diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 1f89a5a6a1..bd4d23ab27 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -308,7 +308,7 @@ class CarController(CarControllerBase):
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
         use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
-        self.make_accel(actuators)
+        self.make_accel(CS, 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),
                                                         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))
@@ -538,12 +538,12 @@ class CarController(CarControllerBase):
         self.cb_upper = clip(0.9 + accel * 0.2, 0, 1.2)
         self.cb_lower = clip(0.8 + accel * 0.2, 0, 1.2)
 
-  def make_accel(self, actuators):
+  def make_accel(self, CS, actuators):
     long_control = actuators.longControlState
     is_ice = not self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV)
     rate_up = 0.1
     rate_down = 0.1
-    if long_control == LongCtrlState.off:
+    if long_control == LongCtrlState.off or CS.out.standstill:
       self.accel_raw, self.accel_val = 0, 0
     else:
       #self.accel_val = clip(self.accel_raw, self.accel_last - rate_down, self.accel_last + rate_up)
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index dfb0fbae61..0d47eaae8f 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -104,9 +104,8 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = True
     ret.startingState = True
     ret.vEgoStarting = 0.1
-    ret.startAccel = 1.8
-    ret.stopAccel = 0.0
-    ret.stoppingDecelRate = 10
+    ret.startAccel = 1.6
+    ret.stopAccel = -1.0
     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 1ee8a7b013..e3cd4bb654 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -75,9 +75,6 @@ class LongControl:
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         output_accel -= self.CP.stoppingDecelRate * DT_CTRL
-      elif output_accel < self.CP.stopAccel == 0.0:
-        output_accel = min(output_accel, 0.0)
-        output_accel += self.CP.stoppingDecelRate * DT_CTRL
       self.reset()
 
     elif self.long_control_state == LongCtrlState.starting: