diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 69292740f..5ddc29739 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -40,27 +40,27 @@ class CarController(CarControllerBase):
           ti_new_steer = int(round(CC.actuators.steer * self.ccp.TI_STEER_MAX))
           ti_apply_steer = apply_ti_steer_torque_limits(ti_new_steer, self.ti_apply_steer_last,
                                                     CS.out.steeringTorque, self.ccp)
-
-    if CC.cruiseControl.cancel:
-      # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
-      # a race condition with the stock system, where the second cancel from openpilot
-      # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
-      # read 3 messages and most likely sync state before we attempt cancel.
-      self.brake_counter = self.brake_counter + 1
-      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
-        # Cancel Stock ACC if it's enabled while OP is disengaged
-        # Send at a rate of 10hz until we sync with stock ACC state
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
-    else:
-      self.brake_counter = 0
-      if CC.cruiseControl.resume and self.frame % 5 == 0:
-        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button when planner wants car to move
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
-
     self.apply_steer_last = apply_steer
     self.ti_apply_steer_last = ti_apply_steer
+
     if self.CP.flags & MazdaFlags.GEN1:
+      if CC.cruiseControl.cancel:
+        # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
+        # a race condition with the stock system, where the second cancel from openpilot
+        # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
+        # read 3 messages and most likely sync state before we attempt cancel.
+        self.brake_counter = self.brake_counter + 1
+        if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+          # Cancel Stock ACC if it's enabled while OP is disengaged
+          # Send at a rate of 10hz until we sync with stock ACC state
+          can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
+      else:
+        self.brake_counter = 0
+        if CC.cruiseControl.resume and self.frame % 5 == 0:
+          # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+          # Send Resume button when planner wants car to move
+          can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
+
       # send HUD alerts
       if self.frame % 50 == 0:
         ldw = CC.hudControl.visualAlert == VisualAlert.ldw