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

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# Conflicts:
#	selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
#	sunnypilot/mads/helpers.py
This commit is contained in:
Jason Wen
2025-05-19 14:28:26 -04:00
parent bc17541a13 ddfb7420ca
commit 3153292786
2 changed files with 14 additions and 9 deletions
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selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+4 -3
View File
@@ -51,9 +51,10 @@ private:
std::vector<int> madsSteeringModeValues = {};
const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.");
const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>""<h4>%2</h4>")
.arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
.arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>"
"<h4>%2</h4>")
.arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
.arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.");
sunnypilot/mads/helpers.py
+10 -6
View File
@@ -49,14 +49,18 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
# MADS is currently not supported in Rivian due to lack of consistent states to engage controls
# TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
if CP.brand in ("rivian", ):
# 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
mads_partial_support = CP.brand in ("rivian", )
if mads_partial_support:
params.put("MadsSteeringMode", "2")
params.put_bool("MadsUnifiedEngagementMode", True)
params.remove("MadsMainCruiseAllowed")
# MADS is currently not supported in Tesla due to lack of consistent states to engage controls
# TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
if CP.brand == "tesla":
# 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")