From 71adace06fc9fa6ea9bcfe3637929efef14399ed Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 26 Dec 2023 02:00:59 +0000 Subject: [PATCH] MADS: Only allow altButton1 trigger if enabled --- selfdrive/car/interfaces.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index eac1836fa9..bbf3ac5bf5 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -690,7 +690,7 @@ class CarInterfaceBase(ABC): self.cruise_cancelled_btn = True events.add(EventName.manualLongitudinalRequired) # do disable on MADS button if ACC is disabled - if b.type == ButtonType.altButton1 and b.pressed: + if b.type == ButtonType.altButton1 and b.pressed and self.enable_mads: if not cs_out.madsEnabled: # disabled MADS if not cs_out.cruiseState.enabled: events.add(EventName.buttonCancel)