diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 0efa065dc2..8315f24ae4 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -149,7 +149,7 @@ class CarState(CarStateBase):
       # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
       ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
-    ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
+    ret.cruiseState.nonAdaptive = self.pcm_acc_status in (1, 2, 3, 4, 5, 6)
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0