diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 170624737d..fb3579464a 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -114,11 +114,10 @@ class CarController:
 
         accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
-        lead_visible = False
         stopping = actuators.longControlState == LongCtrlState.stopping
         set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
-                                             set_speed_in_units, stopping, CS.out.gasPressed))
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
+                                                        hud_control.leadVisible, set_speed_in_units, stopping, CS.out.gasPressed))
         self.accel = accel
 
       # 20 Hz LFA MFA message
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index d03eb135fc..53499053e0 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -86,8 +86,8 @@ def create_acc_commands(packer, enabled, accel, jerk, idx, lead_visible, set_spe
     "TauGapSet": 4,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,
-    "ObjValid": 1 if lead_visible else 0,
-    "ACC_ObjStatus": 1 if lead_visible else 0,
+    "ObjValid": 0,  # TODO: these two bits may allow for better longitudinal control
+    "ACC_ObjStatus": 0,
     "ACC_ObjLatPos": 0,
     "ACC_ObjRelSpd": 0,
     "ACC_ObjDist": 0,