diff --git a/opendbc b/opendbc
index 04cc54d5e6..dde0ff6f44 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 04cc54d5e662aaf708f72cabb65507c7dbb5136d
+Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 816933f2f0..fff5548671 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -76,7 +76,7 @@ class CarController:
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.starting
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
-                                                         acc_control, stopping, starting, CS.out.cruiseState.standstill))
+                                                         acc_control, stopping, starting, CS.esp_hold_confirmation))
 
     # **** HUD Controls ***************************************************** #
 
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 3e99ca8252..5dc4543c0d 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -110,20 +110,21 @@ class CarState(CarStateBase):
       ret.cruiseState.available = True
       ret.cruiseState.enabled = False
     elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
-      # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
+      # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5)
       ret.cruiseState.available = True
       ret.cruiseState.enabled = True
     else:
       # 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"])
+    self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
+    ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
     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
     # radar sends a set-speed of ~90.69 m/s / 203mph.
     if self.CP.pcmCruise:
-      ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS
+      ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
       if ret.cruiseState.speed > 90:
         ret.cruiseState.speed = 0
 
@@ -478,7 +479,7 @@ class CarState(CarStateBase):
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
   fwd_radar_signals = [
-    ("ACC_Wunschgeschw", "ACC_02"),              # ACC set speed
+    ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
     ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
     ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
     ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 30f3fcf62d..0bcbf6abb3 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -59,7 +59,7 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return hud_status
 
 
-def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, standstill):
+def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
   commands = []
 
   values = {
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index e0bcd02600..8c679c7406 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -241,6 +241,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   ],
 }
 
+
 # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars
 # with a manual trans won't return transmission firmware, but all other cars will.
 #