diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index 3aba25fe8d..b00e38c807 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -12,7 +12,6 @@ class CarController:
     self.frame = 0
 
     self.cruise_button_prev = 0
-    self.last_cancel_frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -100,10 +99,9 @@ class CarController:
           can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
-        if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
+        if pcm_cancel_cmd:
           bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
           can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
-          self.last_cancel_frame = self.frame
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX