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🛡️ Modified Assistive Driving Safety (MADS)

info

This feature aligns closely with comma.ai's safety rules.

Modified Assistive Driving Safety (MADS) aims to elevate the user's driving experience by modifying the behaviors of driving assist engagements.

Independent Engagement​

MADS allows users to engage sunnypilot Automatic Lane Centering (ALC) for lateral control and Adaptive Cruise Control (ACC) or Smart Cruise Control (SCC) for longitudinal control independently.

Why This Option Exists

While newer car models allow for independent engagement of lateral (steering) and longitudinal (speed) control, many older models and stock openpilot enforce engaging both controls together. MADS introduces this modern convenience to older models, effectively backporting a feature found in newer cars and providing users more flexibility.

Dedicated Buttons​

  • Toggle for sunnypilot ALC:
    • CRUISE (MAIN) button: Available on all supported cars on sunnypilot.
    • LFA button: Available on newer HKG cars.
    • LKAS button: Available on Honda, Toyota, and Global Subaru.
  • Engagement:
    • SET- button: Enables ACC/SCC.
    • CANCEL button: Disables ACC/SCC only.
    • CRUISE (MAIN) must be ON to use ACC/SCC.
caution

The CRUISE (MAIN) button disables sunnypilot completely when OFF. This is strictly enforced in the panda safety code.

Lateral Control on Brake Pedal​

Dedicated toggle to handle Lateral state on brake pedal press and release:

  • ON: Pressing the BRAKE pedal will pause Automatic Lane Centering.