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 33a68bdf1a..405a2613d1 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -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.");
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index dd1390d56a..036c29568e 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -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")