diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index c69878f..e6130cb 100755
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -446,6 +446,7 @@ class CarState(CarStateBase):
       "speed": round(ret.cruiseState.speed, 3),
       "standstill": ret.cruiseState.standstill,
       "accFaulted": ret.accFaulted,
+      "brakePressed": ret.brakePressed,
       "ACCMode": scc.get("ACCMode", 0),
       "VSetDis": scc.get("VSetDis", 0),
       "aReqRaw": round(scc.get("aReqRaw", 0), 3),
@@ -468,7 +469,9 @@ class CarState(CarStateBase):
 
     tlog("buttons", {
       "cruise_button": self.cruise_buttons[-1],
+      "prev_cruise_button": self.prev_cruise_buttons,
       "main_button": self.main_buttons[-1],
+      "prev_main_button": self.prev_main_buttons,
       "lkas_enabled": self.lkas_enabled,
       "main_enabled": self.main_enabled,
     })
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 09c25ce..e62f850 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -37,6 +37,7 @@ from openpilot.system.version import get_short_branch
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CRUISING_SPEED, PROBABILITY, MovingAverageCalculator
 
 from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
+from openpilot.selfdrive.clearpilot.telemetry import tlog
 from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
 
 SOFT_DISABLE_TIME = 3  # seconds
@@ -628,6 +629,16 @@ class Controls:
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
     self.active = self.state in ACTIVE_STATES
+
+    # CLEARPILOT: log engagement state for debugging cruise desync issues
+    tlog("engage", {
+      "state": self.state.name,
+      "enabled": self.enabled,
+      "active": self.active,
+      "cruise_enabled": CS.cruiseState.enabled,
+      "cruise_available": CS.cruiseState.available,
+      "brakePressed": CS.brakePressed,
+    })
     if self.active:
       self.current_alert_types.append(ET.WARNING)