small nissan cleanup (#25663)

old-commit-hash: d804b945e2

selfdrive/car/nissan/interface.py

@@ -18,24 +18,22 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 1.0
 
     ret.steerActuatorDelay = 0.1
+    ret.steerRatio = 17
 
     if candidate in (CAR.ROGUE, CAR.XTRAIL):
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
-      ret.steerRatio = 17
     elif candidate in (CAR.LEAF, CAR.LEAF_IC):
       ret.mass = 1610 + STD_CARGO_KG
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
-      ret.steerRatio = 17
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
       ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
       ret.mass = 1492 + STD_CARGO_KG
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44
-      ret.steerRatio = 17
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.radarOffCan = True

selfdrive/car/nissan/nissancan.py

@@ -24,10 +24,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
 
 def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
   values = copy.copy(cruise_throttle_msg)
-  can_bus = 2
+  can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
-
-  if car_fingerprint == CAR.ALTIMA:
-    can_bus = 1
 
   values["CANCEL_BUTTON"] = 1
   values["NO_BUTTON_PRESSED"] = 0