diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 2c4a8ffa4c..3f3fc24b93 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -27,12 +27,6 @@ class CarController():
                                                   CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-    if c.enabled:
-      if c.cruiseControl.resume and frame % 5 == 0:
-        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at when planner wants car to move
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
-
     if c.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
@@ -43,7 +37,12 @@ class CarController():
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
-    else:
+    elif c.cruiseControl.resume and frame % 5 == 0:
+      # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+      # Send Resume button at when planner wants car to move
+      can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
+
+    if not c.cruiseControl.cancel:
       self.brake_counter = 0
 
     self.apply_steer_last = apply_steer
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 36e6d4fb6b..594af47814 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -646,7 +646,7 @@ class Controls:
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
-    if len(speeds := self.sm['longitudinalPlan'].speeds) > 1:
+    if len(speeds := self.sm['longitudinalPlan'].speeds):
       CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > self.CP.vEgoStarting
 
     hudControl = CC.hudControl