diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 59b461e4b6..6c7469ff12 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -266,7 +266,7 @@ class CarController(CarControllerBase):
         else:
           can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CS, CC.enabled and CS.out.cruiseState.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units, hud_control, self.jerk_u, self.jerk_l))
           self.accel_last = accel
       else:
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 2b51f8c1bd..69ea0c6317 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled, lat_active, lateral_paused, blin
   return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
+def create_acc_control(packer, CAN, CS, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, upper_jerk, lower_jerk):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -132,7 +132,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
 
   values = {
     "ACCMode": 0 if not enabled else (2 if gas_override else 1),
-    "MainMode_ACC": 1,
+    "MainMode_ACC": 1 if CS.mainEnabled else 0,
     "StopReq": 1 if stopping else 0,
     "aReqValue": a_val,
     "aReqRaw": a_raw,