try MADS

board/health.h

@@ -27,6 +27,7 @@ struct __attribute__((packed)) health_t {
   uint16_t sbu2_voltage_mV;
   uint8_t som_reset_triggered;
   uint16_t sound_output_level_pkt;
+  uint8_t controls_allowed_lateral_pkt;
 };
 
 typedef struct __attribute__((packed)) {

board/main.c

@@ -207,6 +207,11 @@ static void tick_handler(void) {
         heartbeat_engaged_mismatches = 0U;
       }
 
+      // MADS lateral authorization has the same heartbeat fail-safe as normal controls.
+      if (controls_allowed_lateral && !heartbeat_engaged) {
+        controls_allowed_lateral = false;
+      }
+
       if (!heartbeat_disabled) {
         // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
         if (heartbeat_counter >= (started ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) {

board/main_comms.h

@@ -16,6 +16,7 @@ static int get_health_pkt(void *dat) {
   health->ignition_can_pkt = ignition_can;
 
   health->controls_allowed_pkt = controls_allowed;
+  health->controls_allowed_lateral_pkt = controls_allowed_lateral;
   health->safety_tx_blocked_pkt = safety_tx_blocked;
   health->safety_rx_invalid_pkt = safety_rx_invalid;
   health->tx_buffer_overflow_pkt = tx_buffer_overflow;
@@ -298,6 +299,9 @@ int comms_control_handler(ControlPacket_t *req, uint8_t *resp) {
         heartbeat_lost = false;
         heartbeat_disabled = false;
         heartbeat_engaged = (req->param1 == 1U);
+        if (!heartbeat_engaged) {
+          controls_allowed_lateral = false;
+        }
         break;
       }
     // **** 0xf6: set siren enabled

python/__init__.py

@@ -543,6 +543,7 @@ def health(self):
       "sbu2_voltage_mV": a[23],
       "som_reset_triggered": a[24],
       "sound_output_level": a[25],
+      "controls_allowed_lateral": a[26],
     }
 
   @ensure_health_packet_version