diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index ce31cd2c0be40a..20d80e519adf5c 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -23,17 +23,17 @@ def update(self, enabled, CS, frame, actuators):
                                                   CS.out.steeringTorque, SteerLimitParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if CS.out.standstill and frame % 50 == 0:
+      if CS.out.standstill and frame % 20 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at 2hz if we're engaged at standstill to support full stop and go!
+        # Send Resume button at 5hz if we're engaged at standstill to support full stop and go!
         # TODO: improve the resume trigger logic by looking at actual radar data
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
     else:
       apply_steer = 0
       self.steer_rate_limited = False
-      if CS.out.cruiseState.enabled and frame % 10 == 0:
+      if CS.out.cruiseState.enabled and frame % 20 == 0:
         # Cancel Stock ACC if it's enabled while OP is disengaged
-        # Match stock message rate which is sent at 10hz
+        # Send at a rate of 5hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
 
     self.apply_steer_last = apply_steer
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index f4af318945038c..2cd286b6ed35c3 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -44,7 +44,7 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
       ret.lateralTuning.pid.kf = 0.00006
 
       # No steer below disable speed
-      ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
+      ret.minSteerSpeed = round(LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS)
 
     ret.centerToFront = ret.wheelbase * 0.41