Simplify cancellation logic

selfdrive/car/tesla/carcontroller.py

@@ -14,11 +14,9 @@ def __init__(self, dbc_name, CP, VM):
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
     self.pcm_cancel_cmd = False # Must be latching because of frame rate
-    self.acc_mismatch_start_nanos = None
 
   def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
-    self.pcm_cancel_cmd = CC.cruiseControl.cancel or self.pcm_cancel_cmd
 
     can_sends = []
 
@@ -40,19 +38,12 @@ def update(self, CC, CS, now_nanos):
       use_lka_mode = CS.params_list.enable_mads
       can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16, use_lka_mode))
 
+
+    self.pcm_cancel_cmd = CC.cruiseControl.cancel or not CS.accEnabled or self.pcm_cancel_cmd
+
     if hands_on_fault and not CS.params_list.enable_mads:
       self.pcm_cancel_cmd = True
 
-    # Cancel ACC if MADS is enabled and ACC is not supposed to be enabled
-    if CS.params_list.enable_mads and not CS.accEnabled and CS.acc_enabled:
-      # ACC mismatch must persist for a while before cancelling because of race condition
-      if self.acc_mismatch_start_nanos is None:
-        self.acc_mismatch_start_nanos = now_nanos
-      elif now_nanos - self.acc_mismatch_start_nanos > 200e6: # 200ms
-        self.pcm_cancel_cmd = True
-    else:
-      self.acc_mismatch_start_nanos = None
-
     # Unlatch cancel command only when ACC is actually disabled
     if not CS.acc_enabled:
       self.pcm_cancel_cmd = False