diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index d5ce9354c..456be0188 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -81,13 +81,6 @@ class ModularAssistiveDrivingSystem:
 
     return False
 
-  def get_wrong_car_mode(self, alert_only: bool) -> None:
-    if alert_only:
-      if self.events.has(EventName.wrongCarMode):
-        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
-    else:
-      self.events.remove(EventName.wrongCarMode)
-
   def transition_paused_state(self):
     if self.state_machine.state != State.paused:
       self.events_sp.add(EventNameSP.silentLkasDisable)
@@ -128,12 +121,11 @@ class ModularAssistiveDrivingSystem:
       self.events.remove(EventName.manualRestart)
 
     selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
-    set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
-
-    # wrongCarMode alert only or actively block control
-    self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable)
 
     if selfdrive_enable_events:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
       if self.block_unified_engagement_mode():
         self.events.remove(EventName.pcmEnable)
         self.events.remove(EventName.buttonEnable)
@@ -168,6 +160,11 @@ class ModularAssistiveDrivingSystem:
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
+    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
+      if self.events.has(EventName.wrongCarMode):
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
+      self.events.remove(EventName.wrongCarMode)
 
   def update(self, CS: structs.CarState):
     if not self.enabled_toggle: