diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index fc196528d7..53389279f7 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -156,6 +156,9 @@ class CarState(CarStateBase):
   def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
+    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
+    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+
     if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
       if self.CP.carFingerprint in EV_CAR:
         ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
@@ -197,14 +200,18 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
       ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
-    ret.cruiseState.available = True
-    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
-    if not self.CP.openpilotLongitudinalControl:
-      speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    # cruise state
+    if self.CP.openpilotLongitudinalControl:
+      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
+      ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+      ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
+      ret.cruiseState.standstill = False
+    else:
       cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
-      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
-      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
+      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
     cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
@@ -435,6 +442,7 @@ class CarState(CarStateBase):
 
       ("DriverBraking", "TCS"),
       ("ACCEnable", "TCS"),
+      ("ACC_REQ", "TCS"),
 
       ("COUNTER", cruise_btn_msg),
       ("CRUISE_BUTTONS", cruise_btn_msg),
@@ -476,6 +484,7 @@ class CarState(CarStateBase):
         ("ACCMode", "SCC_CONTROL"),
         ("VSetDis", "SCC_CONTROL"),
         ("CRUISE_STANDSTILL", "SCC_CONTROL"),
+        ("MainMode_ACC", "SCC_CONTROL"),
       ]
       checks += [
         ("SCC_CONTROL", 50),