diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index d3c8ee1967308d..1cfb79c00295ad 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -141,12 +141,11 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       if (frame % 4) == 0:
         idx = (frame / 4) % 4
 
-        at_full_stop = enabled and CS.standstill
+        want_full_stop = enabled and CS.standstill and apply_gas < P.ZERO_GAS
         near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
-        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, want_full_stop))
 
-        at_full_stop = enabled and CS.standstill
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, want_full_stop))
 
       # Send dashboard UI commands (ACC status), 25hz
       if (frame % 4) == 0:
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 0c84df422f9031..bd285397801923 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -39,13 +39,13 @@ def create_adas_keepalive(bus):
   dat = "\x00\x00\x00\x00\x00\x00\x00"
   return [[0x409, 0, dat, bus], [0x40a, 0, dat, bus]]
 
-def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop):
+def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, want_full_stop):
   values = {
     "GasRegenCmdActive": acc_engaged,
     "RollingCounter": idx,
     "GasRegenCmdActiveInv": 1 - acc_engaged,
     "GasRegenCmd": throttle,
-    "GasRegenFullStopActive": at_full_stop,
+    "GasRegenFullStopActive": want_full_stop,
     "GasRegenAlwaysOne": 1,
     "GasRegenAlwaysOne2": 1,
     "GasRegenAlwaysOne3": 1,
@@ -58,14 +58,14 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
 
   return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
 
-def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
+def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, want_full_stop):
 
   if apply_brake == 0:
     mode = 0x1
   else:
     mode = 0xa
 
-    if at_full_stop:
+    if want_full_stop:
       mode = 0xd
     # TODO: this is to have GM bringing the car to complete stop,
     # but currently it conflicts with OP controls, so turned off.