diff --git a/cereal/log.capnp b/cereal/log.capnp
index b5dd6a46a6..1a52ebf902 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -187,8 +187,8 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     # sunnypilot
     lkasEnable @151;
     lkasDisable @152;
-    manualSteeringRequired @153;
-    manualLongitudinalRequired @154;
+    manualSteeringRequired @153;  # TODO-SP: remove before merging
+    manualLongitudinalRequired @154;  # TODO-SP: remove before merging
     silentPedalPressed @155;
     silentLkasEnable @156;
     silentBrakeHold @157;
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index b135a8a74c..ea97593590 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -73,15 +73,9 @@ class ModularAssistiveDrivingSystem:
           self.selfdrive.events.add(EventName.lkasEnable)
 
     for be in CS.buttonEvents:
-      if be.type == ButtonType.cancel:
-        if not self.selfdrive.enabled and self.selfdrive.enabled_prev:
-          self.selfdrive.events.add(EventName.manualLongitudinalRequired)
       if be.type == ButtonType.lkas and be.pressed and (CS.cruiseState.available or self.allow_always):
         if self.active:
-          if self.selfdrive.enabled:
-            self.selfdrive.events.add(EventName.manualSteeringRequired)
-          else:
-            self.selfdrive.events.add(EventName.lkasDisable)
+          self.selfdrive.events.add(EventName.lkasDisable)
         else:
           self.selfdrive.events.add(EventName.lkasEnable)