mirror of
https://github.com/sunnypilot/sunnypilot.git
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Jason Wen
63 lines
2.1 KiB
Markdown
63 lines
2.1 KiB
Markdown
---
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title: MADS Settings
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---
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# MADS Settings
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Fine-tune how the Modular Assistive Driving System (MADS) engages and disengages steering assistance.
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**Location**: `Settings -> Steering -> Customize MADS`
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!!! info "Toggle & Device Availability"
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Supported on all devices. comma four users must use sunnylink to change this setting.
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!!! info "Prerequisite"
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The main **Modular Assistive Driving System (MADS)** toggle must be enabled in [Steering Settings](index.md) to access this sub-panel.
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---
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## Toggle with Main Cruise
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When enabled, pressing the main cruise button (the on/off button on the steering wheel) can activate MADS steering assistance.
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!!! warning "Vehicle Restrictions"
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- **Rivian**: Always forced OFF (limited settings mode)
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- **Tesla (without vehicle bus)**: Always forced OFF (limited settings mode)
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!!! note
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For vehicles without a dedicated LFA/LKAS button, disabling this will prevent lateral control engagement.
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---
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## Unified Engagement Mode (UEM)
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When enabled, engaging cruise control also automatically engages MADS lateral control in a single action, rather than requiring separate activation.
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Once lateral control is engaged via UEM, it remains engaged until you manually disable it using the MADS button or turn off the car.
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!!! warning "Vehicle Restrictions"
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- **Rivian**: Always forced ON (limited settings mode)
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- **Tesla (without vehicle bus)**: Always forced ON (limited settings mode)
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---
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## Steering Mode on Brake Pedal
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A row of three buttons controls what happens to MADS steering assistance when you press the brake pedal:
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| Mode | What happens |
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|------|-------------|
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| **Remain Active** | Steering assistance continues even after you press the brake |
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| **Pause** | Steering assistance pauses but can be quickly resumed |
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| **Disengage** | Steering assistance fully disengages when you brake |
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!!! warning "Vehicle Restrictions"
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- **Rivian**: Always forced to Disengage (limited settings mode)
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- **Tesla (without vehicle bus)**: Always forced to Disengage (limited settings mode)
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---
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## Related Features
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- [Modular Assistive Driving System](../../features/steering/mads.md)
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