diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 5a7bb96dea..5741f11e26 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -137,32 +137,37 @@ class CarController:
           self.accel_last = accel
       else:
         # button presses
-        if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
-          # cruise cancel
+        if can_canfd:
           if CC.cruiseControl.cancel:
-            if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info))
-              self.last_button_frame = self.frame
-            else:
-              for _ in range(20):
-                if can_canfd:
-                  can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
-                else:
-                  can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
-              self.last_button_frame = self.frame
-
-          # cruise standstill resume
+            can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
           elif CC.cruiseControl.resume:
-            if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-              # TODO: resume for alt button cars
-              pass
-            else:
-              for _ in range(20):
-                if can_canfd:
-                  can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP))
-                else:
+            # send resume at a max freq of 10Hz
+            if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
+              # send 25 messages at a time to increases the likelihood of resume being accepted
+              can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
+              if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
+                self.last_button_frame = self.frame
+        else:
+          if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
+            # cruise cancel
+            if CC.cruiseControl.cancel:
+              if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+                can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info))
+                self.last_button_frame = self.frame
+              else:
+                for _ in range(20):
+                  can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
+                self.last_button_frame = self.frame
+
+            # cruise standstill resume
+            elif CC.cruiseControl.resume:
+              if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+                # TODO: resume for alt button cars
+                pass
+              else:
+                for _ in range(20):
                   can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
-              self.last_button_frame = self.frame
+                self.last_button_frame = self.frame
     else:
       can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,