The electric-car filed a lawsuit against its former head of Autopilot, Sterling Anderson few days ago. He was accused of poaching engineers for his own company for downloading confidential information to personal devices and self-driving startup.

Tesla had sued Sterling Anderson, its former head of Autopilot for poaching employees for his own company.

Anderson was in the company’s driver assistance technology team that is working on self-driving cars and was head of Autopilot for more than a year. Anderson led the unit that dealt with a federal investigation over whether the technology was at fault for a fatal Model S crash last June. However, the former head of Google’s self-driving unit, Tesla sued him after he left to start a company called Aurora Innovation with Chris Urmson.

The two parties reached an agreement.

In an interview, he said that he and his partner had started Aurora to accelerate the industry. Aurora also said that Tesla has withdrawn their claims, without attorney’s fees, without damages and without any finding of wrongdoing. They have even agreed to reimburse the cost of a future audit to demonstrate the integrity of Aurora’s intellectual property.

Anderson recruited three Autopilot engineers to join Aurora, according to Tesla, even though one later he changed his mind and remained there.

According to the terms of the agreement, and Aurora will pay Tesla $100,000 as reimbursement because neither party will admit to the validity of either’s claims. Anderson and Aurora agreed to several terms like not recruit any Tesla employees for one year following February 1, 2017. The company also agreed to do an inspection to determine whether its employees have any confidential Tesla information, and send the results of that inspection within 30 days.

Tesla Dropped The Lawsuit Against Its Former Head-image 2

Tesla spokesperson said that Mr. Anderson’s contractual obligations to the company will remain in place and will also be extended to Aurora. Aurora’s computer systems will be subject to ongoing inspections to monitor for any improper retention or use of Tesla’s property.

Tesla confirmed it had received the $100,000 payment for legal expenses from Aurora.