diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 313d9f06d1d67f..9e7de0ed39fe99 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -191,7 +191,7 @@ def update(self, CC, CS, now_nanos):
       self.right_lane = hud_control.rightLaneVisible
 
     # we can spam can to cancel the system even if we are using lat only control
-    if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
+    if (self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = self.lead or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
 
       # Press distance button until we are at the correct bar length. Only change while enabled to avoid skipping startup popup