diff --git a/packages/SystemUI/src/com/android/systemui/shade/NotificationPanelViewController.java b/packages/SystemUI/src/com/android/systemui/shade/NotificationPanelViewController.java
index c1afd59a1e224..c393fb388cb15 100644
--- a/packages/SystemUI/src/com/android/systemui/shade/NotificationPanelViewController.java
+++ b/packages/SystemUI/src/com/android/systemui/shade/NotificationPanelViewController.java
@@ -1440,6 +1440,16 @@ public final class NotificationPanelViewController {
         mMaxAllowedKeyguardNotifications = maxAllowed;
     }
 
+    @VisibleForTesting
+    boolean getClosing() {
+        return mClosing;
+    }
+
+    @VisibleForTesting
+    boolean getIsFlinging() {
+        return mIsFlinging;
+    }
+
     private void updateMaxDisplayedNotifications(boolean recompute) {
         if (recompute) {
             setMaxDisplayedNotifications(Math.max(computeMaxKeyguardNotifications(), 1));
@@ -3684,6 +3694,11 @@ public final class NotificationPanelViewController {
         setListening(true);
     }
 
+    @VisibleForTesting
+    void setTouchSlopExceeded(boolean isTouchSlopExceeded) {
+        mTouchSlopExceeded = isTouchSlopExceeded;
+    }
+
     public void setOverExpansion(float overExpansion) {
         if (overExpansion == mOverExpansion) {
             return;
@@ -4742,6 +4757,7 @@ public final class NotificationPanelViewController {
         mAmbientState.setSwipingUp(false);
         if ((mTracking && mTouchSlopExceeded) || Math.abs(x - mInitialExpandX) > mTouchSlop
                 || Math.abs(y - mInitialExpandY) > mTouchSlop
+                || (!isFullyExpanded() && !isFullyCollapsed())
                 || event.getActionMasked() == MotionEvent.ACTION_CANCEL || forceCancel) {
             mVelocityTracker.computeCurrentVelocity(1000);
             float vel = mVelocityTracker.getYVelocity();
diff --git a/packages/SystemUI/tests/src/com/android/systemui/shade/NotificationPanelViewControllerTest.java b/packages/SystemUI/tests/src/com/android/systemui/shade/NotificationPanelViewControllerTest.java
index d095add1c6607..e7138ab11cbff 100644
--- a/packages/SystemUI/tests/src/com/android/systemui/shade/NotificationPanelViewControllerTest.java
+++ b/packages/SystemUI/tests/src/com/android/systemui/shade/NotificationPanelViewControllerTest.java
@@ -756,6 +756,38 @@ public class NotificationPanelViewControllerTest extends SysuiTestCase {
         assertThat(mNotificationPanelViewController.isTracking()).isTrue();
     }
 
+    @Test
+    public void testOnTouchEvent_expansionResumesAfterBriefTouch() {
+        // Start shade collapse with swipe up
+        onTouchEvent(MotionEvent.obtain(0L /* downTime */,
+                0L /* eventTime */, MotionEvent.ACTION_DOWN, 0f /* x */, 0f /* y */,
+                0 /* metaState */));
+        onTouchEvent(MotionEvent.obtain(0L /* downTime */,
+                0L /* eventTime */, MotionEvent.ACTION_MOVE, 0f /* x */, 300f /* y */,
+                0 /* metaState */));
+        onTouchEvent(MotionEvent.obtain(0L /* downTime */,
+                0L /* eventTime */, MotionEvent.ACTION_UP, 0f /* x */, 300f /* y */,
+                0 /* metaState */));
+
+        assertThat(mNotificationPanelViewController.getClosing()).isTrue();
+        assertThat(mNotificationPanelViewController.getIsFlinging()).isTrue();
+
+        // simulate touch that does not exceed touch slop
+        onTouchEvent(MotionEvent.obtain(2L /* downTime */,
+                2L /* eventTime */, MotionEvent.ACTION_DOWN, 0f /* x */, 300f /* y */,
+                0 /* metaState */));
+
+        mNotificationPanelViewController.setTouchSlopExceeded(false);
+
+        onTouchEvent(MotionEvent.obtain(2L /* downTime */,
+                2L /* eventTime */, MotionEvent.ACTION_UP, 0f /* x */, 300f /* y */,
+                0 /* metaState */));
+
+        // fling should still be called after a touch that does not exceed touch slop
+        assertThat(mNotificationPanelViewController.getClosing()).isTrue();
+        assertThat(mNotificationPanelViewController.getIsFlinging()).isTrue();
+    }
+
     @Test
     public void handleTouchEventFromStatusBar_panelsNotEnabled_returnsFalseAndNoViewEvent() {
         when(mCommandQueue.panelsEnabled()).thenReturn(false);