      (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;
  
  fail:
    cleanup();
 
</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   if (!panda->is_pigeon) { return; };

  // ubloxRaw = 8042
 </s> add  </s> remove   bool is_pigeon = false;
 </s> add  </s> remove   Pigeon * pigeon = Pigeon::connect("/dev/ttyHS0");
 </s> add   Pigeon *pigeon = Pigeon::connect("/dev/ttyHS0"); </s> remove   Pigeon * pigeon = Pigeon::connect(panda);
 </s> add   Pigeon *pigeon = Pigeon::connect(panda);
            (hw_type == cereal::PandaState::PandaType::DOS);
      (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;
  
  fail:
    cleanup();
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/panda.cc