diff --git a/board/safety/safety_toyota.h b/board/safety/safety_toyota.h
index 73ad6e76..395c9817 100644
--- a/board/safety/safety_toyota.h
+++ b/board/safety/safety_toyota.h
@@ -43,9 +43,11 @@ addr_checks toyota_rx_checks = {toyota_addr_checks, TOYOTA_ADDR_CHECKS_LEN};
 // first byte is for eps factor, second is for flags
 const uint32_t TOYOTA_PARAM_OFFSET = 8U;
 const uint32_t TOYOTA_EPS_FACTOR = (1U << TOYOTA_PARAM_OFFSET) - 1U;
-const uint32_t TOYOTA_ALT_BRAKE = 1U << TOYOTA_PARAM_OFFSET;
+const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1U << TOYOTA_PARAM_OFFSET;
+const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2U << TOYOTA_PARAM_OFFSET;
 
 bool toyota_alt_brake = false;
+bool toyota_stock_longitudinal = false;
 int toyota_dbc_eps_torque_factor = 100;   // conversion factor for STEER_TORQUE_EPS in %: see dbc file
 
 static uint8_t toyota_compute_checksum(CANPacket_t *to_push) {
@@ -164,11 +166,20 @@ static int toyota_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed) {
     if (addr == 0x343) {
       int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1);
       desired_accel = to_signed(desired_accel, 16);
-      if (!longitudinal_allowed) {
+      if (!longitudinal_allowed || toyota_stock_longitudinal) {
         if (desired_accel != 0) {
           tx = 0;
         }
       }
+
+      // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal
+      if (toyota_stock_longitudinal) {
+        bool cancel_req = GET_BIT(to_send, 24U) != 0U;
+        if (!cancel_req) {
+          tx = 0;
+        }
+      }
+
       bool violation = max_limit_check(desired_accel, TOYOTA_MAX_ACCEL, TOYOTA_MIN_ACCEL);
 
       if (violation) {
@@ -256,7 +267,8 @@ static const addr_checks* toyota_init(uint32_t param) {
   controls_allowed = 0;
   relay_malfunction_reset();
   gas_interceptor_detected = 0;
-  toyota_alt_brake = GET_FLAG(param, TOYOTA_ALT_BRAKE);
+  toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE);
+  toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL);
   toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR;
   return &toyota_rx_checks;
 }
diff --git a/python/__init__.py b/python/__init__.py
index b292a8f7..d3a96cbe 100644
--- a/python/__init__.py
+++ b/python/__init__.py
@@ -180,7 +180,9 @@ class Panda(object):
   CLOCK_SOURCE_MODE_DISABLED = 0
   CLOCK_SOURCE_MODE_FREE_RUNNING = 1
 
+  # first byte is for EPS scaling factor
   FLAG_TOYOTA_ALT_BRAKE = (1 << 8)
+  FLAG_TOYOTA_STOCK_LONGITUDINAL = (2 << 8)
 
   FLAG_HONDA_ALT_BRAKE = 1
   FLAG_HONDA_BOSCH_LONG = 2
@@ -189,6 +191,7 @@ class Panda(object):
   FLAG_HYUNDAI_EV_GAS = 1
   FLAG_HYUNDAI_HYBRID_GAS = 2
   FLAG_HYUNDAI_LONG = 4
+
   FLAG_TESLA_POWERTRAIN = 1
   FLAG_TESLA_LONG_CONTROL = 2
 
diff --git a/tests/safety/common.py b/tests/safety/common.py
index 2999dd67..888bc2a5 100644
--- a/tests/safety/common.py
+++ b/tests/safety/common.py
@@ -450,7 +450,7 @@ class PandaSafetyTest(PandaSafetyTestBase):
             if 'Tesla' in attr and 'Tesla' in current_test:
               continue
 
-            if {attr, current_test} == {'TestToyotaSafety', 'TestToyotaAltBrakeSafety'}:
+            if {attr, current_test}.issubset({'TestToyotaSafety', 'TestToyotaAltBrakeSafety', 'TestToyotaStockLongitudinal'}):
               continue
 
             # TODO: Temporary, should be fixed in panda firmware, safety_honda.h
diff --git a/tests/safety/test_toyota.py b/tests/safety/test_toyota.py
index ae7c5433..f5cef45e 100755
--- a/tests/safety/test_toyota.py
+++ b/tests/safety/test_toyota.py
@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
-import unittest
 import numpy as np
 import random
+import unittest
+
 from panda import Panda
 from panda.tests.safety import libpandasafety_py
 import panda.tests.safety.common as common
@@ -40,17 +41,17 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
   MAX_RT_DELTA = 450
   RT_INTERVAL = 250000
   MAX_TORQUE_ERROR = 350
-  TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conversative for rounding
-  EPS_SCALE = 0.73
+  TORQUE_MEAS_TOLERANCE = 1  # toyota safety adds one to be conservative for rounding
+  EPS_SCALE = 73
 
   def setUp(self):
     self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
     self.safety = libpandasafety_py.libpandasafety
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 73)
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE)
     self.safety.init_tests()
 
   def _torque_meas_msg(self, torque):
-    values = {"STEER_TORQUE_EPS": (torque/self.EPS_SCALE)}
+    values = {"STEER_TORQUE_EPS": (torque / self.EPS_SCALE) * 100.}
     return self.packer.make_can_msg_panda("STEER_TORQUE_SENSOR", 0, values)
 
   def _torque_msg(self, torque):
@@ -61,8 +62,8 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
     values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd}
     return self.packer.make_can_msg_panda("STEERING_LTA", 0, values)
 
-  def _accel_msg(self, accel):
-    values = {"ACCEL_CMD": accel}
+  def _accel_msg(self, accel, cancel_req=0):
+    values = {"ACCEL_CMD": accel, "CANCEL_REQ": cancel_req}
     return self.packer.make_can_msg_panda("ACC_CONTROL", 0, values)
 
   def _speed_msg(self, speed):
@@ -99,7 +100,7 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
           msg = common.package_can_msg([0x283, 0, bytes(dat),  0])
           self.assertEqual(not bad, self._tx(msg))
 
-  def test_accel_actuation_limits(self):
+  def test_accel_actuation_limits(self, stock_longitudinal=False):
     limits = ((MIN_ACCEL, MAX_ACCEL, ALTERNATIVE_EXPERIENCE.DEFAULT),
               (MIN_ACCEL, MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX))
 
@@ -108,7 +109,9 @@ class TestToyotaSafety(common.PandaSafetyTest, common.InterceptorSafetyTest,
         for controls_allowed in [True, False]:
           self.safety.set_controls_allowed(controls_allowed)
           self.safety.set_alternative_experience(alternative_experience)
-          if controls_allowed:
+          if stock_longitudinal:
+            should_tx = False
+          elif controls_allowed:
             should_tx = int(min_accel * 1000) <= int(accel * 1000) <= int(max_accel * 1000)
           else:
             should_tx = np.isclose(accel, 0, atol=0.0001)
@@ -155,7 +158,7 @@ class TestToyotaAltBrakeSafety(TestToyotaSafety):
   def setUp(self):
     self.packer = CANPackerPanda("toyota_new_mc_pt_generated")
     self.safety = libpandasafety_py.libpandasafety
-    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, 73 | Panda.FLAG_TOYOTA_ALT_BRAKE)
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_ALT_BRAKE)
     self.safety.init_tests()
 
   def _user_brake_msg(self, brake):
@@ -167,5 +170,27 @@ class TestToyotaAltBrakeSafety(TestToyotaSafety):
     pass
 
 
+class TestToyotaStockLongitudinal(TestToyotaSafety):
+  def setUp(self):
+    self.packer = CANPackerPanda("toyota_nodsu_pt_generated")
+    self.safety = libpandasafety_py.libpandasafety
+    self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL)
+    self.safety.init_tests()
+
+  def test_accel_actuation_limits(self, stock_longitudinal=True):
+    super().test_accel_actuation_limits(stock_longitudinal=stock_longitudinal)
+
+  def test_acc_cancel(self):
+    """
+      Regardless of controls allowed, never allow ACC_CONTROL if cancel bit isn't set
+    """
+    for controls_allowed in [True, False]:
+      self.safety.set_controls_allowed(controls_allowed)
+      for accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1):
+        self.assertFalse(self._tx(self._accel_msg(accel)))
+        should_tx = np.isclose(accel, 0, atol=0.0001)
+        self.assertEqual(should_tx, self._tx(self._accel_msg(accel, cancel_req=1)))
+
+
 if __name__ == "__main__":
   unittest.main()