fixes

selfdrive/car/card.py

@@ -123,7 +123,8 @@ class Car:
     self.mads_enabled_toggle = True  # TODO-SP: Apply with toggle
     data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
     self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
-    self.CP.alternativeExperience |= ModifiedAssistDrivingSystem(self).set_alternative_experience()
+    if self.mads_enabled_toggle:
+      self.CP.alternativeExperience |= ModifiedAssistDrivingSystem().set_alternative_experience()
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
@@ -258,8 +259,6 @@ class Car:
 
     if self.mads_enabled_toggle:
       self.CI.mads_enabled = self.sm['selfdriveStateSP'].mads.enabled
-    else:
-      self.CI.mads_enabled = self.sm['carControl'].enabled
 
     if self.sm.all_alive(['carControl']):
       # send car controls over can

selfdrive/selfdrived/selfdrived.py

@@ -442,7 +442,7 @@ class SelfdriveD:
   def publish_selfdriveStateSP(self):
     # selfdriveStateSP
     ss_sp_msg = messaging.new_message('selfdriveStateSP')
-    ss_sp_msg.valid = self.sm.all_checks(['selfdriveState'])
+    ss_sp_msg.valid = True
     ss_sp = ss_sp_msg.selfdriveStateSP
 
     # mads

sunnypilot/mads/mads.py

@@ -10,9 +10,7 @@ EventName = car.OnroadEvent.EventName
 
 
 class ModifiedAssistDrivingSystem:
-  def __init__(self, selfdrive):
-    self.selfdrive = selfdrive
-
+  def __init__(self, selfdrive=None):
     self.current_state = State.disabled
     self.enabled = False
     self.active = False
@@ -24,6 +22,9 @@ class ModifiedAssistDrivingSystem:
       State.overriding: Overriding(self),
     }
 
+    if selfdrive is not None:
+      self.selfdrive = selfdrive
+
     self.enabled_toggle = True  # TODO-SP: Apply with toggle
     self.main_enabled_toggle = True  # TODO-SP: Apply with toggle
     self.disengage_lateral_on_brake_toggle = False  # TODO-SP: Apply with toggle
@@ -32,10 +33,9 @@ class ModifiedAssistDrivingSystem:
     self.mads_alt_button_enabled = False
 
   def set_alternative_experience(self, alt_experience: int = 0):
-    if self.enabled_toggle:
-      alt_experience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
-      if not self.disengage_lateral_on_brake_toggle:
-        alt_experience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_LATERAL_ON_BRAKE
+    alt_experience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
+    if not self.disengage_lateral_on_brake_toggle:
+      alt_experience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_LATERAL_ON_BRAKE
 
     return alt_experience
 

sunnypilot/mads/state.py

@@ -16,7 +16,7 @@ class StateMachineBase(ABC):
   def __init__(self, mads):
     self.mads = mads
     self.selfdrive = mads.selfdrive
-    self.ss_state_machine = mads.selfdrive.ss_state_machine
+    self.ss_state_machine = mads.selfdrive.state_machine
 
     self.state = State.disabled
 
@@ -48,7 +48,7 @@ class StateMachineBase(ABC):
 
   def add_current_alert_types(self, alert_type):
     if not self.selfdrive.active:
-      self.add_current_alert_types(alert_type)
+      self.ss_state_machine.current_alert_types(alert_type)
 
   @abstractmethod
   def handle(self, events: Events):