diff --git a/board/safety/safety_hyundai.h b/board/safety/safety_hyundai.h
index 2f332bbe437..4d37c8c8785 100644
--- a/board/safety/safety_hyundai.h
+++ b/board/safety/safety_hyundai.h
@@ -256,6 +256,20 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
     tx = msg_allowed(to_send, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]));
   }
 
+  if (hyundai_longitudinal) {
+    if (hyundai_camera_scc) {
+      tx = msg_allowed(to_send, HYUNDAI_CAMERA_SCC_LONG_TX_MSGS, sizeof(HYUNDAI_CAMERA_SCC_LONG_TX_MSGS)/sizeof(HYUNDAI_CAMERA_SCC_LONG_TX_MSGS[0]));
+    } else {
+      tx = msg_allowed(to_send, HYUNDAI_LONG_TX_MSGS, sizeof(HYUNDAI_LONG_TX_MSGS)/sizeof(HYUNDAI_LONG_TX_MSGS[0]));
+    }
+  } else {
+    if (hyundai_camera_scc) {
+      tx = msg_allowed(to_send, HYUNDAI_CAMERA_SCC_TX_MSGS, sizeof(HYUNDAI_CAMERA_SCC_TX_MSGS)/sizeof(HYUNDAI_CAMERA_SCC_TX_MSGS[0]));
+    } else {
+      tx = msg_allowed(to_send, HYUNDAI_TX_MSGS, sizeof(HYUNDAI_TX_MSGS)/sizeof(HYUNDAI_TX_MSGS[0]));
+    }
+  }
+
   // FCA11: Block any potential actuation
   if (addr == 909) {
     int CR_VSM_DecCmd = GET_BYTE(to_send, 1);