diff --git a/panda b/panda
index fe72dda172..0a2db31fcc 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit fe72dda17244cf794eebb0b857776e69052159a1
+Subproject commit 0a2db31fcc8f392684f4d5a7c7ddd6c418c7fb47
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index 33631ece46..63015c10ce 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -13,7 +13,6 @@ def __init__(self, dbc_name, CP, VM):
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
-    self.last_right_stalk_press = 0
     self.pcm_cancel_cmd = False # Must be latching because of frame rate
     self.acc_mismatch_start_nanos = None
 
@@ -41,17 +40,6 @@ def update(self, CC, CS, now_nanos):
       use_lka_mode = CS.params_list.enable_mads
       can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16, use_lka_mode))
 
-    # Longitudinal control
-    if self.CP.openpilotLongitudinalControl:
-      acc_state = CS.das_control["DAS_accState"]
-      target_accel = actuators.accel
-      target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
-      max_accel = 0 if target_accel < 0 else target_accel
-      min_accel = 0 if target_accel > 0 else target_accel
-
-      counter = CS.das_control["DAS_controlCounter"]
-      can_sends.append(self.tesla_can.create_longitudinal_commands(acc_state, target_speed, min_accel, max_accel, counter))
-
     if hands_on_fault and not CS.params_list.enable_mads:
       self.pcm_cancel_cmd = True
 
@@ -69,15 +57,20 @@ def update(self, CC, CS, now_nanos):
     if not CS.acc_enabled:
       self.pcm_cancel_cmd = False
 
-    # Send cancel request only if ACC is enabled
-    if self.frame % 10 == 0 and self.pcm_cancel_cmd:
-      counter = int(CS.sccm_right_stalk_counter)
-      # Alternate between 1 and 0 every 10 frames, car needs time to detect falling edge in order to prevent shift to N
-      value = 1 if self.last_right_stalk_press == 0 else 0
-      can_sends.append(self.tesla_can.right_stalk_press((counter + 1) % 16 , value))
-      self.last_right_stalk_press = value
-    elif self.last_right_stalk_press != 0 and self.frame % 10 == 0:
-      self.last_right_stalk_press = 0
+    # Longitudinal control
+    if self.pcm_cancel_cmd:
+      # Increment counter so cancel is prioritized even with stock TACC
+      counter = (CS.das_control["DAS_controlCounter"] + 1) % 8
+      can_sends.append(self.tesla_can.cancel_acc(counter))
+    elif self.CP.openpilotLongitudinalControl:
+      acc_state = CS.das_control["DAS_accState"]
+      target_accel = actuators.accel
+      target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
+      max_accel = 0 if target_accel < 0 else target_accel
+      min_accel = 0 if target_accel > 0 else target_accel
+
+      counter = CS.das_control["DAS_controlCounter"]
+      can_sends.append(self.tesla_can.create_longitudinal_commands(acc_state, target_speed, min_accel, max_accel, counter))
 
     # TODO: HUD control
 
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
index 8693c36eee..03801ce542 100644
--- a/selfdrive/car/tesla/teslacan.py
+++ b/selfdrive/car/tesla/teslacan.py
@@ -17,15 +17,6 @@ def checksum(msg_id, dat):
     ret += sum(dat)
     return ret & 0xFF
 
-  @staticmethod
-  def right_stalk_crc(dat):
-    right_stalk_val = [0x7C, 0xB6, 0xF0, 0x2F, 0x69, 0xA3, 0xDD, 0x1C, 0x56, 0x90, 0xCA, 0x09, 0x43, 0x7D, 0xB7, 0xF1]
-    cntr = dat[0] & 0xF
-    crc1_func = crcmod.mkCrcFun(0x12F, initCrc=0x00, xorOut=0xFF, rev=False)
-    crc1 = crc1_func(dat) & 0xFF
-    crc2_func = crcmod.mkCrcFun(0x12F, initCrc=crc1, xorOut=0xFF, rev=False)
-    return crc2_func(bytes([right_stalk_val[cntr]])) & 0xFF
-
   def create_steering_control(self, angle, enabled, counter, use_lka_mode):
     control_type = 2 if use_lka_mode else 1
     values = {
@@ -55,16 +46,6 @@ def create_longitudinal_commands(self, acc_state, speed, min_accel, max_accel, c
     values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
     return self.packer.make_can_msg("DAS_control", CANBUS.party, values)
 
-  def right_stalk_press(self, counter, position):
-    values = {
-      "SCCM_rightStalkCrc": 0,
-      "SCCM_rightStalkCounter": counter,
-      "SCCM_rightStalkStatus": position,
-      "SCCM_rightStalkReserved1": 0,
-      "SCCM_parkButtonStatus": 0,
-      "SCCM_rightStalkReserved2": 0,
-    }
-
-    data = self.pt_packer.make_can_msg("SCCM_rightStalk", CANBUS.vehicle, values)[1]
-    values["SCCM_rightStalkCrc"] = self.right_stalk_crc(data[1:])
-    return self.pt_packer.make_can_msg("SCCM_rightStalk", CANBUS.vehicle, values)
+  def cancel_acc(self, counter):
+    # 13 = ACC_CANCEL_GENERIC_SILENT
+    return self.create_longitudinal_commands(13, 0, 0, 0, counter)