From 3e854b83517e8239a56b99802ea32d70913563f2 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 4 Oct 2021 15:00:25 +0200
Subject: [PATCH] safety_setter_thread: exit on ignition low (#22426)

---
 selfdrive/boardd/boardd.cc | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index c6e3727cd6..078dc161f5 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -57,7 +57,7 @@ bool safety_setter_thread(Panda *panda) {
 
   // switch to SILENT when CarVin param is read
   while (true) {
-    if (do_exit || !panda->connected) {
+    if (do_exit || !panda->connected || !ignition) {
       return false;
     };
 
@@ -77,7 +77,7 @@ bool safety_setter_thread(Panda *panda) {
   std::string params;
   LOGW("waiting for params to set safety model");
   while (true) {
-    if (do_exit || !panda->connected) {
+    if (do_exit || !panda->connected || !ignition) {
       return false;
     };
 
@@ -309,7 +309,7 @@ bool send_panda_state(PubMaster *pm, Panda *panda, bool spoofing_started) {
     }
   }
   pm->send("pandaState", msg);
-  
+
   return ignition;
 }