Merge branch 'master-new-ESCC' into mads-new-rework

# Conflicts:
#	panda

.gitmodules

@@ -1,18 +1,18 @@
 [submodule "panda"]
   path = panda
-  url = ../../commaai/panda.git
+  url = https://github.com/sunnyhaibin/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = ../../commaai/opendbc.git
+  url = https://github.com/sunnypilot/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = ../../commaai/msgq.git
+  url = https://github.com/sunnypilot/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = ../../commaai/rednose.git
+  url = https://github.com/commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = ../../commaai/teleoprtc
+  url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git

LICENSE.md

@@ -0,0 +1,21 @@
+# Custom MIT License
+
+Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
+
+1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
+
+2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
+   "This software is licensed under a custom license requiring permission for use."
+
+3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
+   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
+
+4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
+
+---
+
+Haibin Wen, SUNNYPILOT LLC

cereal/custom.capnp

@@ -8,7 +8,23 @@ $Cxx.namespace("cereal");
 # cereal, so use these if you want custom events in your fork.
 
 # you can rename the struct, but don't change the identifier
-struct CustomReserved0 @0x81c2f05a394cf4af {
+struct SelfdriveStateSP @0x81c2f05a394cf4af {
+  mads @0 :ModularAssistiveDrivingSystem;
+
+  struct ModularAssistiveDrivingSystem {
+    state @0 :ModularAssistiveDrivingSystemState;
+    enabled @1 :Bool;
+    active @2 :Bool;
+    available @3 :Bool;
+
+    enum ModularAssistiveDrivingSystemState {
+      disabled @0;
+      paused @1;
+      enabled @2;
+      softDisabling @3;
+      overriding @4;
+    }
+  }
 }
 
 struct CustomReserved1 @0xaedffd8f31e7b55d {

cereal/log.capnp

@@ -126,6 +126,17 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     personalityChanged @91;
     aeb @92;
 
+    # sunnypilot
+    lkasEnable @93;
+    lkasDisable @94;
+    manualSteeringRequired @95;
+    manualLongitudinalRequired @96;
+    silentPedalPressed @97;
+    silentLkasEnable @98;
+    silentBrakeHold @99;
+    silentWrongGear @100;
+    silentReverseGear @101;
+
     soundsUnavailableDEPRECATED @47;
   }
 }
@@ -586,6 +597,7 @@ struct PandaState @0xa7649e2575e4591e {
 
   # safety stuff
   controlsAllowed @3 :Bool;
+  controlsAllowedLat @5 :Bool;
   safetyRxInvalid @19 :UInt32;
   safetyTxBlocked @24 :UInt32;
   safetyModel @14 :Car.CarParams.SafetyModel;
@@ -693,7 +705,6 @@ struct PandaState @0xa7649e2575e4591e {
   }
 
   gasInterceptorDetectedDEPRECATED @4 :Bool;
-  startedSignalDetectedDEPRECATED @5 :Bool;
   hasGpsDEPRECATED @6 :Bool;
   gmlanSendErrsDEPRECATED @9 :UInt32;
   fanSpeedRpmDEPRECATED @11 :UInt16;
@@ -2544,7 +2555,7 @@ struct Event {
     customReservedRawData2 @126 :Data;
 
     # *********** Custom: reserved for forks ***********
-    customReserved0 @107 :Custom.CustomReserved0;
+    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
     customReserved1 @108 :Custom.CustomReserved1;
     customReserved2 @109 :Custom.CustomReserved2;
     customReserved3 @110 :Custom.CustomReserved3;

cereal/services.py

@@ -73,6 +73,9 @@ _services: dict[str, tuple] = {
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
+  # sunnypilot
+  "selfdriveStateSP": (True, 100., 10),
+
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),

common/params.cc

@@ -201,6 +201,12 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterLastFetchTime", PERSISTENT},
     {"Version", PERSISTENT},
+
+    // sunnypilot params
+    {"Mads", PERSISTENT},
+    {"MadsCruiseMain", PERSISTENT},
+    {"MadsDisengageLateralOnBrake", PERSISTENT},
+    {"MadsUnifiedEngagementMode", PERSISTENT},
 };
 
