diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index aeb56c5d67..842eb6d139 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -93,7 +93,7 @@ class CarController():
           # Cancel ACC if it's engaged with OP disengaged.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
           self.graButtonStatesToSend["cancel"] = True
-        elif c.enabled and CS.esp_hold_confirmation:
+        elif c.enabled and CS.out.cruiseState.standstill:
           # Blip the Resume button if we're engaged at standstill.
           # FIXME: This is a naive implementation, improve with visiond or radar input.
           self.graButtonStatesToSend = BUTTON_STATES.copy()
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 4193030d87..9c4a111e4e 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -50,7 +50,6 @@ class CarState(CarStateBase):
     ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0  # FIXME: this is pressure in Bar, not sure what OP expects
     ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
     ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
-    self.esp_hold_confirmation = pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]
 
     # Update gear and/or clutch position data.
     if trans_type == TransmissionType.automatic:
@@ -105,6 +104,7 @@ class CarState(CarStateBase):
       # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
+    ret.cruiseState.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
     ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the