From 00f0a90065bc6a71d61fbcde6bfa02ad23710aff Mon Sep 17 00:00:00 2001 From: Eran Date: Mon, 4 Nov 2024 12:05:05 -0700 Subject: [PATCH] Panda Fix 2 --- board/safety/safety_hyundai_canfd.h | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h index 2e678b373f..73d26fb7e0 100644 --- 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 {