a bit cleaner

selfdrive/car/volkswagen/carstate.py

@@ -60,10 +60,10 @@ class CarState(CarStateBase):
     # Verify EPS readiness to accept steering commands
     # Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
     hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
-    hca_available = hca_status not in ("INITIALIZING", "FAULT")
+    hca_available = hca_status not in ("DISABLED", "INITIALIZING", "FAULT")
     self.eps_init_complete = self.eps_init_complete or (self.frame > 600 or hca_available)
-    ret.steerFaultPermanent = hca_status == "DISABLED" or (self.eps_init_complete and not hca_available)
     ret.steerFaultTemporary = hca_status == "REJECTED" or not self.eps_init_complete
+    ret.steerFaultPermanent = self.eps_init_complete and not hca_available
 
     # VW Emergency Assist status tracking and mitigation
     self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
@@ -185,10 +185,10 @@ class CarState(CarStateBase):
     # Verify EPS readiness to accept steering commands
     # Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
     hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
-    hca_available = hca_status not in ("INITIALIZING", "FAULT")
+    hca_available = hca_status not in ("DISABLED", "INITIALIZING", "FAULT")
     self.eps_init_complete = self.eps_init_complete or (self.frame > 600 or hca_available)
-    ret.steerFaultPermanent = hca_status == "DISABLED" or (self.eps_init_complete and not hca_available)
     ret.steerFaultTemporary = hca_status == "REJECTED" or not self.eps_init_complete
+    ret.steerFaultPermanent = self.eps_init_complete and not hca_available
 
     # Update gas, brakes, and gearshift.
     ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0