use new cereal

selfdrive/controls/controlsd.py

@@ -21,6 +21,7 @@ from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from opendbc.sunnypilot import SunnypilotParamFlags
 
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
@@ -169,8 +170,9 @@ class Controls:
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    sunnyLiveParams = CC.sunnyLiveParams
-    sunnyLiveParams.enableMads = self.enable_mads
+    sunnypilotParams = CC.sunnypilotParams
+    if self.enable_mads:
+      sunnypilotParams |= SunnypilotParamFlags.ENABLE_MADS.value
 
     if self.sm['selfdriveState'].active:
       CO = self.sm['carOutput']

sunnypilot/mads/mads.py

@@ -24,7 +24,7 @@ class ModularAssistiveDrivingSystem:
     self.state_machine = StateMachine(self)
 
     if self.selfdrive.CP.carName == "hyundai":
-      if (self.selfdrive.CP.sunnyParams.flags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
+      if (self.selfdrive.CP.sunnypilotFlags & HyundaiFlagsSP.HAS_LFA_BUTTON) or \
             (self.selfdrive.CP.flags & HyundaiFlags.CANFD):
         self.allow_always = True