diff --git a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuController.java b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuController.java
index fddbee393e4fb..112e9cae0a214 100644
--- a/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuController.java
+++ b/packages/SystemUI/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuController.java
@@ -20,6 +20,7 @@ import static android.provider.Settings.Secure.ACCESSIBILITY_BUTTON_MODE_FLOATIN
 
 import android.content.Context;
 import android.text.TextUtils;
+import android.view.accessibility.AccessibilityManager;
 
 import androidx.annotation.MainThread;
 
@@ -36,9 +37,11 @@ import javax.inject.Inject;
 @SysUISingleton
 public class AccessibilityFloatingMenuController implements
         AccessibilityButtonModeObserver.ModeChangedListener,
-        AccessibilityButtonTargetsObserver.TargetsChangedListener {
+        AccessibilityButtonTargetsObserver.TargetsChangedListener,
+        AccessibilityManager.AccessibilityStateChangeListener {
 
     private final Context mContext;
+    private final AccessibilityManager mAccessibilityManager;
     private final AccessibilityButtonModeObserver mAccessibilityButtonModeObserver;
     private final AccessibilityButtonTargetsObserver mAccessibilityButtonTargetsObserver;
 
@@ -54,13 +57,21 @@ public class AccessibilityFloatingMenuController implements
         mContext = context;
         mAccessibilityButtonTargetsObserver = accessibilityButtonTargetsObserver;
         mAccessibilityButtonModeObserver = accessibilityButtonModeObserver;
+        mAccessibilityManager = mContext.getSystemService(AccessibilityManager.class);
 
         mAccessibilityButtonModeObserver.addListener(this);
         mAccessibilityButtonTargetsObserver.addListener(this);
         mBtnMode = mAccessibilityButtonModeObserver.getCurrentAccessibilityButtonMode();
         mBtnTargets = mAccessibilityButtonTargetsObserver.getCurrentAccessibilityButtonTargets();
 
-        handleFloatingMenuVisibility(mBtnMode, mBtnTargets);
+        // Accessibility floating menu widget needs accessibility service to work, but system
+        // accessibility might be unavailable during the phone get booted, hence it needs to wait
+        // for accessibility manager callback to work.
+        mAccessibilityManager.addAccessibilityStateChangeListener(this);
+        if (mAccessibilityManager.isEnabled()) {
+            handleFloatingMenuVisibility(mBtnMode, mBtnTargets);
+            mAccessibilityManager.removeAccessibilityStateChangeListener(this);
+        }
     }
 
     /**
@@ -86,6 +97,23 @@ public class AccessibilityFloatingMenuController implements
         handleFloatingMenuVisibility(mBtnMode, mBtnTargets);
     }
 
+    /**
+     * Handles visibility of the accessibility floating menu when system accessibility state
+     * changes.
+     * If system accessibility become available onAccessibilityStateChanged(true), then we don't
+     * need to listen to this listener anymore.
+     *
+     * @param enabled Whether accessibility is enabled.
+     */
+    @Override
+    public void onAccessibilityStateChanged(boolean enabled) {
+        if (enabled) {
+            handleFloatingMenuVisibility(mBtnMode, mBtnTargets);
+        }
+
+        mAccessibilityManager.removeAccessibilityStateChangeListener(this);
+    }
+
     private void handleFloatingMenuVisibility(@AccessibilityButtonMode int mode, String targets) {
         if (shouldShowFloatingMenu(mode, targets)) {
             showFloatingMenu();
diff --git a/packages/SystemUI/tests/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuControllerTest.java b/packages/SystemUI/tests/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuControllerTest.java
index 0663f46a00e98..a83f0382ba7bc 100644
--- a/packages/SystemUI/tests/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuControllerTest.java
+++ b/packages/SystemUI/tests/src/com/android/systemui/accessibility/floatingmenu/AccessibilityFloatingMenuControllerTest.java
@@ -24,10 +24,12 @@ import static com.google.common.truth.Truth.assertThat;
 import static org.mockito.ArgumentMatchers.any;
 import static org.mockito.Mockito.spy;
 import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
 
 import android.provider.Settings;
 import android.testing.AndroidTestingRunner;
 import android.testing.TestableLooper;
+import android.view.accessibility.AccessibilityManager;
 
 import androidx.test.filters.SmallTest;
 
