From 5667a9d9947d5b26aae98a4fa370a6fc94dd78dd Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Mon, 19 May 2025 10:52:47 -0400
Subject: [PATCH] just rivian

---
 opendbc_repo                                        |  2 +-
 .../qt/offroad/settings/lateral/mads_settings.h     |  2 +-
 sunnypilot/mads/helpers.py                          | 13 +++++++++----
 sunnypilot/mads/mads.py                             |  2 +-
 4 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 3c7b3e16db..6e56eb028a 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 3c7b3e16db3ff4f2150f1436e967f4a9646d4813
+Subproject commit 6e56eb028aca9b83b8de6483723198c22e88ba70
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 804b978c96..33a68bdf1a 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,7 +12,7 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
-const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
+const std::vector<std::string> mads_limited_settings_brands = {"rivian"};
 
 enum class MadsSteeringMode {
   REMAIN_ACTIVE = 0,
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 819b5af163..dd1390d56a 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -18,7 +18,7 @@ class MadsSteeringModeOnBrake:
 
 
 def read_steering_mode_param(CP: structs.CarParams, params: Params):
-  if CP.brand in ("rivian", "tesla"):
+  if CP.brand in ("rivian", ):
     return MadsSteeringModeOnBrake.DISENGAGE
 
   try:
@@ -49,9 +49,14 @@ 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/Tesla due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Rivian/Tesla, identify consistent signals for MADS toggling
-  if CP.brand in ("rivian", "tesla"):
+  # 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", ):
     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":
+    params.remove("Mads")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index faf59b827b..2fff01b555 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -45,7 +45,7 @@ class ModularAssistiveDrivingSystem:
       if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
 
-    if self.selfdrive.CP.brand in ("rivian", "tesla"):
+    if self.selfdrive.CP.brand in ("rivian", ):
       self.no_main_cruise = True
 
     # read params on init