Unified Engagement Mode: init

common/params.cc

@@ -206,6 +206,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Mads", PERSISTENT},
     {"MadsCruiseMain", PERSISTENT},
     {"MadsDisengageLateralOnBrake", PERSISTENT},
+    {"MadsUnifiedEngagementMode", PERSISTENT},
 };
 
 } // namespace

sunnypilot/mads/helpers.py

@@ -22,6 +22,10 @@ class MadsParams:
     params = self.init_params(params)
     return params.get_bool("MadsDisengageLateralOnBrake")
 
+  def read_unified_engagement_mode_param(self, params=None):
+    params = self.init_params(params)
+    return params.get_bool("MadsUnifiedEngagementMode")
+
   def set_alternative_experience(self, CP, params):
     enabled = self.read_enabled_param(params)
     disengage_lateral_on_brake = self.read_disengage_lateral_on_brake_param(params)

sunnypilot/mads/mads.py

@@ -23,6 +23,7 @@ class ModifiedAssistDrivingSystem:
     self.enabled_toggle = mads_params.read_enabled_param(self.selfdrive.params)
     self.main_enabled_toggle = mads_params.read_main_enabled_param(self.selfdrive.params)
     self.disengage_lateral_on_brake_toggle = mads_params.read_disengage_lateral_on_brake_param(self.selfdrive.params)
+    self.unified_engagement_mode = mads_params.read_unified_engagement_mode_param(self.selfdrive.params)
 
   def update_availability(self, CS: car.CarState, available: bool = False) -> bool:
     if self.main_enabled_toggle:

system/manager/manager.py

@@ -46,6 +46,7 @@ def manager_init() -> None:
     ("Mads", "1"),
     ("MadsCruiseMain", "1"),
     ("MadsDisengageLateralOnBrake", "0"),
+    ("MadsUnifiedEngagementMode", "1"),
   ]
 
   if params.get_bool("RecordFrontLock"):