diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index a3210f8071..049a63399c 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -11,7 +11,6 @@ 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)
@@ -19,17 +18,6 @@ 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):
@@ -54,6 +42,7 @@ class CarInterface(CarInterfaceBase):
 
       # 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:
@@ -303,20 +292,30 @@ 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:
-      if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+      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 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 ret.flags & HyundaiFlags.HYBRID: