diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 975556b759..1a9e7c2fb7 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -14,7 +14,7 @@ def long_control_state_trans(CP, active, long_control_state, v_ego,
                              should_stop, brake_pressed, cruise_standstill, resume):
   # Ignore cruise standstill if car has a gas interceptor
   cruise_standstill = cruise_standstill and not CP.enableGasInterceptorDEPRECATED
-  stopping_condition = should_stop
+  stopping_condition = should_stop and not resume
   starting_condition = ((not should_stop or resume) and
                         not cruise_standstill and
                         not brake_pressed)
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 8cd3674970..976944228e 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -82,7 +82,7 @@ class LongitudinalPlanner:
     self.dt = dt
 
     self.a_desired = init_a
-    v_ego_sec = 0.75 if CP.carName == "hyundai" else 2.0
+    v_ego_sec = 0.5 if CP.carName == "hyundai" else 2.0
     self.v_desired_filter = FirstOrderFilter(init_v, v_ego_sec, self.dt)
     self.v_model_error = 0.0