diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index d75f9db383..5262f480a7 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -85,7 +85,7 @@ class LongControl():
 
     v_ego_pid = max(CS.vEgo, MIN_CAN_SPEED)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3
 
-    if self.long_control_state == LongCtrlState.off:
+    if self.long_control_state == LongCtrlState.off or CS.gasPressed:
       self.v_pid = v_ego_pid
       self.pid.reset()
       output_gb = 0.
diff --git a/selfdrive/controls/lib/planner.py b/selfdrive/controls/lib/planner.py
index 88c4d694aa..553e5bb6fa 100755
--- a/selfdrive/controls/lib/planner.py
+++ b/selfdrive/controls/lib/planner.py
@@ -129,7 +129,7 @@ class Planner():
     following = lead_1.status and lead_1.dRel < 45.0 and lead_1.vLeadK > v_ego and lead_1.aLeadK > 0.0
 
     # Calculate speed for normal cruise control
-    if enabled and not self.first_loop:
+    if enabled and not self.first_loop and not sm['carState'].gasPressed:
       accel_limits = [float(x) for x in calc_cruise_accel_limits(v_ego, following)]
       jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]  # TODO: make a separate lookup for jerk tuning
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngle, accel_limits, self.CP)