diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 5d9e9c9bb3..bda5378dd6 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -8,6 +8,7 @@ class CarController():
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
     self.steer_rate_limited = False
+    self.brake_counter = 0
 
   def update(self, enabled, CS, frame, actuators):
     """ Controls thread """
@@ -31,10 +32,17 @@ class CarController():
     else:
       apply_steer = 0
       self.steer_rate_limited = False
-      if CS.out.cruiseState.enabled and frame % 20 == 0:
-        # Cancel Stock ACC if it's enabled while OP is disengaged
-        # Send at a rate of 5hz until we sync with stock ACC state
-        can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
+      if CS.out.cruiseState.enabled:
+        # if brake is pressed, let us wait >20ms before trying to disable crz to avoid
+        # a race condition with the stock system, where the second cancel from openpilot
+        # will disable the crz 'main on'
+        self.brake_counter = self.brake_counter + 1
+        if frame % 20 == 0 and not (CS.out.brakePressed and self.brake_counter < 3):
+          # Cancel Stock ACC if it's enabled while OP is disengaged
+          # Send at a rate of 5hz until we sync with stock ACC state
+          can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
+      else:
+        self.brake_counter = 0
 
     self.apply_steer_last = apply_steer