diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 2a72a59a10..eb932b484e 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -144,6 +144,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
+    pedalPressedAlertOnly @16;
   }
 }
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index e6665484ae..456be01882 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -120,7 +120,12 @@ class ModularAssistiveDrivingSystem:
       self.events.remove(EventName.cruiseDisabled)
       self.events.remove(EventName.manualRestart)
 
-    if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
+    selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
+
+    if selfdrive_enable_events:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
       if self.block_unified_engagement_mode():
         self.events.remove(EventName.pcmEnable)
         self.events.remove(EventName.buttonEnable)
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 979de0a80c..67672649c5 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -134,4 +134,8 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: wrong_car_mode_alert,
   },
 
+  EventNameSP.pedalPressedAlertOnly: {
+    ET.WARNING: NoEntryAlert("Pedal Pressed")
+  }
+
 }