diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 673a5bc1d..789dad562 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -48,6 +48,7 @@ def joystickd_thread():
     if CC.longActive:
       actuators.accel = 4.0 * float(np.clip(joystick_axes[0], -1, 1))
       actuators.longControlState = LongCtrlState.pid if sm['carState'].vEgo > CP.vEgoStopping else LongCtrlState.stopping
+      CC.cruiseControl.resume = actuators.accel > 0.0
 
     if CC.latActive:
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)