From dc25e7c3e392944e0a5bd064fbeaaafe2e77c571 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 24 Jul 2023 16:47:19 -0700
Subject: [PATCH] boardd: handle false positive ignitions on red panda setups
 (#29126)

---
 selfdrive/boardd/boardd.cc | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index a5203994fa..e6afe9f8fb 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -301,6 +301,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
   pandaCanStates.reserve(pandas_cnt);
 
+  const bool red_panda_comma_three = (pandas.size() == 2) &&
+                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
+                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
+
   for (const auto& panda : pandas){
     auto health_opt = panda->get_state();
     if (!health_opt) {
@@ -323,6 +327,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 1;
     }
 
+    // on comma three setups with a red panda, the dos can
+    // get false positive ignitions due to the harness box
+    // without a harness connector, so ignore it
+    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
+      health.ignition_line_pkt = 0;
+    }
+
     ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
     pandaStates.push_back(health);