diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 0b52ccbcba..c7928d6271 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -135,7 +135,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index b5d1197894..8b55db3ee0 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -105,7 +105,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 2a1dade4f7..7e58baec08 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -251,7 +251,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 1f1134c151..f560d8323d 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -300,7 +300,7 @@ class CarInterface(CarInterfaceBase):
       elif not ret.cruiseState.enabled:
         self.CS.accEnabled = False
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
+    ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_setting == 3))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index a73adac27a..e7c0071f5e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -241,7 +241,7 @@ class CarInterface(CarInterfaceBase):
       self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
+    ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_buttons[-1] == 3))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index b3085b2ed6..cd9e161e60 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -621,17 +621,17 @@ class CarInterfaceBase(ABC):
     else:
       return CS.madsEnabled
 
-  def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
-    cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
+  def get_sp_common_state(self, cs_out, gear_allowed=True, gap_button=False):
+    cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
 
     if not self.enable_mads:
-      if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
-        CS.madsEnabled = True
-      elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
-        CS.madsEnabled = False
+      if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+        self.CS.madsEnabled = True
+      elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled:
+        self.CS.madsEnabled = False
 
     if self.CP.openpilotLongitudinalControl:
-      self.toggle_exp_mode(gap_button)
+      self.toggle_exp_mode(gap_button)  # TODO-SP: use buttonEvents to handle this, then remove gap_button
 
     lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
 
@@ -643,22 +643,22 @@ class CarInterfaceBase(ABC):
 
     cs_out.latActive = gear_allowed
 
-    if not CS.control_initialized:
-      CS.control_initialized = True
+    if not self.CS.control_initialized:
+      self.CS.control_initialized = True
 
     # Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
     if (cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator) or \
       (cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)) or \
       (cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)):
-      if CS.madsEnabled:
-        CS.disengageByBrake = True
+      if self.CS.madsEnabled:
+        self.CS.disengageByBrake = True
 
-    cs_out.madsEnabled = CS.madsEnabled
-    cs_out.accEnabled = CS.accEnabled
-    cs_out.disengageByBrake = CS.disengageByBrake
+    cs_out.madsEnabled = self.CS.madsEnabled
+    cs_out.accEnabled = self.CS.accEnabled
+    cs_out.disengageByBrake = self.CS.disengageByBrake
     cs_out.brakeLightsDEPRECATED |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking
 
-    return cs_out, CS
+    return cs_out
 
   # TODO: SP: use upstream's buttonEvents counter checks from controlsd
   def toggle_exp_mode(self, gap_pressed):
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 1a62a190de..74705d6ab7 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -71,7 +71,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 64c2511c14..ee7f5c9c15 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
       self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
+    ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index bc31910ad8..b983394bff 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -140,7 +140,7 @@ class CarInterface(CarInterfaceBase):
       self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS)
+    ret = self.get_sp_common_state(ret)
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index adce752408..fb29c9ccf3 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -238,7 +238,7 @@ class CarInterface(CarInterfaceBase):
       if not self.CP.pcmCruise:
         ret.cruiseState.enabled = self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
+    ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
 
     ret.buttonEvents = [
       *self.CS.button_events,
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 75d3b44a4c..6cb7f71f6a 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -140,8 +140,7 @@ class CarInterface(CarInterfaceBase):
         self.CS.accEnabled = False
       self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
 
-    ret, self.CS = self.get_sp_common_state(ret, self.CS,
-                                            gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
+    ret = self.get_sp_common_state(ret, gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
 
     ret.buttonEvents = [
       *self.CS.button_events,