diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 6649e76295..12d3e66b26 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -9,8 +9,7 @@ class CarController():
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
-             left_lane, right_lane, left_lane_depart, right_lane_depart):
+  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd):
     """ Controls thread """
 
     can_sends = []
@@ -28,13 +27,14 @@ class CarController():
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
         # Send Resume button at 2hz if we're engaged at standstill to support full stop and go!
         # TODO: improve the resume trigger logic by looking at actual radar data
-        can_sends.append(mazdacan.create_cancel_acc(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
+        can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
     else:
       apply_steer = 0
-      if CS.out.cruiseState.enabled and frame % 10 == 0:
+      self.steer_rate_limited = False
+      if pcm_cancel_cmd and frame % 10 == 0:
         # Cancel Stock ACC if it's engaged with OP disengaged
         # Match stock message rate which is sent at 10hz
-        can_sends.append(mazdacan.create_cancel_acc(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
+        can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
 
 
     self.apply_steer_last = apply_steer
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 16e54e3f29..a089ea13ee 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -16,7 +16,7 @@ class CarState(CarStateBase):
     self.acc_active_last = False
     self.low_speed_lockout = True
     self.low_speed_alert = False
-    self.lkas_on = False
+    self.lkas_allowed = False
 
   def update(self, cp, cp_cam):
 
@@ -56,18 +56,12 @@ class CarState(CarStateBase):
     ret.gas = cp.vl["ENGINE_DATA"]['PEDAL_GAS']
     ret.gasPressed = ret.gas > 0
 
-    # No steer if block signal is on
-    # block = cp.vl["STEER_RATE"]['LKAS_BLOCK'] == 1
-
-    # On if no driver torque the last 5 seconds
-    handsoff = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS'] == 1
 
     # LKAS is enabled at 52kph going up and disabled at 45kph going down
-
     if speed_kph > LKAS_LIMITS.ENABLE_SPEED:
-      self.lkas_on = True
+      self.lkas_allowed = True
     elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
-      self.lkas_on = False
+      self.lkas_allowed = False
 
     # if any of the cruize buttons is pressed force state update
     if any([cp.vl["CRZ_BTNS"]['RES'],
@@ -80,7 +74,7 @@ class CarState(CarStateBase):
     ret.cruiseState.speed = self.cruise_speed
 
     if ret.cruiseState.enabled:
-      if not self.lkas_on:
+      if not self.lkas_allowed:
         if not self.acc_active_last:
           self.low_speed_lockout = True
         else:
@@ -89,7 +83,8 @@ class CarState(CarStateBase):
         self.low_speed_lockout = False
         self.low_speed_alert = False
 
-      ret.steerWarning = handsoff
+    # On if no driver torque the last 5 seconds
+    ret.steerWarning = cp.vl["STEER_RATE"]['HANDS_OFF_5_SECONDS'] == 1
 
     self.acc_active_last = ret.cruiseState.enabled
 
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 82c7005a1f..29f3ca54ba 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -87,8 +87,6 @@ class CarInterface(CarInterfaceBase):
 
   def apply(self, c):
     can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                               c.cruiseControl.cancel, c.hudControl.visualAlert,
-                               c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible,
-                               c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
+                               c.cruiseControl.cancel)
     self.frame += 1
     return can_sends
diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py
index 9baaeb00a5..3fae424fa8 100644
--- a/selfdrive/car/mazda/mazdacan.py
+++ b/selfdrive/car/mazda/mazdacan.py
@@ -57,7 +57,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
   return packer.make_can_msg("CAM_LKAS", 0, values)
 
 
-def create_cancel_acc(packer, car_fingerprint, button):
+def create_button_cmd(packer, car_fingerprint, button):
 
   if button == Buttons.CANCEL:
     can = 1
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index e69cb33138..2cab11d1f9 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -34,7 +34,8 @@ FINGERPRINTS = {
     # CX-5 2017 GT
     {
       64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8
-  },
+    },
+
     # CX-5 2019 GTR
     {
       64: 8, 70: 8, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 254: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 608: 8, 628: 8, 736: 8, 832: 8, 836: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1078: 8, 1080: 8, 1085: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1139: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1170: 8, 1171: 8, 1173: 8, 1177: 8, 1178: 8, 1179: 8, 1180: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1244: 8, 1260: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1446: 8, 1456: 8, 1479: 8, 1776: 8, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 2015: 8, 2016: 8, 2024: 8