From 787441e8cb84d5f0ed39de66885ead2098ea5234 Mon Sep 17 00:00:00 2001
From: Shane Smiskol <shane@smiskol.com>
Date: Wed, 16 Jul 2025 21:51:14 -0700
Subject: [PATCH] revert

---
 selfdrive/pandad/panda_safety.cc | 8 +++++---
 selfdrive/pandad/pandad.cc       | 2 +-
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc
index ee434adb5a..0a14894677 100644
--- a/selfdrive/pandad/panda_safety.cc
+++ b/selfdrive/pandad/panda_safety.cc
@@ -2,8 +2,10 @@
 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 
-void PandaSafety::configureSafetyMode(bool started) {
-  if (started && !safety_configured_) {
+void PandaSafety::configureSafetyMode() {
+  bool is_onroad = params_.getBool("IsOnroad");
+
+  if (is_onroad && !safety_configured_) {
     updateMultiplexingMode();
 
     auto car_params = fetchCarParams();
@@ -12,7 +14,7 @@ void PandaSafety::configureSafetyMode(bool started) {
       setSafetyMode(car_params);
       safety_configured_ = true;
     }
-  } else if (!started) {
+  } else if (!is_onroad) {
     initialized_ = false;
     safety_configured_ = false;
     log_once_ = false;
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 32560f4c3b..e11eb4a9b2 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -446,7 +446,7 @@ void pandad_run(std::vector<Panda *> &pandas) {
       engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled();
       bool started = sm.allAliveAndValid({"deviceState"}) && sm["deviceState"].getDeviceState().getStarted();
       process_panda_state(pandas, &pm, engaged, started, spoofing_started);
-      panda_safety.configureSafetyMode(started);
+      panda_safety.configureSafetyMode();
     }
 
     // Send out peripheralState at 2Hz