diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 513233987..f463caa9e 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -92,7 +92,7 @@ class CarController(CarControllerBase):
         if CS.out.standstill: # if we're stopped
           if not self.hold_delay.active(): # and we have been stopped for more than hold_delay duration. This prevents a hard brake if we aren't fully stopped.
             if (CC.cruiseControl.resume or CC.cruiseControl.override or CS.out.gasPressed or
-                CC.actuators.longControlState == LongCtrlState.starting): # and we want to resume
+                (CC.actuators.longControlState == LongCtrlState.starting)): # and we want to resume
               self.resume_timer.reset() # reset the resume timer so its active
             else: # otherwise we're holding
               hold = self.hold_timer.active() # hold for 6s. This allows the electric brake to hold the car.
@@ -102,7 +102,7 @@ class CarController(CarControllerBase):
           self.hold_delay.reset() # reset the hold delay
 
         resume = self.resume_timer.active() # stay on for 0.5s to release the brake. This allows the car to move.
-        can_sends.append(mazdacan.create_acc_cmd(self.packer, CS.acc, CC.actuators.accel, hold, resume))
+        can_sends.append(mazdacan.create_acc_cmd(self, self.packer, CS, CC, hold, resume))
 
     # send steering command
     can_sends.extend(mazdacan.create_steering_control(self.packer, self.CP,
diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py
index 26d197f8a..950c267a3 100644
--- a/selfdrive/car/mazda/mazdacan.py
+++ b/selfdrive/car/mazda/mazdacan.py
@@ -177,6 +177,7 @@ STATIC_DATA_365 = [0xFFF7FE7F, 0xFBFF3FC]
 STATIC_DATA_366 = [0xFFF7FE7F, 0xFBFF3FC]
 static_data_list = [STATIC_DATA_361, STATIC_DATA_362, STATIC_DATA_363, STATIC_DATA_364, STATIC_DATA_365, STATIC_DATA_366]
 
+# GEN1 radar interceptor
 def create_radar_command(packer, frame, CC, CS, hold):
   accel = 0
   ret = []
@@ -228,13 +229,15 @@ def create_radar_command(packer, frame, CC, CS, hold):
 
   return ret
 
-def create_acc_cmd(packer, values, accel, hold, resume):
+# GEN2 new mazdas
+def create_acc_cmd(self, packer, CS, CC, hold, resume):
+  values = CS.acc
   msg_name = "ACC"
   bus = 2
 
   if (values["ACC_ENABLED"]):
-    if Params().get_bool("ExperimentalLongitudinalEnabled"):
-      values["ACCEL_CMD"] = (accel * 240) + 2000
+    if Params().get_bool("ExperimentalLongitudinalEnabled") and CC.longActive:
+      values["ACCEL_CMD"] = (CC.actuators.accel * 240) + 2000
     values["HOLD"] = hold
     values["RESUME"] = resume
   else:
@@ -242,3 +245,4 @@ def create_acc_cmd(packer, values, accel, hold, resume):
 
   return packer.make_can_msg(msg_name, bus, values)
 
+