diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index f4881dd363..d4911375e7 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -94,7 +94,6 @@ class CarInterface(CarInterfaceBase):
     self.sp_update_params()
 
     self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
@@ -109,7 +108,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_enabled == 1:
           self.CS.madsEnabled = not self.CS.madsEnabled
           self.CS.lkas_disabled = not self.CS.lkas_disabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index b0a1c15f34..18dd7b4fa3 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -75,7 +75,6 @@ class CarInterface(CarInterfaceBase):
     self.sp_update_params()
 
     self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
@@ -86,7 +85,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        if not self.CS.prev_lkas_enabled and self.CS.lkas_enabled:
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else:
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 4a1e459722..0e428bc13b 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -218,8 +218,6 @@ class CarInterface(CarInterfaceBase):
       ]
       distance_button = self.CS.distance_button
 
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
-
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
     if not self.CP.pcmCruise:
@@ -233,7 +231,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_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:
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index af294a63a7..72ab68647f 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -282,7 +282,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        if self.CS.prev_cruise_setting != 1 and self.CS.cruise_setting == 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:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 72a12b0ba8..dbe0b62895 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -205,9 +205,7 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
     self.sp_update_params()
 
-    self.CS.button_events.extend(create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT))
-    self.CS.button_events.extend(create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}))
-    self.CS.button_events.extend(create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}))
+    self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
 
     self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
                                                             self.CS.button_events, c.vCruise)
@@ -216,12 +214,16 @@ class CarInterface(CarInterfaceBase):
 
     if ret.cruiseState.available:
       if not self.CP.pcmCruiseSpeed:
-        if any(b.type in (ButtonType.altButton3, ButtonType.cancel) and not b.pressed for b in self.CS.button_events):
-          self.CS.accEnabled = True
+        if self.CS.prev_main_buttons == 1:
+          if self.CS.main_buttons[-1] != 1:
+            self.CS.accEnabled = True
+          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 any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        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:
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 2bd4f71c78..9447803ae6 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -40,8 +40,10 @@ class CarInterface(CarInterfaceBase):
     self.sp_update_params()
 
     # TODO: add button types for inc and dec
-    self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
-    self.CS.button_events.extend(create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}))
+    self.CS.button_events = [
+      *self.CS.button_events,
+      *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
+    ]
 
     self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
 
@@ -52,7 +54,7 @@ class CarInterface(CarInterfaceBase):
       if self.enable_mads:
         if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
           self.CS.madsEnabled = True
-        if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
+        if self.CS.prev_lkas_enabled != self.CS.lkas_enabled:
           self.CS.madsEnabled = not self.CS.madsEnabled
         self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
     else: