diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index b43079a714..4d2a2902fa 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -287,7 +287,6 @@ class CarController(CarControllerBase):
               can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP)] * 25)
       else:
         self.make_jerk(CS, accel, actuators)
-        self.make_accel(accel, actuators)
 
       # Parse lead distance from radarState and display the corresponding distance in the car's cluster
       if self.CP.openpilotLongitudinalControl and self.sm.updated['radarState'] and self.frame % 5 == 0:
@@ -300,6 +299,8 @@ 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_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),
                                                         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))