@@ -36,8 +38,12 @@ import com.android.systemui.SysuiTestCase;
 import com.android.systemui.accessibility.AccessibilityButtonModeObserver;
 import com.android.systemui.accessibility.AccessibilityButtonTargetsObserver;
 
+import org.junit.Rule;
 import org.junit.Test;
 import org.junit.runner.RunWith;
+import org.mockito.Mock;
+import org.mockito.junit.MockitoJUnit;
+import org.mockito.junit.MockitoRule;
 
 /** Test for {@link AccessibilityFloatingMenuController}. */
 @RunWith(AndroidTestingRunner.class)
@@ -47,9 +53,14 @@ public class AccessibilityFloatingMenuControllerTest extends SysuiTestCase {
 
     private static final String TEST_A11Y_BTN_TARGETS = "Magnification";
 
+    @Rule
+    public MockitoRule mockito = MockitoJUnit.rule();
+
     private AccessibilityFloatingMenuController mController;
     private AccessibilityButtonTargetsObserver mTargetsObserver;
     private AccessibilityButtonModeObserver mModeObserver;
+    @Mock
+    private AccessibilityManager mMockA11yManager;
 
     @Test
     public void initController_registerListeners() {
@@ -59,6 +70,37 @@ public class AccessibilityFloatingMenuControllerTest extends SysuiTestCase {
                 any(AccessibilityButtonTargetsObserver.TargetsChangedListener.class));
         verify(mModeObserver).addListener(
                 any(AccessibilityButtonModeObserver.ModeChangedListener.class));
+        verify(mMockA11yManager).addAccessibilityStateChangeListener(any(
+                AccessibilityManager.AccessibilityStateChangeListener.class));
+    }
+
+    @Test
+    public void initController_accessibilityManagerEnabled_showWidget() {
+        Settings.Secure.putInt(mContext.getContentResolver(),
+                Settings.Secure.ACCESSIBILITY_BUTTON_MODE, ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU);
+        Settings.Secure.putString(mContext.getContentResolver(),
+                Settings.Secure.ACCESSIBILITY_BUTTON_TARGETS, TEST_A11Y_BTN_TARGETS);
+        when(mMockA11yManager.isEnabled()).thenReturn(true);
+
+        mController = setUpController();
+
+        assertThat(mController.mFloatingMenu).isNotNull();
+        verify(mMockA11yManager).removeAccessibilityStateChangeListener(mController);
+    }
+
+    @Test
+    public void initController_accessibilityManagerDisabledThenCallbackToEnabled_showWidget() {
+        Settings.Secure.putInt(mContext.getContentResolver(),
+                Settings.Secure.ACCESSIBILITY_BUTTON_MODE, ACCESSIBILITY_BUTTON_MODE_FLOATING_MENU);
+        Settings.Secure.putString(mContext.getContentResolver(),
+                Settings.Secure.ACCESSIBILITY_BUTTON_TARGETS, TEST_A11Y_BTN_TARGETS);
+        when(mMockA11yManager.isEnabled()).thenReturn(false);
+
+        mController = setUpController();
+        mController.onAccessibilityStateChanged(true);
+
+        assertThat(mController.mFloatingMenu).isNotNull();
+        verify(mMockA11yManager).removeAccessibilityStateChangeListener(mController);
     }
 
     @Test
@@ -154,7 +196,9 @@ public class AccessibilityFloatingMenuControllerTest extends SysuiTestCase {
     private AccessibilityFloatingMenuController setUpController() {
         mTargetsObserver = spy(Dependency.get(AccessibilityButtonTargetsObserver.class));
         mModeObserver = spy(Dependency.get(AccessibilityButtonModeObserver.class));
+        mContext.addMockSystemService(AccessibilityManager.class, mMockA11yManager);
 
-        return new AccessibilityFloatingMenuController(mContext, mTargetsObserver, mModeObserver);
+        return new AccessibilityFloatingMenuController(mContext, mTargetsObserver,
+                mModeObserver);
     }
 }