diff --git a/panda b/panda
index b95a65df58..dd751862c3 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2
+Subproject commit dd751862c34f6a9c9c95748acaf31b8534b42497
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 6b38297eb9..913f683e2c 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -135,14 +135,17 @@ class CarController:
               self.last_button_frame = self.frame
             else:
               for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
               self.last_button_frame = self.frame
 
           # cruise standstill resume
           elif CC.cruiseControl.resume:
-            if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+            if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+              # TODO: resume for alt button cars
+              pass
+            else:
               for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
               self.last_button_frame = self.frame
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index f2cbafdcf0..e1478e6f18 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -3,7 +3,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags
 
 def get_e_can_bus(CP):
   # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
-  # have a a different harness than the HDA1 and non-HDA variants in order to split
+  # have a different harness than the HDA1 and non-HDA variants in order to split
   # a different bus, since the steering is done by different ECUs.
   return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
 
@@ -39,13 +39,15 @@ def create_cam_0x2a4(packer, camera_values):
   })
   return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
 
-def create_buttons(packer, cnt, btn):
+def create_buttons(packer, CP, cnt, btn):
   values = {
     "COUNTER": cnt,
     "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+
+  bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
 def create_acc_cancel(packer, CP, cruise_info_copy):
   values = cruise_info_copy