From 1a1178140f614cb7fa6538a6d6cfeddba8b35599 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 20 Dec 2025 21:35:51 -0500 Subject: [PATCH] ui: include MADS enabled state to `engaged` check (#1595) --- selfdrive/ui/ui_state.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py index f44dc152bb..0e1710c240 100644 --- a/selfdrive/ui/ui_state.py +++ b/selfdrive/ui/ui_state.py @@ -100,7 +100,7 @@ class UIState(UIStateSP): @property def engaged(self) -> bool: - return self.started and self.sm["selfdriveState"].enabled + return self.started and (self.sm["selfdriveState"].enabled or self.sm["selfdriveStateSP"].mads.enabled) def is_onroad(self) -> bool: return self.started