From 5414c710ed94de41df6c7beccb0b4ef61bd80f07 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Jul 2026 15:09:16 -0700 Subject: [PATCH] abstract safety watchdog reset --- board/main.c | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/board/main.c b/board/main.c index ba60de57fd6..d0d2a214bf9 100644 --- a/board/main.c +++ b/board/main.c @@ -197,15 +197,7 @@ static void tick_handler(void) { } - // exit controls allowed if unused by openpilot for a few seconds - if (controls_allowed && !heartbeat_engaged) { - heartbeat_engaged_mismatches += 1U; - if (heartbeat_engaged_mismatches >= 3U) { - controls_allowed = false; - } - } else { - heartbeat_engaged_mismatches = 0U; - } + safety_watchdog_reset(); if (!heartbeat_disabled) { // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save