From 06c07ff0fc5c50e65feda35c733136cdfa7ce2ca Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Thu, 23 Mar 2023 21:14:57 -0700
Subject: [PATCH] FPv2: don't multiplex second panda (#27663)

* fix this way

* or can fix this way

* simplify

* fix
old-commit-hash: a0e225e4afe971f92fa0980c3f89b1d9818f53a5
---
 selfdrive/boardd/boardd.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 3dc54b856a..4faa08d536 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -127,8 +127,8 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
 
     bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
     if (obd_multiplexing_requested != obd_multiplexing_enabled) {
-      const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U;
       for (int i = 0; i < pandas.size(); i++) {
+        const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
         pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
       }
       obd_multiplexing_enabled = obd_multiplexing_requested;