diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h
index 8672cc267..792bcb808 100644
--- a/panda/board/safety/safety_gm.h
+++ b/panda/board/safety/safety_gm.h
@@ -92,7 +92,7 @@ static int gm_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == 417) {
       bool gas_pressed = GET_BYTE(to_push, 6) != 0;
       if (gas_pressed && !gas_pressed_prev) {
-        controls_allowed = 0;
+        controls_allowed = 1;
       }
       gas_pressed_prev = gas_pressed;
     }
@@ -138,7 +138,8 @@ static int gm_tx_hook(CAN_FIFOMailBox_TypeDef *to_send) {
 
   // disallow actuator commands if gas or brake (with vehicle moving) are pressed
   // and the the latching controls_allowed flag is True
-  int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
+  //int pedal_pressed = gas_pressed_prev || (brake_pressed_prev && gm_moving);
+  int pedal_pressed = brake_pressed_prev && gm_moving;
   bool current_controls_allowed = controls_allowed && !pedal_pressed;
 
   // BRAKE: safety check
diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h
index 75ecae214..a5e34b84a 100644
--- a/panda/board/safety/safety_honda.h
+++ b/panda/board/safety/safety_honda.h
@@ -343,4 +343,4 @@ const safety_hooks honda_bosch_harness_hooks = {
   .fwd = honda_bosch_fwd_hook,
   .addr_check = honda_bh_rx_checks,
   .addr_check_len = sizeof(honda_bh_rx_checks) / sizeof(honda_bh_rx_checks[0]),
-};
+};
\ No newline at end of file
diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h
index 1b5b656ff..ab44194fa 100644
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -56,7 +56,7 @@ static int hyundai_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == 608) {
       bool gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0;
       if (gas_pressed && !gas_pressed_prev) {
-        controls_allowed = 0;
+        controls_allowed = 1;
       }
       gas_pressed_prev = gas_pressed;
     }
diff --git a/panda/board/safety/safety_nissan.h b/panda/board/safety/safety_nissan.h
index baa82b8d4..b8b4d8fcd 100644
--- a/panda/board/safety/safety_nissan.h
+++ b/panda/board/safety/safety_nissan.h
@@ -64,7 +64,7 @@ static int nissan_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       if (addr == 0x15c) {
         bool gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3));
         if (gas_pressed && !gas_pressed_prev) {
-          controls_allowed = 0;
+          controls_allowed = 1;
         }
         gas_pressed_prev = gas_pressed;
       }
diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h
index 9b7665f2b..4b1ddca61 100644
--- a/panda/board/safety/safety_subaru.h
+++ b/panda/board/safety/safety_subaru.h
@@ -117,7 +117,7 @@ static int subaru_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       int byte = subaru_global ? 4 : 0;
       bool gas_pressed = GET_BYTE(to_push, byte) != 0;
       if (gas_pressed && !gas_pressed_prev) {
-        controls_allowed = 0;
+        controls_allowed = 1;
       }
       gas_pressed_prev = gas_pressed;
     }
diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h
index 0f2842360..048cd87e1 100644
--- a/panda/board/safety/safety_toyota.h
+++ b/panda/board/safety/safety_toyota.h
@@ -87,7 +87,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       // 5th bit is CRUISE_ACTIVE
       int cruise_engaged = GET_BYTE(to_push, 0) & 0x20;
       if (!cruise_engaged) {
-        controls_allowed = 1;
+        controls_allowed = 0;
       }
       if (cruise_engaged && !toyota_cruise_engaged_last) {
         controls_allowed = 1;
@@ -112,7 +112,7 @@ static int toyota_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
       int byte = (addr == 0x224) ? 0 : 4;
       bool brake_pressed = ((GET_BYTE(to_push, byte) >> 5) & 1) != 0;
       if (brake_pressed && (!brake_pressed_prev || toyota_moving)) {
-        controls_allowed = 1;
+        controls_allowed = 0;
       }
       brake_pressed_prev = brake_pressed;
     }
@@ -275,4 +275,4 @@ const safety_hooks toyota_hooks = {
   .fwd = toyota_fwd_hook,
   .addr_check = toyota_rx_checks,
   .addr_check_len = sizeof(toyota_rx_checks)/sizeof(toyota_rx_checks[0]),
-};
+};
\ No newline at end of file
diff --git a/panda/board/safety/safety_volkswagen.h b/panda/board/safety/safety_volkswagen.h
index 132c10d11..5e4282786 100644
--- a/panda/board/safety/safety_volkswagen.h
+++ b/panda/board/safety/safety_volkswagen.h
@@ -137,7 +137,7 @@ static int volkswagen_mqb_rx_hook(CAN_FIFOMailBox_TypeDef *to_push) {
     if (addr == MSG_MOTOR_20) {
       bool gas_pressed = ((GET_BYTES_04(to_push) >> 12) & 0xFF) != 0;
       if (gas_pressed && !gas_pressed_prev) {
-        controls_allowed = 0;
+        controls_allowed = 1;
       }
       gas_pressed_prev = gas_pressed;
     }
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 57e416407..ed516759e 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -136,6 +136,8 @@ class CarState(CarStateBase):
         enable_acc = False
       if ret.seatbeltUnlatched or ret.doorOpen:
         enable_acc = False
+      if ret.brakePressed:
+        enable_acc = False
       ret.cruiseState.enabled = enable_acc
 
     return ret