modelrevert: boot fixes + strip remaining variable-rate cruft

controlsd:
- stop writing the removed 'no_lat_lane_change' persistent param
  (key isn't in the whitelist anymore). Write to
  frogpilot_variables.no_lat_lane_change instead so the carcontroller
  read still works and the lane-change-disengage feature is preserved.
- initialize self.driving_gear = False in __init__; it's set at the
  end of step() in update_frogpilot_variables but clearpilot_state_control
  reads it on the first iteration before that's run.

modeld:
- remove the remaining CLEARPILOT variable-rate / standby code path
  that was baked into the initial-import commit (the one our first
  commit captured). Constant 20fps, no ModelStandby/ModelStandbyTs
  writes, no params_memory reads for 'no_lat_lane_change' (which
  isn't registered anymore).
- drop now-unused locals (model_standby, last_standby_ts_write,
  params_memory).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

selfdrive/controls/controlsd.py

@@ -85,6 +85,7 @@ class Controls:
     self.speed_state = SpeedState()
     self.speed_state_frame = 0
     self.was_driving_gear = False
+    self.driving_gear = False
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
@@ -700,9 +701,9 @@ class Controls:
 
     if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
       CC.latActive = False
-      self.params_memory.put_bool("no_lat_lane_change", True)
+      self.frogpilot_variables.no_lat_lane_change = True
     else:
-      self.params_memory.put_bool("no_lat_lane_change", False)
+      self.frogpilot_variables.no_lat_lane_change = False
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame

selfdrive/modeld/modeld.py

@@ -183,9 +183,6 @@ def main(demo=False):
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
-  model_standby = False
-  last_standby_ts_write = 0
-  params_memory = Params("/dev/shm/params")
   nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
   nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
@@ -241,47 +238,10 @@ def main(demo=False):
 
     sm.update(0)
 
-    # CLEARPILOT: power saving — three modes based on driving state
+    # CLEARPILOT: constant 20fps. Variable-rate + standby logic removed — the
-    #   Full 20fps: lat active or lane changing
+    # variable-rate path caused freq_ok cascades in downstream consumers
-    #   Reduced 4fps: not lat active, not standstill (driving without cruise)
+    # (calibrationd/locationd/paramsd). Running at the camera's native rate is
-    #   Standby 0fps: standstill
+    # simpler and keeps the full-stack localization chain happy.
-    lat_active = sm['carControl'].latActive
-    lane_changing = params_memory.get_bool("no_lat_lane_change")
-    standstill = sm['carState'].standstill
-    full_rate = lat_active or lane_changing
-
-    # Standby transitions (standstill only)
-    should_standby = standstill and not full_rate
-    if should_standby and not model_standby:
-      params_memory.put_bool("ModelStandby", True)
-      model_standby = True
-      cloudlog.warning("modeld: standby ON (standstill)")
-    elif not should_standby and model_standby:
-      params_memory.put_bool("ModelStandby", False)
-      model_standby = False
-      run_count = 0
-      frame_dropped_filter.x = 0.
-      cloudlog.warning("modeld: standby OFF")
-    if model_standby:
-      now = _time.monotonic()
-      if now - last_standby_ts_write > 1.0:
-        params_memory.put("ModelStandbyTs", str(now))
-        last_standby_ts_write = now
-      last_vipc_frame_id = meta_main.frame_id
-      continue
-
-    # Reduced framerate: 4fps when not lat active and not standstill
-    # Skip 4 out of every 5 frames (20fps -> 4fps)
-    # Write standby timestamp so controlsd suppresses transient errors
-    if not full_rate:
-      now = _time.monotonic()
-      if now - last_standby_ts_write > 1.0:
-        params_memory.put("ModelStandbyTs", str(now))
-        last_standby_ts_write = now
-      if run_count % 5 != 0:
-        last_vipc_frame_id = meta_main.frame_id
-        run_count += 1
-        continue
 
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD