Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)

This reverts commit bf2731b4

common/params_keys.h

@@ -135,7 +135,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsSteeringMode", PERSISTENT | BACKUP},
+    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params

selfdrive/pandad/pandad.cc

@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc

@@ -39,19 +39,17 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
     "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Steering Mode On Brake
+  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering"), tr("Disengage")};
+  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsSteeringMode = new ButtonParamControl(
+  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsSteeringMode",
+    "MadsPauseLateralOnBrake",
-    tr("Steering Mode on Brake Pedal"),
+    tr("Steering Mode After Braking"),
     tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\n"
+       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
-       "Pause Steering: ALC will be paused when the brake pedal is manually pressed."),
-       "Disengage: ALC will be disengaged after the brake pedal is pressed.\n"
     "",
     lateral_on_brake_texts,
     500);
-  list->addItem(madsSteeringMode);
+  list->addItem(madsPauseLateralOnBrake);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -63,7 +61,7 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsSteeringMode->setEnabled(_offroad);
+  madsPauseLateralOnBrake->setEnabled(_offroad);
 
   offroad = _offroad;
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h

@@ -32,5 +32,5 @@ private:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsSteeringMode;
+  ButtonParamControl *madsPauseLateralOnBrake;
 };

sunnypilot/mads/helpers.py

@@ -11,30 +11,15 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
-class MadsSteeringModeOnBrake:
-  REMAIN_ACTIVE = 0
-  PAUSE = 1
-  DISENGAGE = 2
-
-
-def read_steering_mode_param(params: Params):
-  try:
-    return int(params.get("MadsSteeringMode"))
-  except (ValueError, TypeError):
-    return f"{MadsSteeringModeOnBrake.REMAIN_ACTIVE}"
-
-
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  steering_mode = read_steering_mode_param(params)
+  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+    if pause_lateral_on_brake:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
-    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):

sunnypilot/mads/mads.py

@@ -8,7 +8,6 @@ See the LICENSE.md file in the root directory for more details.
 from cereal import car, log, custom
 
 from opendbc.car.hyundai.values import HyundaiFlags
-from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -42,7 +41,7 @@ class ModularAssistiveDrivingSystem:
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.steering_mode_on_brake = read_steering_mode_param(self.params)
+    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
@@ -84,11 +83,11 @@ class ModularAssistiveDrivingSystem:
         replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
         transition_paused_state()
 
-      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
+      if self.pause_lateral_on_brake_toggle:
         if CS.brakePressed:
           transition_paused_state()
 
-      if not (self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and CS.brakePressed) and \
+      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
          not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
         if self.state_machine.state == State.paused:
           self.events_sp.add(EventNameSP.silentLkasEnable)
@@ -124,12 +123,6 @@ class ModularAssistiveDrivingSystem:
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
-    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
-      # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
-      if (CS.brakePressed and (not self.selfdrive.CS_prev.brakePressed or not CS.standstill)) or \
-         (CS.regenBraking and (not self.selfdrive.CS_prev.regenBraking or not CS.standstill)):
-        self.events_sp.add(EventNameSP.lkasDisable)
-
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)

system/manager/manager.py

@@ -48,7 +48,7 @@ def manager_init() -> None:
     ("DynamicExperimentalControl", "0"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
-    ("MadsSteeringMode", "0"),
+    ("MadsPauseLateralOnBrake", "0"),
     ("MadsUnifiedEngagementMode", "1"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),