Merge remote-tracking branch 'sunnypilot/sunnypilot/mads-new' into mads-new

selfdrive/car/card.py

@@ -116,8 +116,6 @@ class Car:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
     # mads
-    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
-    self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
     MadsParams().set_alternative_experience(self.CP)
     MadsParams().set_car_specific_params(self.CP)
 

sunnypilot/mads/helpers.py

@@ -34,7 +34,6 @@ from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 class MadsParams:
   def __init__(self):
     self.params = Params()
-    self.allow_always = False
 
   def read_param(self, key: str):
     return self.params.get_bool(key)