diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 95f39bf43a..42a76589c3 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -18,9 +18,6 @@ class MadsSteeringModeOnBrake:
 
 
 def read_steering_mode_param(CP: structs.CarParams, params: Params):
-  if CP.brand in ("rivian", "tesla"):
-    return MadsSteeringModeOnBrake.DISENGAGE
-
   try:
     return int(params.get("MadsSteeringMode"))
   except (ValueError, TypeError):
@@ -49,16 +46,12 @@ 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 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.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")
 
-    # 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 == "rivian":
-      params.put("MadsSteeringMode", "2")
-      params.put_bool("MadsUnifiedEngagementMode", True)
-      params.remove("MadsMainCruiseAllowed")
+  # 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 == "rivian":
+    params.remove("Mads")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 0c52e3dc23..0e0dde3225 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -31,7 +31,6 @@ class ModularAssistiveDrivingSystem:
     self.active = False
     self.available = False
     self.allow_always = False
-    self.no_main_cruise = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
@@ -42,17 +41,14 @@ class ModularAssistiveDrivingSystem:
       if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
 
-    if self.selfdrive.CP.brand in ("rivian", "tesla"):
-      self.no_main_cruise = True
-
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
-    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed") and not self.no_main_cruise
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.steering_mode_on_brake = read_steering_mode_param(self.selfdrive.CP, self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
-    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed") and not self.no_main_cruise
+    self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def update_events(self, CS: structs.CarState):