From bdcc8c45906af1457d80acccf951c54ae50ecb76 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Sun, 16 Jun 2024 23:55:52 -0400
Subject: [PATCH] Duplicated

---
 selfdrive/car/hyundai/carstate.py | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index df82fcde9c..c021760c35 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -322,7 +322,6 @@ class CarState(CarStateBase):
 
   def get_can_parser_canfd(self, CP):
     messages = [
-      (self.gear_msg_canfd, 100),
       (self.accelerator_msg_canfd, 100),
       ("WHEEL_SPEEDS", 100),
       ("STEERING_SENSORS", 100),
@@ -333,6 +332,9 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if not CP.flags & HyundaiFlags.CANFD_ALT_GEARS_3:
+      messages.append((self.gear_msg_canfd, 100))
+
     if CP.flags & HyundaiFlags.EV:
       messages += [
         ("MANUAL_SPEED_LIMIT_ASSIST", 10),