diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 9d0c2426d4..a2dd456873 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -13,6 +13,8 @@ class ModifiedAssistDrivingSystem:
     self.active = False
     self.available = False
     self.selfdrive = selfdrive
+    self.selfdrive.enabled_prev = False
+    self.selfdrive.active_prev = False
     self.state_machine = StateMachine(self)
 
     self.enabled_toggle = True  # TODO-SP: Apply with toggle
@@ -34,7 +36,7 @@ class ModifiedAssistDrivingSystem:
     self.selfdrive.events.remove(EventName.buttonEnable)
     self.selfdrive.events.remove(EventName.buttonCancel)
 
-    if self.selfdrive.enabled:
+    if self.selfdrive.enabled_prev:
       if self.selfdrive.events.has(EventName.wrongGear) and CS.vEgo < 5:
         self.selfdrive.events.add(EventName.silentWrongGear)
         self.selfdrive.events.remove(EventName.wrongGear)
@@ -57,16 +59,16 @@ class ModifiedAssistDrivingSystem:
 
     for be in CS.buttonEvents:
       if be.type == ButtonType.cancel:
-        if self.selfdrive.enabled:
+        if self.selfdrive.enabled_prev:
           self.selfdrive.events.add(EventName.manualLongitudinalRequired)
       if be.type == ButtonType.lkas and be.pressed:
         if self.active:
-          if self.selfdrive.enabled:
+          if self.selfdrive.enabled_prev:
             self.selfdrive.events.add(EventName.manualSteeringRequired)
           else:
             self.selfdrive.events.add(EventName.buttonCancel)
         else:
-          if not self.selfdrive.enabled:
+          if not self.selfdrive.enabled_prev:
             self.selfdrive.events.add(EventName.buttonEnable)
 
     self.selfdrive.events.remove(EventName.pedalPressed)
@@ -81,3 +83,6 @@ class ModifiedAssistDrivingSystem:
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update(self.selfdrive.events)
+
+    # Copy of previous SelfdriveD states for MADS events handling
+    self.selfdrive.enabled_prev, self.selfdrive.active_prev = self.selfdrive.enabled, self.selfdrive.active
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index d747bc4e78..fb87bc3427 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -19,7 +19,7 @@ class StateMachine:
     self.state = State.disabled
 
   def add_current_alert_types(self, alert_type):
-    if not self.selfdrive.active:
+    if not self.selfdrive.active_prev:
       self.ss_state_machine.current_alert_types.append(alert_type)
 
   def update(self, events: Events):
@@ -46,7 +46,7 @@ class StateMachine:
         if self.state == State.enabled:
           if events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
-            if not self.selfdrive.active:
+            if not self.selfdrive.active_prev:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
 
@@ -83,7 +83,7 @@ class StateMachine:
         elif self.state == State.overriding:
           if events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
-            if not self.selfdrive.active:
+            if not self.selfdrive.active_prev:
               self.ss_state_machine.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
               self.ss_state_machine.current_alert_types.append(ET.SOFT_DISABLE)
           elif not events.contains(ET.OVERRIDE_LATERAL):