Jason Wen
2.1 KiB
title
| title |
|---|
| MADS Settings |
MADS Settings
Fine-tune how the Modular Assistive Driving System (MADS) engages and disengages steering assistance.
Location: Settings → sunnypilot → Steering → MADS Settings
!!! info "Prerequisite" The main MADS toggle must be enabled in Steering Settings to access these settings.
Main Cruise Allowed
| Property | Value |
|---|---|
| Param | MadsMainCruiseAllowed |
| Type | Toggle (On/Off) |
| Default | Off |
When enabled, pressing the main cruise button (the on/off button on the steering wheel) can activate MADS steering assistance.
!!! warning "Vehicle Restrictions" - Rivian: Always forced OFF (limited settings mode) - Tesla (without vehicle bus): Always forced OFF (limited settings mode)
Unified Engagement Mode
| Property | Value |
|---|---|
| Param | MadsUnifiedEngagementMode |
| Type | Toggle (On/Off) |
| Default | Off |
When enabled, engaging cruise control also automatically engages MADS lateral control in a single action, rather than requiring separate activation.
!!! warning "Vehicle Restrictions" - Rivian: Always forced ON (limited settings mode) - Tesla (without vehicle bus): Always forced ON (limited settings mode)
Steering Mode on Disengage
| Property | Value |
|---|---|
| Param | MadsSteeringMode |
| Type | Multi-button selector |
| Options | Remain Active · Pause · Disengage |
| Default | Remain Active |
Controls what happens to MADS steering assistance when you disengage cruise control:
| Mode | Behavior |
|---|---|
| Remain Active | Steering assistance continues even after cruise is disengaged |
| Pause | Steering assistance pauses but can be quickly resumed |
| Disengage | Steering assistance fully disengages with cruise |
!!! warning "Vehicle Restrictions" - Rivian: Always forced to Disengage (limited settings mode) - Tesla (without vehicle bus): Always forced to Disengage (limited settings mode)