diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 88d4e70183..cd6657a23c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
+SafetyModel = car.CarParams.SafetyModel
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@@ -18,6 +19,17 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
+def set_safety_config_hyundai(candidate, CAN, can_fd=False):
+  platform = SafetyModel.hyundaiCanfd if can_fd else \
+             SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \
+             SafetyModel.hyundai
+  cfgs = [get_safety_config(platform), ]
+  if CAN.ECAN >= 4:
+    cfgs.insert(0, get_safety_config(SafetyModel.noOutput))
+
+  return cfgs
+
+
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -36,7 +48,6 @@ class CarInterface(CarInterfaceBase):
     if candidate in CANFD_CAR:
       # detect HDA2 with ADAS Driving ECU
       if hda2:
-        ret.flags |= HyundaiFlags.CANFD_HDA2.value
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
@@ -286,30 +297,20 @@ class CarInterface(CarInterfaceBase):
       ret.enableBsm = 0x58b in fingerprint[0]
 
     # *** panda safety config ***
+    ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR))
+
+    if hda2:
+      ret.flags |= HyundaiFlags.CANFD_HDA2.value
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+
     if candidate in CANFD_CAR:
-      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
-      if CAN.ECAN >= 4:
-        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
-      ret.safetyConfigs = cfgs
-
-      if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+      if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
-      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-    else:
-      if candidate in LEGACY_SAFETY_MODE_CAR:
-        # these cars require a special panda safety mode due to missing counters and checksums in the messages
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
-      else:
-        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
-
-      if candidate in CAMERA_SCC_CAR:
-        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
 
+    if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if candidate in HYBRID_CAR: