diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 617a2f83ba..32474025f3 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -91,8 +91,7 @@ class CarState(CarStateBase):
     else:
       ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
-    # TODO: CRUISE_STATE is a 4 bit signal, find any other non-adaptive cruise states
-    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [5]
+    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] in [1, 2, 3, 4, 5, 6]
 
     if self.CP.carFingerprint == CAR.PRIUS:
       ret.genericToggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0