cleanup

opendbc/car/gm/carstate.py

@@ -124,19 +124,17 @@ def update(self, can_parsers) -> structs.CarState:
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
       if self.CP.carFingerprint not in ALT_ACCS:
-          ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
-          # This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
-          ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
+        ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
+        # This FCW signal only works for SDGM cars. CAM cars send FCW on GMLAN but this bit is always 0 for them
+        ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0
+        if self.CP.pcmCruise:
+          # openpilot controls nonAdaptive when not pcmCruise
+          ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
       else:
-          ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
+        ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
+
       if self.CP.carFingerprint not in SDGM_CAR:
         ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
-      # openpilot controls nonAdaptive when not pcmCruise
-      if self.CP.pcmCruise:
-        if self.CP.carFingerprint not in ALT_ACCS:
-          ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3)
-        else:
-          ret.cruiseState.nonAdaptive = False # TODO: Find this message
 
     if self.CP.enableBsm:
       ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1