From 80ebb433650c29fad15becc68145fe700ad7cea9 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Thu, 14 Nov 2024 16:59:56 -0500
Subject: [PATCH] simply checks

---
 cereal/custom.capnp                |  1 -
 selfdrive/controls/controlsd.py    |  2 +-
 selfdrive/selfdrived/selfdrived.py |  3 +--
 sunnypilot/mads/mads.py            | 10 ----------
 4 files changed, 2 insertions(+), 14 deletions(-)

diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index a38738679b..ddb09e34ff 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -16,7 +16,6 @@ struct SelfdriveStateSP @0x81c2f05a394cf4af {
     enabled @1 :Bool;
     active @2 :Bool;
     available @3 :Bool;
-    on @4 :Bool;
 
     enum ModifiedAssistDrivingSystemState {
       disabled @0;
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 98251080f7..df017303ce 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -95,7 +95,7 @@ class Controls:
     ss_sp = self.sm['selfdriveStateSP']
     CC.madsActive = ss_sp.mads.available and ss_sp.mads.active
 
-    _lat_active = ss_sp.mads.available and ss_sp.mads.enabled if ss_sp.mads.on else self.sm['selfdriveState'].active
+    _lat_active = ss_sp.mads.enabled if ss_sp.mads.available else self.sm['selfdriveState'].active
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index ecbac4acd1..43ede9235d 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -465,8 +465,7 @@ class SelfdriveD:
     mads.state = self.mads.state_machine.state
     mads.enabled = self.mads.enabled
     mads.active = self.mads.active
-    mads.available = self.mads.available
-    mads.on = self.mads.enabled_toggle
+    mads.available = self.mads.enabled_toggle
 
     self.pm.send('selfdriveStateSP', ss_sp_msg)
 
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index e1ae7b7bf4..eed0cfc058 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -26,14 +26,6 @@ class ModifiedAssistDrivingSystem:
     self.disengage_lateral_on_brake_toggle = mads_params.read_param("MadsDisengageLateralOnBrake", self.selfdrive.params)
     self.unified_engagement_mode = mads_params.read_param("MadsUnifiedEngagementMode", self.selfdrive.params)
 
-  def update_availability(self, CS: car.CarState) -> None:
-    if self.main_enabled_toggle:
-      self.available = CS.cruiseState.available
-
-    if self.selfdrive.CP.carName == "hyundai":
-      if any(be.type == ButtonType.lkas and be.pressed for be in CS.buttonEvents):
-        self.available = True
-
   def update_events(self, CS: car.CarState):
     self.selfdrive.events.remove(EventName.pcmDisable)
     self.selfdrive.events.remove(EventName.buttonCancel)
@@ -93,8 +85,6 @@ class ModifiedAssistDrivingSystem:
     if not self.enabled_toggle:
       return
 
-    self.update_availability(CS)
-
     self.update_events(CS)
 
     if not self.selfdrive.CP.passive and self.selfdrive.initialized: