diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 545a4c43ff..e8095813f2 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -30,10 +30,8 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
     long_control_state = LongCtrlState.off
 
   else:
-    if long_control_state == LongCtrlState.off:
+    if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
       long_control_state = LongCtrlState.pid
-
-    elif long_control_state == LongCtrlState.pid:
       if stopping_condition:
         long_control_state = LongCtrlState.stopping