diff --git a/Core/Inc/ui.h b/Core/Inc/ui.h
index 8caff04..8fa00e0 100644
--- a/Core/Inc/ui.h
+++ b/Core/Inc/ui.h
@@ -9,8 +9,8 @@ extern "C" {
 
 #define NUM_BUTTONS 6
 #define NUM_ENCS 2
-#define BUTTON_MIN_PRESS_TIME 50 // ms
-#define ENC_MAX_PHASE 50         // ms
+#define BUTTON_MIN_INTERVAL 50 // ms
+#define ENC_MAX_PHASE 50       // ms
 
 typedef enum { UMK_BTN_RELEASED, UMK_ENC_CW, UMK_ENC_CCW } ButtonMessageKind;
 
diff --git a/Core/Inc/vehicle.h b/Core/Inc/vehicle.h
index a5be70e..51aceae 100644
--- a/Core/Inc/vehicle.h
+++ b/Core/Inc/vehicle.h
@@ -5,6 +5,8 @@
 #include "stw_defines.h"
 #include "tx_port.h"
 
+#include "stm32h7xx_hal.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -108,6 +110,7 @@ void vehicle_thread_entry(ULONG hfdcan_addr);
 void vehicle_select_mission(Mission mission);
 
 void vehicle_broadcast_param(ParamType param, int32_t value);
+void vehicle_broadcast_buttons(GPIO_PinState *button_states);
 
 #ifdef __cplusplus
 }
diff --git a/Core/Src/ui.c b/Core/Src/ui.c
index 83a350f..068166b 100644
--- a/Core/Src/ui.c
+++ b/Core/Src/ui.c
@@ -7,6 +7,7 @@
 
 #include "hx8357d.h"
 #include "main.h"
+#include "vehicle.h"
 #include <stdint.h>
 
 void ui_thread_entry(ULONG _) {
@@ -16,22 +17,24 @@ void ui_thread_entry(ULONG _) {
   uint16_t button_pins[NUM_BUTTONS] = {BTN1_Pin, BTN2_Pin, BTN3_Pin,
                                        BTN4_Pin, BTN5_Pin, BTN6_Pin};
   GPIO_PinState button_states[NUM_BUTTONS] = {GPIO_PIN_RESET};
-  uint32_t button_change_times[NUM_BUTTONS] = {HAL_GetTick()};
+  uint32_t button_press_times[NUM_BUTTONS] = {HAL_GetTick()};
 
   while (1) {
     for (int i = 0; i < NUM_BUTTONS; i++) {
       GPIO_PinState state = HAL_GPIO_ReadPin(button_ports[i], button_pins[i]);
       if (state != button_states[i]) {
         uint32_t now = HAL_GetTick();
-        if (state == GPIO_PIN_RESET && now - button_change_times[i]) {
-          // Button release event!
+        if (state == GPIO_PIN_SET &&
+            now - button_press_times[i] >= BUTTON_MIN_INTERVAL) {
+          // Button press event!
+          button_press_times[i] = now;
           ButtonMessage msg = {.kind = UMK_BTN_RELEASED, .number = i};
           tx_queue_send(&gui_button_queue, &msg, TX_NO_WAIT);
         }
-        button_change_times[i] = now;
         button_states[i] = state;
       }
     }
+    vehicle_broadcast_buttons(button_states);
     // Release so other threads can get scheduled
     tx_thread_sleep(1);
   }
diff --git a/Core/Src/vehicle.c b/Core/Src/vehicle.c
index eded09d..a81a58d 100644
--- a/Core/Src/vehicle.c
+++ b/Core/Src/vehicle.c
@@ -13,6 +13,7 @@
 
 #define CAN_ID_AMS_STATUS 0xA
 #define CAN_ID_MISSION_SELECTED 0x400
+#define CAN_ID_STW_BUTTONS 0x401
 #define CAN_ID_STW_PARAM_SET 0x402
 #define CAN_ID_AS_MISSION_FB 0x410
 #define CAN_ID_STW_STATUS 0x412
@@ -51,6 +52,12 @@ void vehicle_broadcast_param(ParamType param, int32_t value) {
   ftcan_transmit(CAN_ID_STW_PARAM_SET, data, 5);
 }
 
+void vehicle_broadcast_buttons(GPIO_PinState *button_states) {
+  uint8_t data = (button_states[0] << 2) | (button_states[1] << 0) |
+                 (button_states[2] << 1) | (button_states[3] << 3);
+  ftcan_transmit(CAN_ID_STW_BUTTONS, &data, 1);
+}
+
 void ftcan_msg_received_cb(uint16_t id, size_t datalen, const uint8_t *data) {
   switch (id) {
   case CAN_ID_AMS_STATUS: