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MADS: Tesla support (#682)

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* MADS: Tesla and Rivian support

* request lateral if acc is engaged

* try this out

* fix

* make sure we keep the toggle off for tesla

* namedtuple

* disallow steering past 90 degrees for rivian

* whoops

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

This reverts commit 8dec4ea5

* both rivian and tesla

* enforce disengage on brake steering mode for Rivian and Tesla

* wrong one

* MADS: Steering Mode on Brake Pedal Press

* bump

* bump

* descriptions

* bump

* bump

* no tesla or rivian yet

* codecov v5

* Revert "codecov v5"

This reverts commit a347e3fb27.

* cleanup

* refactor description

* sync name

* fix

* make sure we don't allow if brake was already being pressed

* no longer needed

* proper ui!

* allow LKAS tx at all times with MADS

* extra

* this ain't right

* try this

* test only

* bring them back

* some dynamic checks

* dynamic description for mads toggle

* one place for limited platforms

* update tests

* angle when long, lkas when mads

* bump
This commit is contained in:
Jason Wen
2025-05-19 22:17:38 -04:00
committed by GitHub
parent 8201f3edf4
commit 9d60846b70
3 changed files with 4 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo
+1 -1
Submodule opendbc_repo updated: 748a84787a...5db6b93bc5
selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+1 -1
View File
@@ -12,7 +12,7 @@
#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
const std::vector<std::string> mads_limited_settings_brands = {"rivian"};
const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
enum class MadsSteeringMode {
REMAIN_ACTIVE = 0,
sunnypilot/mads/helpers.py
+2 -8
View File
@@ -18,7 +18,7 @@ class MadsSteeringModeOnBrake:
def get_mads_limited_brands(CP: structs.CarParams) -> bool:
return CP.brand in ("rivian", )
return CP.brand in ("rivian", "tesla")
def read_steering_mode_param(CP: structs.CarParams, params: Params):
@@ -56,15 +56,9 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
# MADS Partial Support
# MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
# Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
# TODO-SP: To enable MADS full support for Rivian, identify consistent signals for MADS toggling
# TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
mads_partial_support = get_mads_limited_brands(CP)
if mads_partial_support:
params.put("MadsSteeringMode", "2")
params.put_bool("MadsUnifiedEngagementMode", True)
params.remove("MadsMainCruiseAllowed")
# MADS Disabled - No Support
# MADS is currently not supported for these platforms due to lack of consistent states to engage controls
# TODO-SP: To enable MADS full support for Tesla, identify consistent signals for MADS toggling
if CP.brand in ("tesla", ):
params.remove("Mads")