The Secondary Phase ended with Arthur finding out that Zaphod Beeblebrox was responsible for the destruction of Earth due to his involvement with a cult of psychologists. Arthur then store the Heart of Gold, leaving Ford, Zaphod, and Zarniwoop stranded with the man who rules the universe and taking Marvin, Trillian, and Lintilla (a major character never seen in any other format) with him.
This, it would seem to be, is a significant difference.
Indeed, most of the Secondary Phase diverges wildly from the events of Restaurant, although many of its elements were reworked and reused. It's a shame, too, because the fifteen-mile-high statue of Arthur Dent is one of my favorite moments from the series.
Now, you've got the same basic opening in all formats: Earth destroyed by Vogons, Arthur escapes with Ford, "Time is an illusion, lunchtime doubly so," and so forth, but it quickly breaks up. The computer game didn't even remain consistent on this point.
So, no, there is no consistent H2G2 canon. As D.N.A. himself said, "The only two consistent works of Hitchhiker were the original radio programmes and the published version of the scripts from the original radio programmes."
*does the Picard thing with the waist of his shirt and sits back down*
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