diff --git a/panda b/panda
index 47a7a18f6c..a879b79b70 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 47a7a18f6c195fa4456753ca0ab43d8b7880778e
+Subproject commit a879b79b707dde8583952f02d80ae1e286146c5d
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 598391bc97..82678e425e 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -49,8 +49,8 @@ class MadsParams:
     if enabled:
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-      if not disengage_lateral_on_brake:
-        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_LATERAL_ON_BRAKE
+      if disengage_lateral_on_brake:
+        CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
 
       if main_cruise:
         CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MAIN_CRUISE_ALLOWED