    err = libusb_claim_interface(dev_handle, 0);
    if (err != 0) { goto fail; }
  
    hw_type = get_hw_type();
    is_pigeon =
      (hw_type == cereal::PandaState::PandaType::GREY_PANDA) ||
      (hw_type == cereal::PandaState::PandaType::BLACK_PANDA) ||
      (hw_type == cereal::PandaState::PandaType::UNO) ||
      (hw_type == cereal::PandaState::PandaType::DOS);
    has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
      (hw_type == cereal::PandaState::PandaType::DOS);
  
    return;
  
 
</s> remove     (hw_type == cereal::PandaState::PandaType::DOS);
 </s> add             (hw_type == cereal::PandaState::PandaType::DOS); </s> remove   bool is_pigeon = false;
 </s> add  </s> remove   if (!panda->is_pigeon) { return; };

  // ubloxRaw = 8042
 </s> add  </s> remove   Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
 </s> add   Pigeon *pigeon = Pigeon::connect("/dev/ttyHS0");
  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

    err = libusb_claim_interface(dev_handle, 0);
    if (err != 0) { goto fail; }
  
    hw_type = get_hw_type();
  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));

    has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
      (hw_type == cereal::PandaState::PandaType::DOS);
  
    return;
  
keep keep keep keep replace replace replace replace replace keep keep keep keep keep
 turn pigeon off when going offroad (#20296)

* cleanup

* power off pigeon

* comment

Co-authored-by: Comma Device <device@comma.ai> 
selfdrive/boardd/panda.cc