = {};
-
   inline std::vector<RoleModel> sunnylinkDeviceRoles() const { return sunnylinkRoles; }
   inline bool isSunnylinkAdmin() const {
     return std::any_of(sunnylinkRoles.begin(), sunnylinkRoles.end(), [](const RoleModel &role) {
@@ -109,8 +107,8 @@ private:
   float mads_path_count = 4;     // UI runs at 20 Hz, therefore 0.2 second is [0.2 second / (1 / 20 Hz) = 4]
 };
 
-//TODO: maybe need to redeclare but the sp?
 UIStateSP *uiStateSP();
+UIStateSP *uiState();
 
 // device management class
 class DeviceSP : public Device {
@@ -122,6 +120,10 @@ protected:
   void updateBrightness(const UIStateSP &s);
 };
 
+DeviceSP *deviceSP();
+inline DeviceSP *device() { return deviceSP(); }
+
 void sp_update_model(UIStateSP *s, const cereal::ModelDataV2::Reader &model);
+void sp_ui_update_params(UIStateSP *s);
 void update_line_data(const UIStateSP *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off_left, float z_off_right, QPolygonF *pvd, int max_idx, bool allow_invert);
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 89bd4e2efd..951af31cdf 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -238,6 +238,10 @@ void UIState::updateStatus() {
   }
 }
 
+// #ifdef SUNNYPILOT
+// #include "selfdrive/ui/sunnypilot/qt/sp_priv_ui_scene.h"
+// #define UIScene UISceneSP
+// #endif
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
@@ -291,8 +295,9 @@ void UIState::setPrimeType(PrimeType type) {
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
   resetInteractiveTimeout();
-
+#ifndef SUNNYPILOT
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
+#endif
 }
 
 void Device::update(const UIState &s) {
@@ -358,6 +363,7 @@ void Device::updateWakefulness(const UIState &s) {
   setAwake(s.scene.ignition || interactive_timeout > 0);
 }
 
+#ifndef SUNNYPILOT
 UIState *uiState() {
   static UIState ui_state;
   return &ui_state;
@@ -366,4 +372,5 @@ UIState *uiState() {
 Device *device() {
   static Device _device;
   return &_device;
-}
\ No newline at end of file
+}
+#endif
\ No newline at end of file
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9f3a082b2e..9c91b0e637 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -112,6 +112,10 @@ typedef struct UIScene {
   uint64_t started_frame;
 } UIScene;
 
+#ifdef SUNNYPILOT
+#include "sunnypilot/qt/sp_priv_ui_scene.h"
+#define UIScene UISceneSP
+#endif
 class UIState : public QObject {
   Q_OBJECT
 
@@ -153,8 +157,11 @@ protected:
 private:  
   bool started_prev = false;
 };
+#undef UIScene
 
+#ifndef SUNNYPILOT
 UIState *uiState();
+#endif
 
 // device management class
 class Device : public QObject {
@@ -191,7 +198,9 @@ public slots:
   void update(const UIState &s);
 };
 
+#ifndef SUNNYPILOT
 Device *device();
+#endif
 
 void ui_update_params(UIState *s);
 int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);