diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index a051e13c1d..ee700ffc9c 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -111,8 +111,6 @@ class CarController(CarControllerBase):
     self.jerk_count = 0.0
 
     self.accel_val = 0
-    self.accel_raw = 0
-    self.accel_frame = 0
 
   def calculate_lead_distance(self, hud_control: car.CarControl.HUDControl) -> float:
     lead_one = self.sm["radarState"].leadOne
@@ -302,7 +300,7 @@ class CarController(CarControllerBase):
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         self.make_jerk(CS, accel, actuators)
         self.make_accel(accel, actuators)
-        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, self.accel_raw, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
+        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled and CS.out.cruiseState.enabled, accel, self.accel_val, self.jerk_l, self.jerk_u, int(self.frame / 2),
                                                         hud_control, set_speed_in_units, stopping,
                                                         CC.cruiseControl.override, use_fca, CS, escc, self.CP, self.lead_distance, self.cb_lower, self.cb_upper))
 
@@ -536,17 +534,8 @@ class CarController(CarControllerBase):
         self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
 
   def make_accel(self, accel, actuators):
-    self.accel_raw = accel
     if actuators.longControlState == LongCtrlState.off:
-      self.accel_raw, self.accel_val = 0, 0
-    elif actuators.longControlState == LongCtrlState.starting and self.accel_frame <= 1:
-      self.accel_frame += 1
-      self.accel_raw, self.accel_val = accel, accel
+      self.accel_val = 0
     else:
-      if actuators.longControlState == LongCtrlState.stopping:
-        self.accel_raw = 0
-      self.accel_val = clip(self.accel_raw, self.accel_last - 0.1, self.accel_last + 0.1)
+      self.accel_val = clip(accel, self.accel_last - 0.1, self.accel_last + 0.1)
     self.accel_last = self.accel_val
-
-    if not actuators.longControlState == LongCtrlState.starting or self.accel_frame >= 2:
-      self.accel_frame = 0
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 88827e61ab..627328c0d9 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -105,6 +105,7 @@ class CarInterface(CarInterfaceBase):
     ret.startingState = True
     ret.vEgoStarting = 0.1
     ret.startAccel = 2.0
+    ret.stopAccel = 0.0
     ret.longitudinalActuatorDelay = 0.5
 
     if DBC[ret.carFingerprint]["radar"] is None:
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index a661c33361..a477b48780 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -51,6 +51,8 @@ class LongControl:
                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
     self.last_output_accel = 0.0
 
+    self.frame = 0
+
   def reset(self):
     self.pid.reset()
 
@@ -74,13 +76,22 @@ class LongControl:
       self.reset()
 
     elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
-      self.reset()
+      if self.frame < 10 and self.CP.carName == "hyundai":
+        self.frame += 1
+        output_accel = self.CP.startAccel
+        self.reset()
+      else:  # LongCtrlState.pid
+        error = a_target - CS.aEgo
+        output_accel = self.pid.update(error, speed=CS.vEgo,
+                                       feedforward=a_target)
 
     else:  # LongCtrlState.pid
       error = a_target - CS.aEgo
       output_accel = self.pid.update(error, speed=CS.vEgo,
                                      feedforward=a_target)
 
+    if not self.long_control_state == LongCtrlState.starting:
+      self.frame = 0
+
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
     return self.last_output_accel