From f08d34612eec8b6586b9d8876c30a4ab3baea5b4 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 1 Jul 2026 19:43:36 -0400 Subject: [PATCH] lateral mismatch --- sunnypilot/mads/mads.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py index bd9c8d78ff..b0a90f82b5 100644 --- a/sunnypilot/mads/mads.py +++ b/sunnypilot/mads/mads.py @@ -69,7 +69,7 @@ class ModularAssistiveDrivingSystem: return False def should_silent_lkas_enable(self, CS: structs.CarState) -> bool: - if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS): + if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and (CS.brakePressed or CS.regenBraking or self.pedal_pressed_non_gas_pressed(CS)): return False if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):