diff --git a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
index 00980b2e5f..dc679dfeeb 100644
--- a/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
+++ b/sunnypilot/selfdrive/controls/lib/auto_lane_change.py
@@ -4,32 +4,31 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-from enum import IntEnum
-
 from cereal import log
-from openpilot.common.realtime import DT_MDL
+
 from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
 
 
-class AutoLaneChangeState(IntEnum):
+class AutoLaneChangeState:
   OFF = -1
-  NUDGE = 0
+  NUDGE = 0  # default
   NUDGELESS = 1
   HALF_SECOND = 2
   ONE_SECOND = 3
   ONE_POINT_FIVE_SECOND = 4
   TWO_SECONDS = 5
-  THREE_SECONDS = 6  # default
+  THREE_SECONDS = 6
 
 
 AUTO_LANE_CHANGE_TIMER = {
-  AutoLaneChangeState.OFF: 0.0,                    # Off
-  AutoLaneChangeState.NUDGE: 0.0,                  # Nudge
-  AutoLaneChangeState.NUDGELESS: 0.1,              # Nudgeless
-  AutoLaneChangeState.HALF_SECOND: 0.5,            # 0.5-second delay
-  AutoLaneChangeState.ONE_SECOND: 1.0,             # 1-second delay
-  AutoLaneChangeState.TWO_SECONDS: 2.0,            # 2-second delay
-  AutoLaneChangeState.THREE_SECONDS: 3.0,          # 3-second delay
+  AutoLaneChangeState.OFF: 0.0,            # Off
+  AutoLaneChangeState.NUDGE: 0.0,          # Nudge
+  AutoLaneChangeState.NUDGELESS: 0.1,      # Nudgeless
+  AutoLaneChangeState.HALF_SECOND: 0.5,    # 0.5-second delay
+  AutoLaneChangeState.ONE_SECOND: 1.0,     # 1-second delay
+  AutoLaneChangeState.TWO_SECONDS: 2.0,    # 2-second delay
+  AutoLaneChangeState.THREE_SECONDS: 3.0,  # 3-second delay
 }
 
 TIMER_DISABLED = -1
@@ -44,20 +43,20 @@ class AutoLaneChangeController:
     self.lane_change_set_timer = AutoLaneChangeState.NUDGE
     self.lane_change_bsm_delay = False
     self.prev_brake_pressed = False
-    self.lane_change_delay = 0.0
+    self.lane_change_delay = 0
     self._blindspot_detected = False
     self._brake_pressed = False
     self.auto_lane_change_allowed = False
     self.read_params()
 
-  def reset(self):
+  def reset(self) -> None:
     # Auto reset if parent state indicates we should
     if self.DH.lane_change_state == log.LaneChangeState.off and \
        self.DH.lane_change_direction == log.LaneChangeDirection.none:
       self.lane_change_wait_timer = 0.0
       self.prev_brake_pressed = False
 
-  def read_params(self):
+  def read_params(self) -> None:
     self.param_read_counter += 1
     if self.param_read_counter % 50 == 0:
       self.lane_change_bsm_delay = self.params.get_bool("AutoLaneChangeBsmDelay")
@@ -66,19 +65,19 @@ class AutoLaneChangeController:
       except (ValueError, TypeError):
         self.lane_change_set_timer = AutoLaneChangeState.NUDGE
 
-  def update_lane_change_timers(self):
+  def update_lane_change_timers(self) -> None:
     self.lane_change_delay = AUTO_LANE_CHANGE_TIMER.get(self.lane_change_set_timer,
-                                                        AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.THREE_SECONDS])
+                                                        AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGE])
 
     self.lane_change_wait_timer += DT_MDL
 
-    if self.lane_change_bsm_delay and self._blindspot_detected and self.lane_change_delay:
+    if self.lane_change_bsm_delay and self._blindspot_detected and self.lane_change_delay > 0:
       if self.lane_change_delay == AUTO_LANE_CHANGE_TIMER[AutoLaneChangeState.NUDGELESS]:
         self.lane_change_wait_timer = TIMER_DISABLED
       else:
         self.lane_change_wait_timer = self.lane_change_delay - 1
 
-  def update_allowed(self):
+  def update_allowed(self) -> None:
     # Auto lane change allowed if:
     # 1. A valid delay is set (non-zero)
     # 2. We've waited long enough
@@ -87,11 +86,11 @@ class AutoLaneChangeController:
                                     self.lane_change_wait_timer > self.lane_change_delay and \
                                     not self.prev_brake_pressed
 
-  def update(self, blindspot_detected: bool, brake_pressed: bool):
-    self.read_params()
+  def update(self, blindspot_detected: bool, brake_pressed: bool) -> None:
     self._blindspot_detected = blindspot_detected
     self._brake_pressed = brake_pressed
 
+    self.read_params()
     self.update_lane_change_timers()
     self.update_allowed()