diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index ca5c1d3329..a9725a475f 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -79,7 +79,7 @@ def update_v_cruise(v_cruise_kph, buttonEvents, button_timers, enabled, metric):
 def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
   for b in buttonEvents:
     # 250kph or above probably means we never had a set speed
-    if b.type == car.CarState.ButtonEvent.Type.accelCruise and v_cruise_last < 250:
+    if b.type in (car.CarState.ButtonEvent.Type.accelCruise, car.CarState.ButtonEvent.Type.resumeCruise) and v_cruise_last < 250:
       return v_cruise_last
 
   return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))