diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 842eb6d139..f52469c1de 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -93,9 +93,8 @@ class CarController():
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True
-        elif c.enabled and CS.out.cruiseState.standstill:
-          # Blip the Resume button if we're engaged at standstill.
-          # FIXME: This is a naive implementation, improve with visiond or radar input.
+        elif c.cruiseControl.override:
+          # Send Resume button when planner wants car to move
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["resumeCruise"] = True