diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 999bb1a1c..824791ea9 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -70,7 +70,7 @@ class CarController():
         idx = (frame / P.ACC_CONTROL_STEP) % 16
         can_sends.append(volkswagencan.create_mqb_acc_06_control(self.packer_pt, CANBUS.pt, enabled, acc_status,
                                                                  accel, self.acc_stopping, self.acc_starting,
-                                                                 cb_pos, cb_neg, idx))
+                                                                 cb_pos, cb_neg, CS.acc_type, idx))
         can_sends.append(volkswagencan.create_mqb_acc_07_control(self.packer_pt, CANBUS.pt, enabled,
                                                                  accel, acc_hold_request, acc_hold_release,
                                                                  acc_hold_type, stopping_distance, idx))
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
index afd1fa844..bc3f42e17 100644
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ b/selfdrive/car/volkswagen/volkswagencan.py
@@ -69,9 +69,9 @@ def create_mqb_acc_04_control(packer, bus, acc_04_stock_values, idx):
   return packer.make_can_msg("ACC_04", bus, values, idx)
 
 def create_mqb_acc_06_control(packer, bus, enabled, acc_status, accel, acc_stopping, acc_starting,
-                              cb_pos, cb_neg, idx):
+                              cb_pos, cb_neg, acc_type, idx):
   values = {
-    "ACC_Typ": 2,  # FIXME: locked to stop and go, need to tweak for cars that only support follow-to-stop
+    "ACC_Typ": acc_type,
     "ACC_Status_ACC": acc_status,
     "ACC_StartStopp_Info": enabled,
     "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,