diff --git a/opendbc_repo b/opendbc_repo
index 748a84787..5db6b93bc 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 748a84787ad8b55125cf3953fd08de7f90da10c6
+Subproject commit 5db6b93bc550edf5425d0b22e49c9bf51ec23eab
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index 405a2613d..af624865c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,7 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-const std::vector<std::string> mads_limited_settings_brands = {"rivian"};
+const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
 
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 806f8edbe..4b1095c63 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -18,7 +18,7 @@ class MadsSteeringModeOnBrake:
 
 
 def get_mads_limited_brands(CP: structs.CarParams) -> bool:
-  return CP.brand in ("rivian", )
+  return CP.brand in ("rivian", "tesla")
 
 
 def read_steering_mode_param(CP: structs.CarParams, params: Params):
@@ -56,15 +56,9 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
   # MADS Partial Support
   # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
   # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
-  # TODO-SP: To enable MADS full support for Rivian, identify consistent signals for MADS toggling
+  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
   mads_partial_support = get_mads_limited_brands(CP)
   if mads_partial_support:
     params.put("MadsSteeringMode", "2")
     params.put_bool("MadsUnifiedEngagementMode", True)
     params.remove("MadsMainCruiseAllowed")
-
-  # MADS Disabled - No Support
-  # MADS is currently not supported for these platforms due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS full support for Tesla, identify consistent signals for MADS toggling
-  if CP.brand in ("tesla", ):
-    params.remove("Mads")