need this check

selfdrive/selfdrived/events.py

@@ -991,8 +991,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
       Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
   },
 
-  # FIXME-SP: no longer used, remove prior merging
   EventName.silentPedalPressed: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
     ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
                               visual_alert=VisualAlert.brakePressed),
   },

sunnypilot/mads/mads.py

@@ -64,6 +64,7 @@ class ModularAssistiveDrivingSystem:
         transition_paused_state()
 
       if self.selfdrive.events.has(EventName.pedalPressed):
+        self.selfdrive.events.add(EventName.silentPedalPressed)
         transition_paused_state()
 
       if not CS.brakePressed and not CS.brakeHoldActive and not CS.parkingBrake and not CS.regenBraking:

sunnypilot/mads/state.py

@@ -31,7 +31,7 @@ class StateMachine:
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if events.contains(ET.USER_DISABLE):
-        if events.has(EventName.silentLkasDisable):
+        if events.has(EventName.silentLkasDisable) or events.has(EventName.silentPedalPressed):
           self.state = State.paused
         else:
           self.state = State.disabled

sunnypilot/mads/tests/test_mads_state_machine.py

@@ -59,15 +59,17 @@ class TestMADSStateMachine:
         self.events.clear()
 
   def test_user_disable_to_paused(self):
+    paused_events = (EventName.silentLkasDisable, EventName.silentPedalPressed)
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.events.add(make_event([et, ET.USER_DISABLE]))
-        self.events.add(EventName.silentLkasDisable)
-        self.state_machine.state = state
-        self.state_machine.update(self.events)
-        final_state = State.paused if self.events.has(EventName.silentLkasDisable) and state != State.disabled else State.disabled
-        assert self.state_machine.state == final_state
-        self.events.clear()
+        for en in paused_events:
+          self.events.add(en)
+          self.state_machine.state = state
+          self.state_machine.update(self.events)
+          final_state = State.paused if self.events.has(en) and state != State.disabled else State.disabled
+          assert self.state_machine.state == final_state
+          self.events.clear()
 
   def test_soft_disable(self):
     for state in ALL_STATES: