telemetry overlay, memory params fix, nightrider border, GPS logging

- Telemetry status bar in onroad UI: temp, fan %, model FPS, standstill
- Fix paramsMemory usage: Params("/dev/shm/params") not "/dev/shm/params/d"
- Telemetry/VPN toggles use ToggleControl with manual paramsMemory writes
- TelemetryEnabled/VpnEnabled registered PERSISTENT, written to memory path
- GPS telemetry: telemetryd subscribes to gpsLocation at 1Hz via cereal
- Nightrider: force CameraWidget bg black to eliminate color bleed border
- Suppress "Always On Lateral active" status bar message
- Re-enable gpsd and dashcamd
- CLAUDE.md: document memory params pattern, speed_limit.calculated usage

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

CLAUDE.md

@@ -92,6 +92,17 @@ The params system uses a C++ whitelist. Adding a new param name in `manager.py`
 2. Add the default value in `selfdrive/manager/manager.py` in `manager_init()`
 3. Remove `prebuilt`, `common/params.o`, and `common/libcommon.a` to force rebuild
 
+### Memory Params (paramsMemory)
+
+ClearPilot uses memory params (`/dev/shm/params/d/`) for UI toggles that should reset on boot. Key rules:
+
+- **Registration**: Register the key in `common/params.cc` as `PERSISTENT` (same as FrogPilot pattern — the registration flag does NOT control which path the param lives at)
+- **C++ access**: Use `Params{"/dev/shm/params"}` — stored as a class member `paramsMemory` in onroad.h. Do NOT use `Params("/dev/shm/params/d")` — the Params class appends `/d/` internally, so that would resolve to `/dev/shm/params/d/d/`
+- **Python access**: Use `Params("/dev/shm/params")`
+- **Defaults**: Set in `manager_init()` via `Params("/dev/shm/params").put(key, value)`
+- **UI toggles**: Use `ToggleControl` with manual `toggleFlipped` lambda that writes via `Params("/dev/shm/params")`. Do NOT use `ParamControl` for memory params — it reads/writes persistent params only
+- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ScreenDisplayMode`
+
 ### Building Native (C++) Processes
 
 - SCons is the build system. Static libraries (`common`, `messaging`, `cereal`, `visionipc`) must be imported as SCons objects, not `-l` flags
@@ -482,10 +493,13 @@ Power On
 
 - **Client**: `selfdrive/clearpilot/telemetry.py` — `tlog(group, data)` sends JSON over ZMQ PUSH
 - **Collector**: `selfdrive/clearpilot/telemetryd.py` — diffs against previous state, writes changed values to CSV
-- **Toggle**: `TelemetryEnabled` param, controlled from Debug panel in ClearPilot menu
+- **Toggle**: `TelemetryEnabled` memory param, controlled from Debug panel in ClearPilot menu
 - **Auto-disable**: disabled on every manager start; disabled if `/data` free < 5GB
 - **Hyundai CAN-FD data**: logged from `selfdrive/car/hyundai/carstate.py` `update_canfd()` — groups: `car`, `cruise`, `speed_limit`, `buttons`
+- **GPS data**: logged directly by telemetryd via cereal `gpsLocation` subscription at 1Hz — group: `gps` (latitude, longitude, speed, altitude, bearing, accuracy)
 - **CSV location**: `/data/log2/current/telemetry.csv` (or session directory)
+- **Onroad overlay**: when telemetry enabled, status bar shows temp, fan %, model FPS, and STANDSTILL indicator
+- **Speed limit**: `speed_limit.calculated` is the final computed speed limit value (in vehicle units, MPH when `is_metric=False`). This is the value that will be used for the future speed limit warning chime feature
 
 ### Key Dependencies
 

common/params.cc

@@ -199,7 +199,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"VpnEnabled", CLEAR_ON_MANAGER_START},
+    {"VpnEnabled", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
     {"UpdaterAvailableBranches", PERSISTENT},

selfdrive/clearpilot/telemetryd.py

@@ -17,6 +17,7 @@ import shutil
 import time
 import zmq
 
+import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.selfdrive.clearpilot.telemetry import TELEMETRY_SOCK
 from openpilot.selfdrive.manager.process import _log_dir, session_log
@@ -26,12 +27,16 @@ DISK_CHECK_INTERVAL = 10  # seconds
 
 
 def main():
-  params = Params()
+  params = Params("/dev/shm/params")
   ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
   sock.setsockopt(zmq.RCVHWM, 1000)
   sock.bind(TELEMETRY_SOCK)
 
