diff --git a/README.md b/README.md
index c78052ad6b..fef54c6e9c 100644
--- a/README.md
+++ b/README.md
@@ -223,7 +223,7 @@ The goal of Modified Assistive Driving Safety (MADS) is to enhance the user driv
 * `SET-` button enables ACC/SCC
 * `CANCEL` button only disables ACC/SCC
 * `CRUISE (MAIN)` must be `ON` to use ACC/SCC
-* `CRUISE (MAIN)` button disables sunnypilot completely when `OFF` **(strictly enforced in panda safety code)**
+* `CRUISE (MAIN)` button disables ACC/SCC completely when `OFF` **(strictly enforced in panda safety code)**
 
 ### Disengage Lateral ALC on Brake Press Mode toggle
 Dedicated toggle to handle Lateral state on brake pedal press and release:
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 51e1251e21..090e86b066 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -217,8 +217,6 @@ class CarState(CarStateBase):
     if self.CP.spFlags & HyundaiFlagsSP.SP_CAN_LFA_BTN:
       self.lfa_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
 
-    self.mads_enabled = False if not self.control_initialized else ret.cruiseState.available
-
     if self.CP.spFlags & HyundaiFlagsSP.SP_NAV_MSG or self.CP.spFlags & HyundaiFlagsSP.SP_LKAS12:
       self._update_traffic_signals(cp, cp_cam)
       ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 7db9867d4a..4041bfe78b 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -212,11 +212,11 @@ class CarInterface(CarInterfaceBase):
 
     self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
 
+    self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
+
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
                                                             self.CS.button_events, c.vCruise)
 
-    self.CS.mads_enabled = False if not self.mads_main_toggle else self.CS.mads_enabled
-
     if ret.cruiseState.available:
       if not self.CP.pcmCruiseSpeed:
         if self.CS.prev_main_buttons == 1:
@@ -225,15 +225,16 @@ class CarInterface(CarInterfaceBase):
           elif self.CS.prev_cruise_buttons == 4:
             if self.CS.cruise_buttons[-1] != 4:
               self.accEnabled = True
-      if self.enable_mads:
-        if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
-          self.CS.madsEnabled = True
-        if self.CS.prev_lfa_enabled != 1 and self.CS.lfa_enabled == 1:
-          self.CS.madsEnabled = not self.CS.madsEnabled
-        self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
       self.CS.madsEnabled = False
 
+    if self.enable_mads:
+      if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
+        self.CS.madsEnabled = True
+      if self.CS.prev_lfa_enabled != 1 and self.CS.lfa_enabled == 1:
+        self.CS.madsEnabled = not self.CS.madsEnabled
+      self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
+
     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):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 5f8a83f93e..037f4f6e0a 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -473,7 +473,7 @@ class CarInterfaceBase(ABC):
         events.add(EventName.spReverseGear)
       elif cs_out.vEgo >= 5:
         events.add(EventName.reverseGear)
-    if not cs_out.cruiseState.available:
+    if not cs_out.cruiseState.available and cs_out.cruiseState.enabled:
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)