diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 4fb7081c48..75efeeadd3 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -248,8 +248,8 @@ class CarInterface(CarInterfaceBase):
           self.CS.accEnabled = True
 
     if self.enable_mads:
-      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and \
-        (any(b.type == ButtonType.altButton3 for b in self.CS.button_events) and not self.CP.pcmCruise):
+      if not self.CS.prev_mads_enabled and self.CS.mads_enabled and (self.CP.pcmCruise or
+        (any(b.type == ButtonType.altButton3 for b in self.CS.button_events) and not self.CP.pcmCruise)):
         self.CS.madsEnabled = True
       if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
         self.CS.madsEnabled = not self.CS.madsEnabled