diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index fa15f2453ce2f7..6e1ad3e481a0c8 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -72,6 +72,8 @@ def update(self, cp, cp_cam):
         self.lkas_allowed_speed = True
       elif speed_kph < LKAS_LIMITS.DISABLE_SPEED:
         self.lkas_allowed_speed = False
+    else:
+      self.lkas_allowed_speed = True
 
     # TODO: the signal used for available seems to be the adaptive cruise signal, instead of the main on
     #       it should be used for carState.cruiseState.nonAdaptive instead