diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index c331e0e580..0b52ccbcba 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -120,9 +120,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index d278ded357..b5d1197894 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -95,9 +95,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 8c04a7e5ab..2a1dade4f7 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -241,9 +241,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 1ffdcc19a3..1f1134c151 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -285,9 +285,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or min_enable_speed_pcm or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads or min_enable_speed_pcm \
                                                         else False if self.CP.pcmCruise \
                                                         else self.CS.accEnabled
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 214e0f5a3a..a73adac27a 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -233,12 +233,12 @@ class CarInterface(CarInterfaceBase):
     if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
       if not self.CP.pcmCruise:
         if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+          self.get_sp_cancel_cruise_state()
       if not self.CP.pcmCruiseSpeed:
         if not ret.cruiseState.enabled:
-          self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+          self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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))
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index e177baf9ca..b3085b2ed6 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -581,9 +581,9 @@ class CarInterfaceBase(ABC):
 
     return acc_enabled
 
-  def get_sp_cancel_cruise_state(self, mads_enabled, acc_enabled=False):
-    mads_enabled = False if not self.enable_mads or self.disengage_on_accelerator else mads_enabled
-    return mads_enabled, acc_enabled
+  def get_sp_cancel_cruise_state(self):
+    self.CS.madsEnabled = False if not self.enable_mads or self.disengage_on_accelerator else self.CS.madsEnabled
+    self.CS.accEnabled = False
 
   def get_sp_pedal_disengage(self, cs_out):
     accel_pedal = cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 3d6f49430a..1a62a190de 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -61,9 +61,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index e6513b47af..64c2511c14 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase):
 
     if (not ret.cruiseState.enabled and self.CS.out.cruiseState.enabled) or \
        self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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))
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 441c860ba5..bc31910ad8 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -137,7 +137,7 @@ class CarInterface(CarInterfaceBase):
         if not self.enable_mads:
           self.CS.madsEnabled = False
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 1f2feb6c2d..adce752408 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -234,7 +234,7 @@ class CarInterface(CarInterfaceBase):
       self.CS.madsEnabled = False
 
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      self.get_sp_cancel_cruise_state()
       if not self.CP.pcmCruise:
         ret.cruiseState.enabled = self.CS.accEnabled
 
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 6efca50280..75d3b44a4c 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -130,9 +130,9 @@ class CarInterface(CarInterfaceBase):
 
     if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
       if any(b.type == ButtonType.cancel for b in self.CS.button_events):
-        self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+        self.get_sp_cancel_cruise_state()
     if self.get_sp_pedal_disengage(ret):
-      self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
+      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
 
     if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed: