      ps.setIgnitionLine(pandaState.ignition_line);
      ps.setIgnitionCan(pandaState.ignition_can);
      ps.setControlsAllowed(pandaState.controls_allowed);
      ps.setGasInterceptorDetected(pandaState.gas_interceptor_detected);
      ps.setHasGps(panda->is_pigeon);
      ps.setCanRxErrs(pandaState.can_rx_errs);
      ps.setCanSendErrs(pandaState.can_send_errs);
      ps.setCanFwdErrs(pandaState.can_fwd_errs);
      ps.setGmlanSendErrs(pandaState.gmlan_send_errs);
      ps.setPandaType(panda->hw_type);
 
</s> remove   bool is_pigeon = false;
 </s> add  </s> remove     (hw_type == cereal::PandaState::PandaType::DOS);
 </s> add             (hw_type == cereal::PandaState::PandaType::DOS); </s> remove   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);
 </s> add   assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
 </s> remove   Pigeon * pigeon = Pigeon::connect(panda);
 </s> add   Pigeon *pigeon = Pigeon::connect(panda);
    ps.setHasGps(true);
      ps.setIgnitionLine(pandaState.ignition_line);
      ps.setIgnitionCan(pandaState.ignition_can);
      ps.setControlsAllowed(pandaState.controls_allowed);
      ps.setGasInterceptorDetected(pandaState.gas_interceptor_detected);
    ps.setHasGps(true);
      ps.setCanRxErrs(pandaState.can_rx_errs);
      ps.setCanSendErrs(pandaState.can_send_errs);
      ps.setCanFwdErrs(pandaState.can_fwd_errs);
      ps.setGmlanSendErrs(pandaState.gmlan_send_errs);
      ps.setPandaType(panda->hw_type);
keep keep keep keep 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/boardd.cc