one liner

mlocoteta · Oct 12, 2022 · 5c4505d · 5c4505d
1 parent 6e640e4
commit 5c4505d
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/board/safety/safety_hyundai_canfd.h b/board/safety/safety_hyundai_canfd.h
@@ -211,9 +211,8 @@ static int hyundai_canfd_tx_hook(CANPacket_t *to_send, bool longitudinal_allowed
 
   // steering
   if ((addr == 0x50) || (addr == 0x12a)) {
-    int desired_torque = ((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U);
+    int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024;
     bool steer_req = GET_BIT(to_send, 52U) != 0U;
-    desired_torque -= 1024;
 
     if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) {
       tx = 0;