fix: fan 100% on overheat, FCW fps-aware, commIssue suppress, 10min shutdown

- Fan controller: allow full 100% fan when offroad temp >= 75°C (startup cooling)
- ModelFps memory param: modeld publishes actual FPS (20 or 4) so downstream
  consumers can adjust frame-rate-dependent logic
- Longitudinal planner: dynamically adjusts dt and v_desired_filter based on
  ModelFps; FCW crash_cnt threshold scales with FPS to maintain consistent
  0.15s trigger window at both 20fps and 4fps
- controlsd: suppress commIssue alerts for 2s after lateral control engages
  (FPS transition from 4->20 causes transient freq check failures)
- Shutdown timer: hardcoded to 10 minutes (was 45min via FrogPilot param),
  screen taps reset the countdown via ShutdownTouchReset memory param,
  removed Shutdown Timer UI selector from ClearPilot menu

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

selfdrive/controls/controlsd.py

@@ -170,6 +170,8 @@ class Controls:
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = None
     self.not_running_prev = None
+    self.last_lat_engage_ts = 0  # CLEARPILOT: timestamp of most recent lat engage transition
+    self.prev_lat_active = False
     self.steer_limited = False
     self.desired_curvature = 0.0
     self.experimental_mode = False
@@ -455,7 +457,16 @@ class Controls:
       standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
     except (ValueError, TypeError):
       standby_ts = 0
-    model_suppress = (time.monotonic() - standby_ts) < 2.0
+    now = time.monotonic()
+    model_suppress = (now - standby_ts) < 2.0
+
+    # CLEARPILOT: detect lat engage rising edge and suppress commIssue for 2s after
+    # Model FPS jumps from 4 to 20 on engage, causing transient freq check failures
+    lat_active_now = self.CC.latActive
+    if lat_active_now and not self.prev_lat_active:
+      self.last_lat_engage_ts = now
+    self.prev_lat_active = lat_active_now
+    lat_engage_suppress = (now - self.last_lat_engage_ts) < 2.0
 
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
@@ -486,7 +497,7 @@ class Controls:
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress:
+    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress and not lat_engage_suppress:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():

selfdrive/controls/lib/longitudinal_planner.py

@@ -143,6 +143,9 @@ class LongitudinalPlanner:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    # CLEARPILOT: track model FPS for dynamic dt adjustment
+    self.model_fps = 20
+
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
     self.release = get_short_branch() == "clearpilot"
@@ -173,6 +176,19 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
+    # CLEARPILOT: read actual model FPS and adjust dt accordingly
+    model_fps_raw = self.params_memory.get("ModelFps")
+    if model_fps_raw is not None:
+      try:
+        fps = int(model_fps_raw)
+        if fps > 0 and fps != self.model_fps:
+          self.model_fps = fps
+          self.dt = 1.0 / fps
+          self.v_desired_filter.dt = self.dt
+          self.v_desired_filter.update_alpha(2.0)  # rc=2.0, same as __init__
+      except (ValueError, ZeroDivisionError):
+        pass
+
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
@@ -239,7 +255,10 @@ class LongitudinalPlanner:
     self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
-    self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
+    # CLEARPILOT: scale crash_cnt threshold by FPS — at 20fps need 3 frames (0.15s),
+    # at 4fps need 1 frame (0.25s already exceeds 0.15s window)
+    fcw_threshold = max(0, int(0.15 * self.model_fps) - 1)  # 20fps->2, 4fps->0
+    self.fcw = self.mpc.crash_cnt > fcw_threshold and not sm['carState'].standstill
     if self.fcw:
       cloudlog.info("FCW triggered")