diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index c77e40daaf..518909cb54 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -24,12 +24,12 @@ def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, cap
   return be
 
 
-def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder, pcm_cruise: bool = False) -> List[int]:
+def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder, pcm_cruise: bool = False, resume_enabled: bool = True) -> List[int]:
   events = []
   for b in buttonEvents:
     # do enable on both accel and decel buttons
     if not pcm_cruise:
-      if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
+      if (b.type == ButtonType.decelCruise or (b.type == ButtonType.accelCruise and resume_enabled)) and not b.pressed:
         events.append(EventName.buttonEnable)
     # do disable on button down
     if b.type == ButtonType.cancel and b.pressed:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 10ae670ac8..3581e0d665 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -161,9 +161,13 @@ class CarInterface(CarInterfaceBase):
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
 
-      # Suppress resume button if we're resuming from stop so we don't adjust speed.
-      if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill):
-        be.type = ButtonType.unknown
+      if be.type == ButtonType.accelCruise:
+        # Suppress resume button if we're resuming from stop so we don't adjust speed.
+        if ret.cruiseState.enabled and ret.standstill:
+          be.type = ButtonType.unknown
+        # The ECM will fault if resume triggers an enable while speed is unset (unset is greater than 70 m/s)
+        elif c.hudControl.setSpeed < 70:
+          be.type = ButtonType.unknown
 
       ret.buttonEvents = [be]
 
@@ -179,7 +183,9 @@ class CarInterface(CarInterfaceBase):
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 
     # handle button presses
-    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise))
+    # The ECM will fault if resume triggers an enable while speed is unset (unset is greater than 70 m/s)
+    resume_enabled = c.hudControl.setSpeed < 70
+    events.events.extend(create_button_enable_events(ret.buttonEvents, pcm_cruise=self.CP.pcmCruise, resume_enabled=resume_enabled))
 
     ret.events = events.to_msg()
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 2f7c85aa7d..3cb0d9d44a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -16,7 +16,7 @@ from system.version import get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
-from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
+from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise
 from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
 from selfdrive.controls.lib.latcontrol import LatControl
 from selfdrive.controls.lib.longcontrol import LongControl
@@ -162,8 +162,8 @@ class Controls:
     self.active = False
     self.can_rcv_error = False
     self.soft_disable_timer = 0
-    self.v_cruise_kph = 255
-    self.v_cruise_cluster_kph = 255
+    self.v_cruise_kph = V_CRUISE_INITIAL
+    self.v_cruise_cluster_kph = V_CRUISE_INITIAL
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
@@ -454,9 +454,13 @@ class Controls:
 
     # if stock cruise is completely disabled, then we can use our own set speed logic
     if not self.CP.pcmCruise:
-      self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
-                                          self.button_timers, self.enabled, self.is_metric)
-      self.v_cruise_cluster_kph = self.v_cruise_kph
+      if CS.cruiseState.available:
+        self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
+                                            self.button_timers, self.enabled, self.is_metric)
+        self.v_cruise_cluster_kph = self.v_cruise_kph
+      else:
+        self.v_cruise_kph = V_CRUISE_INITIAL
+        self.v_cruise_cluster_kph = V_CRUISE_INITIAL
     else:
       if CS.cruiseState.available:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index d79f94bbfd..ffa8373834 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -11,6 +11,7 @@ from selfdrive.modeld.constants import T_IDXS
 V_CRUISE_MAX = 145  # kph
 V_CRUISE_MIN = 8  # kph
 V_CRUISE_ENABLE_MIN = 40  # kph
+V_CRUISE_INITIAL = 255  # kph
 
 LAT_MPC_N = 16
 LON_MPC_N = 32