From 162880ca6ca7760d50ed3a86dee0ca89bf2a3c0b Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 13 Apr 2026 17:18:27 -0400 Subject: [PATCH] nah --- sunnypilot/mads/mads.py | 16 ++-------------- 1 file changed, 2 insertions(+), 14 deletions(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index 599f13764f..0c87da4a2a 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -10,7 +10,6 @@ from cereal import log, custom from opendbc.car import structs from opendbc.car.hyundai.values import HyundaiFlags from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, MADS_NO_ACC_MAIN_BUTTON from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT @@ -199,19 +198,8 @@ class ModularAssistiveDrivingSystem: if self.state_machine.state == State.paused: self.events_sp.add(EventNameSP.silentLkasEnable) - # same conditions as stock controlsMismatch - for i, ps in enumerate(self.selfdrive.sm['pandaStates']): - # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput - if i < len(self.CP.safetyConfigs): - safety_mismatch = ps.safetyModel != self.CP.safetyConfigs[i].safetyModel or \ - ps.safetyParam != self.CP.safetyConfigs[i].safetyParam or \ - ps.alternativeExperience != self.CP.alternativeExperience - else: - safety_mismatch = ps.safetyModel not in IGNORED_SAFETY_MODES - - # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda - if (safety_mismatch and self.selfdrive.sm.frame * DT_CTRL > 10.) or ps.safetyRxChecksInvalid or self.lateral_mismatch_counter >= 200: - self.events_sp.add(EventNameSP.controlsMismatchLateral) + if self.lateral_mismatch_counter >= 200: + self.events_sp.add(EventNameSP.controlsMismatchLateral) self.events.remove(EventName.pcmDisable) self.events.remove(EventName.buttonCancel)