diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index d47caaa9ad16644..14049c9997f0710 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -195,7 +195,7 @@ def update(self, CC, CS):
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
-      elif CC.cruiseControl.resume:
+      elif CS.out.cruiseState.standstill:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
 
     else:
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index f3066bda03aa2fe..4fbb5ce0e1c08ee 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -78,7 +78,7 @@ def update(self, CC, CS):
           self.last_button_frame = self.frame
 
         # cruise standstill resume
-        elif CC.cruiseControl.resume:
+        elif CC.enabled and CS.out.cruiseState.standstill:
           can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
           self.last_button_frame = self.frame
     else:
@@ -96,7 +96,7 @@ def update(self, CC, CS):
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
           can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
-        elif CC.cruiseControl.resume:
+        elif CS.out.cruiseState.standstill:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 861d1e07a477540..0e43a11ceb5d078 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -46,6 +46,8 @@ def update(self, CC, CS):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
+    else:
+      self.brake_counter = 0
 
     self.apply_steer_last = apply_steer
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 78576962b0190cf..cceb47947ab95fa 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -647,10 +647,6 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
-    speeds = self.sm['longitudinalPlan'].speeds
-    if len(speeds):
-      CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
-
     hudControl = CC.hudControl
     hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled