diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
index 95aa4ef26f..5c3b03d2af 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/speed_limit/speed_limit_settings.cc
@@ -124,7 +124,9 @@ void SpeedLimitSettings::refresh() {
     intelligent_cruise_button_management_available = CP_SP.getIntelligentCruiseButtonManagementAvailable();
 
     if (!has_longitudinal_control && CP_SP.getPcmCruiseSpeed()) {
-      params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+      if (speed_limit_mode_param == SpeedLimitMode::ASSIST) {
+        params.put("SpeedLimitMode", std::to_string(static_cast<int>(SpeedLimitMode::WARNING)));
+      }
     }
   } else {
     has_longitudinal_control = false;
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 5467639a63..6a868ab85b 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -86,7 +86,9 @@ def _cleanup_unsupported_params(CP: structs.CarParams, CP_SP: structs.CarParamsS
     params.remove("CustomAccIncrementsEnabled")
     params.remove("SmartCruiseControlVision")
     params.remove("SmartCruiseControlMap")
-    params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
+
+    if params.get("SpeedLimitMode", return_default=True) == SpeedLimitMode.assist:
+      params.put("SpeedLimitMode", int(SpeedLimitMode.warning))
 
 
 def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None: