diff --git a/selfdrive/controls/lib/long_mpc.py b/selfdrive/controls/lib/long_mpc.py
index 35cfde668..c5e02ab3e 100644
--- a/selfdrive/controls/lib/long_mpc.py
+++ b/selfdrive/controls/lib/long_mpc.py
@@ -34,6 +34,7 @@ class LongitudinalMpc():
     self.prev_lead_status = False
     self.prev_lead_x = 0.0
     self.new_lead = False
+
     self.last_cloudlog_t = 0.0
 
     # df from Shane Smiskol
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 80675a2d6..01eb8d258 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -85,7 +85,7 @@ class LongControl():
 
     v_ego_pid = max(v_ego, MIN_CAN_SPEED)  # Without this we get jumps, CAN bus reports 0 when speed < 0.3
 
-    if self.long_control_state == LongCtrlState.off or gas_pressed:
+    if self.long_control_state == LongCtrlState.off or gas_pressed or brake_pressed:
       self.v_pid = v_ego_pid
       self.pid.reset()
       output_gb = 0.
diff --git a/selfdrive/controls/lib/pathplanner.py b/selfdrive/controls/lib/pathplanner.py
index 887270ae4..648ab9c06 100644
--- a/selfdrive/controls/lib/pathplanner.py
+++ b/selfdrive/controls/lib/pathplanner.py
@@ -25,16 +25,19 @@ DESIRES = {
   LaneChangeDirection.none: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
   },
   LaneChangeDirection.left: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
   },
   LaneChangeDirection.right: {
     LaneChangeState.off: log.PathPlan.Desire.none,
     LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
+    LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
     LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
   },
 }