diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 36a0495f..5d9e9c9b 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -23,9 +23,9 @@ class CarController():
                                                   CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if CS.out.standstill and frame % 20 == 0:
+      if CS.out.standstill and frame % 5 == 0:
         # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at 5hz if we're engaged at standstill to support full stop and go!
+        # Send Resume button at 20hz 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:
diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py
index dabbd212..456f7f67 100644
--- a/selfdrive/car/mazda/mazdacan.py
+++ b/selfdrive/car/mazda/mazdacan.py
@@ -13,8 +13,10 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
   lnv = 0
   er2 = int(lkas["ERR_BIT_2"])
 
-  steering_angle = int(lkas["STEERING_ANGLE"])
-  b2 = int(lkas["ANGLE_ENABLED"])
+  # Some older models do have these, newer models don't.
+  # Either way, they all work just fine if set to zero.
+  steering_angle = 0
+  b2 = 0
 
   tmp = steering_angle + 2048
   ahi = tmp >> 10
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 3060cef5..60b9a8b5 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -61,7 +61,7 @@ FINGERPRINTS = {
   CAR.Mazda3: [
     # Mazda 3 2017
     {
-      19: 5, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 628: 8, 832: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1169: 8, 1170: 8, 1173: 8, 1177: 8, 1180: 8, 1182: 8, 1183: 8, 1233: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1456: 8, 1479: 8, 2015: 8, 2024: 8, 2025: 8
+      19: 5, 80: 8, 117: 8, 118: 8, 120: 8, 121: 8, 130: 8, 134: 8, 138: 8, 145: 8, 154: 8, 155: 8, 157: 8, 158: 8, 159: 8, 253: 8, 304: 8, 305: 8, 357: 8, 358: 8, 359: 8, 512: 8, 514: 8, 515: 8, 522: 8, 529: 8, 533: 8, 535: 8, 539: 8, 540: 8, 541: 8, 542: 8, 543: 8, 552: 8, 576: 8, 577: 8, 578: 8, 579: 8, 580: 8, 581: 8, 582: 8, 605: 8, 606: 8, 607: 8, 628: 8, 832: 8, 863: 8, 865: 8, 866: 8, 867: 8, 868: 8, 869: 8, 870: 8, 976: 8, 977: 8, 978: 8, 1034: 8, 1045: 8, 1056: 8, 1061: 8, 1067: 8, 1070: 8, 1078: 8, 1086: 8, 1088: 8, 1093: 8, 1108: 8, 1114: 8, 1115: 8, 1116: 8, 1143: 8, 1147: 8, 1154: 8, 1157: 8, 1160: 8, 1163: 8, 1166: 8, 1169: 8, 1170: 8, 1173: 8, 1177: 8, 1180: 8, 1182: 8, 1183: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8,1240: 8, 1241: 8, 1242: 8, 1243: 8, 1244: 8, 1246: 8, 1247: 8, 1264: 8, 1266: 8, 1267: 8, 1269: 8, 1270: 8, 1271: 8, 1272: 8, 1274: 8, 1275: 8, 1277: 8, 1278: 8, 1409: 8, 1416: 8, 1425: 8, 1430: 8, 1435: 8, 1440: 8, 1456: 8, 1479: 8, 2015: 8, 2024: 8, 2025: 8
     },
 
     # Mazda 6 2017 GT