diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h
index 75fc6ec75b..9ec1a6787b 100644
--- a/panda/board/safety/safety_mazda.h
+++ b/panda/board/safety/safety_mazda.h
@@ -155,8 +155,10 @@ static void mazda_rx_hook(const CANPacket_t *to_push) {
       }
 
       if (addr == MAZDA_2019_CRUISE) {
-        acc_main_on = (GET_BYTE(to_push, 0) & 0x20U) || GET_BYTE(to_push, 0) & 0x40U;
-        pcm_cruise_check(acc_main_on);
+        acc_main_on = true;
+        bool cruise_engaged = GET_BYTE(to_push, 0) & 0x20U;
+        bool pre_enable = GET_BYTE(to_push, 0) & 0x40U;
+        pcm_cruise_check((cruise_engaged || pre_enable));
       }
 
       generic_rx_checks(addr == MAZDA_2019_SPEED);