lesser nester

selfdrive/car/honda/carcontroller.py

@@ -130,23 +130,16 @@ class CarController:
     hud_control = CC.hudControl
 
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      stopping = actuators.longControlState == LongCtrlState.stopping
-      if CC.longActive and stopping:
+      if CC.longActive and (actuators.longControlState == LongCtrlState.stopping):
         if self.last_stopping_frame == 0:
           self.last_stopping_frame = self.frame
         if self.frame - self.last_stopping_frame > 400:
           hud_v_cruise = 252
         else:
-          if CS.is_metric:
-            hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
-          else:
-            hud_v_cruise = hud_control.setSpeed * CV.MS_TO_MPH if hud_control.speedVisible else 255
+          hud_v_cruise = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) if hud_control.speedVisible else 255
       else:
         self.last_stopping_frame = 0
-        if CS.is_metric:
-          hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
-        else:
-          hud_v_cruise = hud_control.setSpeed * CV.MS_TO_MPH if hud_control.speedVisible else 255
+        hud_v_cruise = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) if hud_control.speedVisible else 255
     else:
       hud_v_cruise = hud_control.setSpeed * CV.MS_TO_MPH if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel