diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 0afe048e2a..db5b2119bb 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -211,8 +211,7 @@ struct CarControlSP @0xb86e6369214c01c8 {
     cruiseButton @1 :Int16;
     finalSpeedKph @2 :Float32;
     targetSpeed @3 :Float32;
-    vSetDis @4 :Float32;
-    buttonType @5 :Int16;
+    vCruise @4 :Float32;
 
     enum ButtonControlState {
       inactive @0;        # No button press or default state
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 1962ffa1a3..105e6891a5 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -189,6 +189,8 @@ class Car:
 
       car_control_sp_send = messaging.new_message('carControlSP')
       car_control_sp_send.valid = self.sm.all_checks(['carControl'])
+      if not self.CP.pcmCruiseSpeed:
+        car_control_sp_send.CustomStockLongitudinalControl = self.custom_stock_longitudinal_controller.state_publish()
       self.pm.send('carControlSP', car_control_sp_send)
 
   def step(self):
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 9f60e284bb..4e8f7203c1 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -288,8 +288,6 @@ class CarInterface(CarInterfaceBase):
     if self.CS.params_list.hyundai_radar_tracks_available and not self.CS.params_list.hyundai_radar_tracks_available_cache:
       events.add(car.CarEvent.EventName.hyundaiRadarTracksAvailable)
 
-    ret.customStockLong = self.update_custom_stock_long()
-
     ret.events = events.to_msg()
 
     return ret
diff --git a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
index 148d2f2965..0f50d811a4 100644
--- a/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
+++ b/selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
@@ -54,6 +54,14 @@ class CustomStockLongitudinalControllerBase(ABC):
       ButtonControlState.loading: LoadingState(),
     }
 
+  def state_publish(self):
+    customStockLongitudinalControl = custom.CarControlSP.CustomStockLongitudinalControl.new_message()
+    customStockLongitudinalControl.state = self.button_state
+    customStockLongitudinalControl.cruiseButton = 0 if self.cruise_button is None else int(self.cruise_button)
+    customStockLongitudinalControl.finalSpeedKph = float(self.final_speed_kph)
+    customStockLongitudinalControl.targetSpeed = float(self.target_speed)
+    customStockLongitudinalControl.vCruise = float(self.v_cruise)
+
   def get_set_speed_buttons(self, CS: car.CarState) -> bool:
     return any(be.type in self.set_speed_buttons for be in CS.out.buttonEvents)