diff --git a/board/safety/safety_honda.h b/board/safety/safety_honda.h
index a35689afa0..415a379076 100644
--- a/board/safety/safety_honda.h
+++ b/board/safety/safety_honda.h
@@ -217,8 +217,8 @@ static int honda_rx_hook(CANPacket_t *to_push) {
     // disable stock Honda AEB in alternative experience
     if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
       if ((bus == 2) && (addr == 0x1FA)) {
-        bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20U;
-        int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3U);
+        bool honda_stock_aeb = GET_BIT(to_push, 29U) != 0U;
+        int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6);
 
         // Forward AEB when stock braking is higher than openpilot braking
         // only stop forwarding when AEB event is over
diff --git a/tests/libpanda/safety_helpers.h b/tests/libpanda/safety_helpers.h
index 8b573041cc..99910fc068 100644
--- a/tests/libpanda/safety_helpers.h
+++ b/tests/libpanda/safety_helpers.h
@@ -176,6 +176,10 @@ void set_honda_fwd_brake(bool c){
   honda_fwd_brake = c;
 }
 
+bool get_honda_fwd_brake(void){
+  return honda_fwd_brake;
+}
+
 void init_tests(void){
   // get HW_TYPE from env variable set in test.sh
   if (getenv("HW_TYPE")) {
diff --git a/tests/libpanda/safety_helpers.py b/tests/libpanda/safety_helpers.py
index d10a82b004..27ef009ad9 100644
--- a/tests/libpanda/safety_helpers.py
+++ b/tests/libpanda/safety_helpers.py
@@ -47,6 +47,7 @@ def setup_safety_helpers(ffi):
   void init_tests(void);
 
   void set_honda_fwd_brake(bool c);
+  bool get_honda_fwd_brake(void);
   void set_honda_alt_brake_msg(bool c);
   void set_honda_bosch_long(bool c);
   int get_honda_hw(void);
@@ -97,6 +98,7 @@ def addr_checks_valid(self) -> bool: ...
   def init_tests(self) -> None: ...
 
   def set_honda_fwd_brake(self, c: bool) -> None: ...
+  def get_honda_fwd_brake(self) -> bool: ...
   def set_honda_alt_brake_msg(self, c: bool) -> None: ...
   def set_honda_bosch_long(self, c: bool) -> None: ...
   def get_honda_hw(self) -> int: ...
diff --git a/tests/safety/test_honda.py b/tests/safety/test_honda.py
index 6164189ccc..feab1fe164 100755
--- a/tests/safety/test_honda.py
+++ b/tests/safety/test_honda.py
@@ -176,7 +176,7 @@ def test_buttons(self):
 
 
 class HondaBase(common.PandaSafetyTest):
-  MAX_BRAKE: float = 255
+  MAX_BRAKE = 255
   PT_BUS: Optional[int] = None  # must be set when inherited
   STEER_BUS: Optional[int] = None  # must be set when inherited
   BUTTONS_BUS: Optional[int] = None  # must be set when inherited, tx on this bus, rx on PT_BUS
@@ -288,9 +288,12 @@ def _interceptor_gas_cmd(self, gas):
   def _interceptor_user_gas(self, gas):
     return interceptor_msg(gas, 0x201)
 
-  def _send_brake_msg(self, brake):
-    values = {"COMPUTER_BRAKE": brake}
-    return self.packer.make_can_msg_panda("BRAKE_COMMAND", 0, values)
+  def _send_brake_msg(self, brake, aeb_req=0, bus=0):
+    values = {"COMPUTER_BRAKE": brake, "AEB_REQ_1": aeb_req}
+    return self.packer.make_can_msg_panda("BRAKE_COMMAND", bus, values)
+
+  def _rx_brake_msg(self, brake, aeb_req=0):
+    return self._send_brake_msg(brake, aeb_req, bus=2)
 
   def _send_acc_hud_msg(self, pcm_gas, pcm_speed):
     # Used to control ACC on Nidec without pedal
@@ -311,12 +314,35 @@ def test_fwd_hook(self):
     self.safety.set_honda_fwd_brake(False)
     super().test_fwd_hook()
 
-    # TODO: test latching until AEB event is over?
     # forwarding AEB brake signal
     self.FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D, 0x30C]}
     self.safety.set_honda_fwd_brake(True)
     super().test_fwd_hook()
 
+  def test_honda_fwd_brake_latching(self):
+    # Shouldn't fwd stock Honda requesting brake without AEB
+    self.assertTrue(self._rx(self._rx_brake_msg(self.MAX_BRAKE, aeb_req=0)))
+    self.assertFalse(self.safety.get_honda_fwd_brake())
+
+    # Now allow controls and request some brake
+    openpilot_brake = round(self.MAX_BRAKE / 2.0)
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._send_brake_msg(openpilot_brake)))
+
+    # Still shouldn't fwd stock Honda brake until it's more than openpilot's
+    for stock_honda_brake in range(self.MAX_BRAKE + 1):
+      self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1)))
+      should_fwd_brake = stock_honda_brake >= openpilot_brake
+      self.assertEqual(should_fwd_brake, self.safety.get_honda_fwd_brake())
+
+    # Shouldn't stop fwding until AEB event is over
+    for stock_honda_brake in range(self.MAX_BRAKE + 1)[::-1]:
+      self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1)))
+      self.assertTrue(self.safety.get_honda_fwd_brake())
+
+    self.assertTrue(self._rx(self._rx_brake_msg(0, aeb_req=0)))
+    self.assertFalse(self.safety.get_honda_fwd_brake())
+
   def test_brake_safety_check(self):
     for fwd_brake in [False, True]:
       self.safety.set_honda_fwd_brake(fwd_brake)
@@ -330,7 +356,6 @@ def test_brake_safety_check(self):
           else:
             send = brake == 0
           self.assertEqual(send, self._tx(self._send_brake_msg(brake)))
-    self.safety.set_honda_fwd_brake(False)
 
 
 class TestHondaNidecSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase):