diff --git a/panda b/panda
index 50c275ea01..d403ef25b1 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 50c275ea012d38043d7f1ad0b8bed3c2b3ba609b
+Subproject commit d403ef25b11eaa1ba1c64ca9cc50fa78e6e30bfe
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 29b86f4ff6..38a6c829f1 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -82,12 +82,16 @@ class CarController:
     ### longitudinal control ###
     # send acc msg at 50Hz
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-
-      gas = accel
-      decel = accel < 0.0
-      if accel < -0.5:
+      if CC.longActive:
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+        gas = accel
+        decel = accel < 0.0
+        if accel < -0.5:
+          gas = -5.0
+      else:
+        accel = 0.0  # -0.0008 m/s^2 on CAN
         gas = -5.0
+        decel = False
 
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
       can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, decel, stopping))