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>

common/params.cc

@@ -194,12 +194,14 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"RouteCount", PERSISTENT},
+    {"ShutdownTouchReset", PERSISTENT},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"TelemetryEnabled", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
+    {"ModelFps", PERSISTENT},
     {"ModelStandby", PERSISTENT},
     {"ModelStandbyTs", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},

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")
 

selfdrive/manager/manager.py

@@ -89,7 +89,9 @@ def manager_init(frogpilot_functions) -> None:
   params_memory.put("VpnEnabled", "1")
   params_memory.put("DashcamFrames", "0")
   params_memory.put("DashcamState", "stopped")
+  params_memory.put("ModelFps", "20")
   params_memory.put("ModelStandby", "0")
+  params_memory.put("ShutdownTouchReset", "0")
   params_memory.put("ModelStandbyTs", "0")
   params_memory.put("CarIsMetric", "0")
   params_memory.put("ClearpilotSpeedDisplay", "")

selfdrive/modeld/modeld.py

@@ -275,6 +275,8 @@ def main(demo=False):
     # Skip 4 out of every 5 frames (20fps -> 4fps)
     # Write standby timestamp so controlsd suppresses transient errors
     if not full_rate:
+      if params_memory.get("ModelFps") != b"4":
+        params_memory.put("ModelFps", "4")
       now = _time.monotonic()
       if now - last_standby_ts_write > 1.0:
         params_memory.put("ModelStandbyTs", str(now))
@@ -283,6 +285,9 @@ def main(demo=False):
         last_vipc_frame_id = meta_main.frame_id
         run_count += 1
         continue
+    else:
+      if params_memory.get("ModelFps") != b"20":
+        params_memory.put("ModelFps", "20")
 
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD

selfdrive/thermald/fan_controller.py

@@ -39,6 +39,10 @@ class TiciFanController(BaseFanController):
     elif ignition:
       self.controller.neg_limit = -100
       self.controller.pos_limit = -15
+    # CLEARPILOT: offroad but overheating (startup cooling) — full fan range
+    elif cur_temp >= 75:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = 0
     else:
       self.controller.neg_limit = -30
       self.controller.pos_limit = 0

selfdrive/thermald/power_monitoring.py

@@ -36,12 +36,9 @@ class PowerMonitoring:
     # Reset capacity if it's low
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
 
-    # FrogPilot variables
-    device_management = self.params.get_bool("DeviceManagement")
-    device_shutdown_setting = self.params.get_int("DeviceShutdown") if device_management else 33
-    # If the toggle is set for < 1 hour, configure by 15 minute increments
-    self.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
-    self.low_voltage_shutdown = self.params.get_float("LowVoltageShutdown") if device_management else VBATT_PAUSE_CHARGING
+    # CLEARPILOT: hardcoded 10 minute shutdown timer (not user-configurable)
+    self.device_shutdown_time = 600
+    self.low_voltage_shutdown = VBATT_PAUSE_CHARGING
 
   # Calculation tick
   def calculate(self, voltage: int | None, ignition: bool):

selfdrive/thermald/thermald.py

@@ -197,7 +197,9 @@ def thermald_thread(end_event, hw_queue) -> None:
   engaged_prev = False
 
   params = Params()
+  params_memory = Params("/dev/shm/params")
   power_monitor = PowerMonitoring()
+  last_touch_reset = "0"  # CLEARPILOT: track last seen touch reset value
 
   HARDWARE.initialize_hardware()
   thermal_config = HARDWARE.get_thermal_config()
@@ -409,6 +411,13 @@ def thermald_thread(end_event, hw_queue) -> None:
     statlog.sample("som_power_draw", som_power_draw)
     msg.deviceState.somPowerDrawW = som_power_draw
 
+    # CLEARPILOT: screen tap resets shutdown timer (off_ts) while offroad
+    touch_reset = params_memory.get("ShutdownTouchReset")
+    if touch_reset is not None and touch_reset != last_touch_reset and off_ts is not None:
+      off_ts = time.monotonic()
+      cloudlog.info("shutdown timer reset by screen touch")
+    last_touch_reset = touch_reset
+
     # Check if we need to shut down
     if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")

selfdrive/ui/qt/home.cc

@@ -179,13 +179,6 @@ static const char *clpSidebarBtnStyle = R"(
 
 // clpActionBtnStyle removed — no longer used
 
-// Shutdown timer: param value -> display label
-static QString shutdownLabel(int val) {
-  if (val == 0) return "5 mins";
-  if (val <= 3) return QString::number(val * 15) + " mins";
-  int hours = val - 3;
-  return QString::number(hours) + (hours == 1 ? " hour" : " hours");
-}
 
 ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
   // Sidebar
@@ -256,27 +249,6 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
   });
   general_panel->addItem(resetCalibBtn);
 
-  // Shutdown Timer
-  int cur_shutdown = Params().getInt("DeviceShutdown");
-  auto shutdownBtn = new ButtonControl("Shutdown Timer", shutdownLabel(cur_shutdown),
-    "How long the device stays on after the car is turned off.");
-  connect(shutdownBtn, &ButtonControl::clicked, [=]() {
-    QStringList options;
-    for (int i = 0; i <= 33; i++) {
-      options << shutdownLabel(i);
-    }
-    int current = Params().getInt("DeviceShutdown");
-    QString sel = MultiOptionDialog::getSelection("Shutdown Timer", options, shutdownLabel(current), this);
-    if (!sel.isEmpty()) {
-      int idx = options.indexOf(sel);
-      if (idx >= 0) {
-        Params().putInt("DeviceShutdown", idx);
-        shutdownBtn->setValue(shutdownLabel(idx));
-      }
-    }
-  });
-  general_panel->addItem(shutdownBtn);
-
   // Power buttons
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(30);

selfdrive/ui/qt/window.cc

@@ -172,12 +172,15 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
     case QEvent::MouseButtonPress:
     case QEvent::MouseMove: {
       // CLEARPILOT: tap while screen-off (mode 3) -> wake to auto-normal (mode 0)
-      if (!device()->isAwake()) {
       Params pmem{"/dev/shm/params"};
+      if (!device()->isAwake()) {
         if (pmem.getInt("ScreenDisplayMode") == 3) {
           pmem.putInt("ScreenDisplayMode", 0);
         }
       }
+      // CLEARPILOT: reset shutdown timer on any screen touch
+      static int touch_counter = 0;
+      pmem.put("ShutdownTouchReset", std::to_string(++touch_counter));
       // ignore events when device is awakened by resetInteractiveTimeout
       ignore = !device()->isAwake();
       device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);