 } // namespace

selfdrive/car/car_specific.py

@@ -148,7 +148,8 @@ class CarSpecificEvents:
       # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
       # Main button also can trigger an engagement on these cars
       self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
-      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
+      events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons),
+                                         allow_cancel=any(self.CP.pcmCruise and b.type == ButtonType.cancel and b.pressed for b in CS.buttonEvents) or not self.CP.pcmCruise)
 
       # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
       if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -164,7 +165,8 @@ class CarSpecificEvents:
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
+                           allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
+                           allow_cancel=True):
     events = Events()
 
     if CS.doorOpen:
@@ -215,7 +217,7 @@ class CarSpecificEvents:
       if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
         events.add(EventName.buttonEnable)
       # Disable on rising and falling edge of cancel for both stock and OP long
-      if b.type == ButtonType.cancel:
+      if b.type == ButtonType.cancel and allow_cancel:
         events.add(EventName.buttonCancel)
 
     # Handle permanent and temporary steering faults

selfdrive/car/card.py

@@ -22,6 +22,8 @@ from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
 
+from opendbc.sunnypilot.mads.mads import MadsParams
+
 REPLAY = "REPLAY" in os.environ
 
 EventName = log.OnroadEvent.EventName
@@ -113,6 +115,11 @@ class Car:
     if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
+    # mads
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveStateSP')
+    MadsParams().set_alternative_experience(self.CP, self.params)
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly

selfdrive/controls/controlsd.py

@@ -56,6 +56,9 @@ class Controls:
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
+    data_services = list(self.sm.data.keys()) + ['selfdriveStateSP']
+    self.sm = messaging.SubMaster(data_services, poll='selfdriveState')
+
   def update(self):
     self.sm.update(15)
     if self.sm.updated["liveCalibration"]:
@@ -88,7 +91,12 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    CC.latActive = self.sm['selfdriveState'].active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
+
+    ss_sp = self.sm['selfdriveStateSP']
+    CC.madsActive = ss_sp.mads.available and ss_sp.mads.active
+
+    _lat_active = ss_sp.mads.enabled if ss_sp.mads.available else self.sm['selfdriveState'].active
+    CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and not standstill
     CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators

selfdrive/pandad/pandad.cc

@@ -140,6 +140,7 @@ void fill_panda_state(cereal::PandaState::Builder &ps, cereal::PandaState::Panda
   ps.setIgnitionLine(health.ignition_line_pkt);
   ps.setIgnitionCan(health.ignition_can_pkt);
   ps.setControlsAllowed(health.controls_allowed_pkt);
+  ps.setControlsAllowedLat(health.controls_allowed_lat_pkt);
   ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt);
   ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt);
   ps.setPandaType(hw_type);

selfdrive/selfdrived/events.py

@@ -105,6 +105,17 @@ class Events:
       ret.append(event)
     return ret
 
+  def has(self, event_name: int) -> bool:
+    return event_name in self.events
+
+  def remove(self, event_name: int, static: bool = False) -> None:
+    if static and event_name in self.static_events:
+      self.static_events.remove(event_name)
+
+    if event_name in self.events:
+      self.event_counters[event_name] = self.event_counters[event_name] + 1
+      self.events.remove(event_name)
+
 
 class Alert:
   def __init__(self,
@@ -951,6 +962,85 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
+  # sunnypilot
+  EventName.lkasEnable: {
+    ET.ENABLE: EngagementAlert(AudibleAlert.engage),
+  },
+
+  EventName.lkasDisable: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+  },
+
+  EventName.manualSteeringRequired: {
+    ET.USER_DISABLE: Alert(
+      "Automatic Lane Centering is OFF",
+      "Manual Steering Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
+  },
+
+  EventName.manualLongitudinalRequired: {
+    ET.WARNING: Alert(
+      "Smart/Adaptive Cruise Control is OFF",
+      "Manual Gas/Brakes Required",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
+  },
+
+  EventName.silentPedalPressed: {
+    ET.USER_DISABLE: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .2),
+    ET.NO_ENTRY: NoEntryAlert("Pedal Pressed During Attempt",
+                              visual_alert=VisualAlert.brakePressed),
+  },
+
+  EventName.silentLkasEnable: {
+    ET.ENABLE: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0.),
+  },
+
+  EventName.silentBrakeHold: {
+    ET.USER_DISABLE: Alert(
+      "",
+      "",
+      AlertStatus.normal, AlertSize.none,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .2, 0.),
+    ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
+  },
+
+  EventName.silentWrongGear: {
+    ET.USER_DISABLE: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 3.),
+    ET.NO_ENTRY: Alert(
+      "Gear not D",
+      "openpilot Unavailable",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.none, 0., 3.),
+  },
+
+  EventName.silentReverseGear: {
+    ET.PERMANENT: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.USER_DISABLE: Alert(
+      "Reverse\nGear",
+      "",
+      AlertStatus.normal, AlertSize.full,
+      Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
+    ET.NO_ENTRY: NoEntryAlert("Reverse Gear"),
+  },
+
 }
 
