From 0bf00410d4f32c732ac37fd2d393844dc7fa6101 Mon Sep 17 00:00:00 2001
From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com>
Date: Mon, 27 Mar 2023 22:05:35 -0400
Subject: [PATCH] Hyundai: gate speed limit parsing availability (#144)

---
 selfdrive/car/hyundai/carstate.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index bfe01cd3f5..8b919ad3ac 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -175,8 +175,9 @@ class CarState(CarStateBase):
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
 
-    self._update_traffic_signals(self.CP, cp, cp_cam)
-    ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv
+    if self.CP.flags & HyundaiFlags.SP_NAV_MSG:
+      self._update_traffic_signals(self.CP, cp, cp_cam)
+      ret.cruiseState.speedLimit = self._calculate_speed_limit() * speed_conv
 
     return ret