diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 1227ae43d..c33206be0 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -147,8 +147,7 @@ class VCruiseHelper:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
-
-    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not frogpilot_toggles.conditional_experimental_mode else V_CRUISE_INITIAL
+    engage_floor_kph = max(V_CRUISE_MIN, 7.0 * CV.MPH_TO_KPH)
 
     # 250kph or above probably means we never had a set speed
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
@@ -157,7 +156,7 @@ class VCruiseHelper:
       if desired_speed_limit != 0 and frogpilot_toggles.set_speed_limit:
         self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH))
       else:
-        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
+        self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, engage_floor_kph, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph