diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 91ec64538b..6d471071d6 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -32,7 +32,6 @@ class CarState(CarStateBase):
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
     self.is_metric = False
-    self.brake_error = False
     self.buttons_counter = 0
 
     self.cruise_info = {}
@@ -105,8 +104,9 @@ class CarState(CarStateBase):
     # TODO: Find brake pressure
     ret.brake = 0
     ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
-    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
+    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
+    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
       if self.CP.carFingerprint in HYBRID_CAR:
@@ -147,7 +147,6 @@ class CarState(CarStateBase):
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
@@ -213,7 +212,7 @@ class CarState(CarStateBase):
     self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
     self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
-    self.brake_error = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & HyundaiFlags.CANFD_HDA2:
       self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index aa6d88b55f..811d629f70 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -312,9 +312,6 @@ class CarInterface(CarInterfaceBase):
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
     events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
-    if self.CS.brake_error:
-      events.add(EventName.brakeUnavailable)
-
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
       self.low_speed_alert = True