Panda Fix 2

hoomoose · Nov 4, 2024 · 00f0a90 · 00f0a90
1 parent 469ebde
commit 00f0a90
Showing 1 changed file with 1 addition and 6 deletions.
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -257,12 +257,7 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) {
     if ((hyundai_canfd_front_left_vego < (11.f + 2.f)) || (hyundai_canfd_rear_right_vego < (11.f + 2.f))) {
       bool violation = false;
 
-      if (controls_allowed) {
-        // *** global torque limit check ***
-        violation |= max_limit_check(desired_torque, 400, -400);
-      }
-
-      if (violation) {
+      if (steer_torque_cmd_checks(desired_torque, HYUNDAI_CANFD_STEERING_LIMITS)) {
         tx = false;
       }
     } else {