Don't use SSC "engaged" state as enabled
It is wrong to use an SSC state of "engaged" to assume the system is engaged in autonomy mode. Apparently, the SSC "engaged" state means it's engaging, and not necessarily fully engaged. Only use the SSC "active" state. This only really makes a difference if the SSC gets stuck in the "engaged" state for longer than the frame or two that it typically takes to transition to "active".