 

selfdrive/selfdrived/selfdrived.py

@@ -23,6 +23,8 @@ from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEE
 
 from openpilot.system.version import get_build_metadata
 
+from opendbc.sunnypilot.mads.mads import ModularAssistiveDrivingSystem
+
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
@@ -131,6 +133,10 @@ class SelfdriveD:
     elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
 
+    self.mads = ModularAssistiveDrivingSystem(self)
+    sock_services = list(self.pm.sock.keys()) + ['selfdriveStateSP']
+    self.pm = messaging.PubMaster(sock_services)
+
   def update_events(self, CS):
     """Compute onroadEvents from carState"""
 
@@ -451,11 +457,24 @@ class SelfdriveD:
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
+    # selfdriveStateSP
+    ss_sp_msg = messaging.new_message('selfdriveStateSP')
+    ss_sp_msg.valid = True
+    ss_sp = ss_sp_msg.selfdriveStateSP
+    mads = ss_sp.mads
+    mads.state = self.mads.state_machine.state
+    mads.enabled = self.mads.enabled
+    mads.active = self.mads.active
+    mads.available = self.mads.enabled_toggle
+
+    self.pm.send('selfdriveStateSP', ss_sp_msg)
+
   def step(self):
     CS = self.data_sample()
     self.update_events(CS)
     if not self.CP.passive and self.initialized:
       self.enabled, self.active = self.state_machine.update(self.events)
+    self.mads.update(CS)
     self.update_alerts(CS)
 
     self.publish_selfdriveState(CS)

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -49,6 +49,20 @@ void DeveloperPanel::updateToggles(bool _offroad) {
   }
 
   offroad = _offroad;
+
+  // FIXME-SP: Move to sunnypilot panels before merging
+  auto madsToggle = new ParamControl("Mads", tr("Modular Assistive Driving System (MADS)"), "", "");
+  addItem(madsToggle);
+
+  // TODO-SP: Rename toggle
+  auto madsCruiseMainToggle = new ParamControl("MadsCruiseMain", tr("MADS: Cruise Main"), "", "");
+  addItem(madsCruiseMainToggle);
+
+  auto madsDisengageLateralOnBrakeToggle = new ParamControl("MadsDisengageLateralOnBrake", tr("MADS: Disengage Lateral on Brake"), "", "");
+  addItem(madsDisengageLateralOnBrakeToggle);
+
+  auto madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("MADS: Unified Engagement Mode"), "", "");
+  addItem(madsUnifiedEngagementModeToggle);
 }
 
 void DeveloperPanel::showEvent(QShowEvent *event) {

selfdrive/ui/translations/main_ar.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>وضع المناورة الطولية</translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_de.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_es.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo de maniobra longitudinal</translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_fr.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_ja.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_ko.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>롱컨 기동 모드</translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_pt-BR.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo Longitudinal Maneuver</translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_th.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_tr.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -123,6 +123,22 @@
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MADS: Cruise Main</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Disengage Lateral on Brake</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Modular Assistive Driving System (MADS)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>MADS: Unified Engagement Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>

system/manager/manager.py

@@ -42,11 +42,18 @@ def manager_init() -> None:
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
   ]
 
+  sunnypilot_default_params: list[tuple[str, str | bytes]] = [
+    ("Mads", "1"),
+    ("MadsCruiseMain", "1"),
+    ("MadsDisengageLateralOnBrake", "0"),
+    ("MadsUnifiedEngagementMode", "1"),
+  ]
+
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
   # set unset params
-  for k, v in default_params:
+  for k, v in (default_params + sunnypilot_default_params):
     if params.get(k) is None:
       params.put(k, v)