sunnypilot

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Zeph 538e1e8a9a soundd: trigger timeout warning during MADS lateral-only (#1717 )

* soundd: trigger timeout warning during MADS lateral-only

The selfdrive timeout alert (warningImmediate) only fires when
selfdriveState.enabled is True. During MADS lateral-only mode,
enabled is False even though the system is actively steering.

If selfdrived stops publishing while MADS lateral is active, the
driver gets no audible warning that steering has become unresponsive.

Add selfdriveStateSP to the SubMaster and check mads.active alongside
selfdriveState.enabled so the timeout alert fires whenever the system
is actuating steering.

* test_soundd: add MADS lateral-only timeout test

Test that the selfdrive timeout warning fires when selfdriveState.enabled
is False but selfdriveStateSP.mads.active is True.

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Co-authored-by: Jason Wen <haibin.wen3@gmail.com>

2026-02-25 02:00:07 -05:00

feedback

Merge branch 'upstream/openpilot/master' into sync-20250823

2025-08-24 14:52:21 -04:00

installer

installer: use release-mici for comma four

2025-11-20 17:06:24 -08:00

layouts

Merge branch 'upstream/openpilot/master' into sync-20260111

2026-01-20 07:29:25 -05:00

lib

api_get: use session (#36930 )