diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 6e8e0c7513..672b4c1a77 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -44,29 +44,28 @@ class ModularAssistiveDrivingSystem:
       if self.state_machine.state != State.paused:
         self.events.add(EventName.silentLkasDisable)
 
-    if not self.selfdrive.enabled:
-      if self.enabled:
-        if self.disengage_lateral_on_brake_toggle:
-          if self.events.has(EventName.pedalPressed):
-            transition_paused_state()
-      else:
-        if self.events.has(EventName.wrongGear):
-          self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
-          transition_paused_state()
-        if self.events.has(EventName.reverseGear):
-          self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
-          transition_paused_state()
-        if self.events.has(EventName.brakeHold):
-          self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
-          transition_paused_state()
-        if self.events.has(EventName.doorOpen):
-          self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
-          transition_paused_state()
-        if self.events.has(EventName.seatbeltNotLatched):
-          self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
+    if not self.selfdrive.enabled and self.enabled:
+      if self.events.has(EventName.wrongGear):
+        self.events.replace(EventName.wrongGear, EventName.silentWrongGear)
+        transition_paused_state()
+      if self.events.has(EventName.reverseGear):
+        self.events.replace(EventName.reverseGear, EventName.silentReverseGear)
+        transition_paused_state()
+      if self.events.has(EventName.brakeHold):
+        self.events.replace(EventName.brakeHold, EventName.silentBrakeHold)
+        transition_paused_state()
+      if self.events.has(EventName.doorOpen):
+        self.events.replace(EventName.doorOpen, EventName.silentDoorOpen)
+        transition_paused_state()
+      if self.events.has(EventName.seatbeltNotLatched):
+        self.events.replace(EventName.seatbeltNotLatched, EventName.silentSeatbeltNotLatched)
+        transition_paused_state()
+
+      if self.disengage_lateral_on_brake_toggle:
+        if self.events.has(EventName.pedalPressed):
           transition_paused_state()
 
-      if not (self.disengage_lateral_on_brake_toggle and self.events.has(EventName.pedalPressed) and self.enabled) and \
+      if not (self.disengage_lateral_on_brake_toggle and self.events.has(EventName.pedalPressed)) and \
          not self.events.has_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events.add(EventName.silentLkasEnable)