+  # GPS subscriber for location telemetry
+  sm = messaging.SubMaster(['gpsLocation'])
+  last_gps_log = 0
+
   csv_path = os.path.join(_log_dir, "telemetry.csv")
   state: dict[str, dict] = {}  # group -> {key: last_value}
   was_enabled = False
@@ -71,6 +76,34 @@ def main():
 
     was_enabled = enabled
 
+    # GPS telemetry at most 1Hz — fed through the same diff logic
+    if enabled and writer is not None:
+      sm.update(0)
+      now = time.monotonic()
+      if sm.updated['gpsLocation'] and (now - last_gps_log) >= 1.0:
+        gps = sm['gpsLocation']
+        gps_data = {
+          "latitude": f"{gps.latitude:.7f}",
+          "longitude": f"{gps.longitude:.7f}",
+          "speed": f"{gps.speed:.2f}",
+          "altitude": f"{gps.altitude:.1f}",
+          "bearing": f"{gps.bearingDeg:.1f}",
+          "accuracy": f"{gps.accuracy:.1f}",
+        }
+        ts = time.time()
+        if "gps" not in state:
+          state["gps"] = {}
+        prev_gps = state["gps"]
+        gps_changed = False
+        for key, value in gps_data.items():
+          if key not in prev_gps or prev_gps[key] != value:
+            writer.writerow([f"{ts:.6f}", "gps", key, value])
+            prev_gps[key] = value
+            gps_changed = True
+        if gps_changed:
+          f.flush()
+        last_gps_log = now
+
     # Always drain the socket (even when disabled) to avoid backpressure
     try:
       raw = sock.recv_string(zmq.NOBLOCK)

selfdrive/manager/manager.py

@@ -83,9 +83,10 @@ def manager_init(frogpilot_functions) -> None:
   params_storage = Params("/persist/params")
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
 
-  # CLEARPILOT: always start with telemetry disabled, VPN enabled
-  params.put("TelemetryEnabled", "0")
-  params.put("VpnEnabled", "1")
+  # CLEARPILOT: always start with telemetry disabled, VPN enabled (memory params)
+  params_memory = Params("/dev/shm/params")
+  params_memory.put("TelemetryEnabled", "0")
+  params_memory.put("VpnEnabled", "1")
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
   if is_release_branch():

selfdrive/manager/process_config.py

@@ -85,7 +85,7 @@ procs = [
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   # PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
-  # PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),  # DISABLED: testing perf
+  PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
   # PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
@@ -110,7 +110,7 @@ procs = [
   PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
 
   # ClearPilot processes
-  # NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),  # DISABLED: testing perf
+  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
   PythonProcess("telemetryd", "selfdrive.clearpilot.telemetryd", always_run),
   PythonProcess("bench_onroad", "selfdrive.clearpilot.bench_onroad", always_run, enabled=BENCH_MODE),
 ]

selfdrive/ui/qt/home.cc

@@ -355,15 +355,21 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
   ListWidget *debug_panel = new ListWidget(this);
   debug_panel->setContentsMargins(50, 25, 50, 25);
 
-  auto *telemetry_toggle = new ParamControl("TelemetryEnabled", "Telemetry Logging",
+  auto *telemetry_toggle = new ToggleControl("Telemetry Logging",
     "Record telemetry data to CSV in the session log directory. "
-    "Captures only changed values for efficiency.", "", this);
+    "Captures only changed values for efficiency.", "",
+    Params("/dev/shm/params").getBool("TelemetryEnabled"), this);
+  QObject::connect(telemetry_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("TelemetryEnabled", on);
+  });
   debug_panel->addItem(telemetry_toggle);
 
-  auto *vpn_toggle = new ParamControl("VpnEnabled", "VPN",
+  auto *vpn_toggle = new ToggleControl("VPN",
     "Connect to vpn.hanson.xyz for remote SSH access. "
-    "Disabling kills the active tunnel and stops reconnection attempts.", "", this);
+    "Disabling kills the active tunnel and stops reconnection attempts.", "",
+    Params("/dev/shm/params").getBool("VpnEnabled"), this);
   QObject::connect(vpn_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("VpnEnabled", on);
     if (on) {
       std::system("sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'");
     } else {

selfdrive/ui/qt/onroad.cc

@@ -411,7 +411,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   }
 
   // CLEARPILOT: blinking blue circle when telemetry is recording
-  if (Params().getBool("TelemetryEnabled")) {
+  if (paramsMemory.getBool("TelemetryEnabled")) {
     // Blink: visible for 500ms, hidden for 500ms
     int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
     if (phase == 0) {
@@ -904,6 +904,10 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
     } else {
       CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
     }
+    // CLEARPILOT: force CameraWidget bg to black in nightrider to prevent color bleed
+    if (nightriderMode) {
+      CameraWidget::setBackgroundColor(Qt::black);
+    }
     painter.beginNativePainting();
     if (nightriderMode) {
       // CLEARPILOT: black background, no camera feed
@@ -1075,7 +1079,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
 }
 
 void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
-  if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI)) {
+  // CLEARPILOT: only show status bar when telemetry is enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
     drawStatusBar(p);
   }
 
@@ -1276,7 +1281,30 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
 
   QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
 
-  if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
+  // CLEARPILOT: telemetry status bar — show live stats when telemetry enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
+    SubMaster &sm = *(uiState()->sm);
+    auto deviceState = sm["deviceState"].getDeviceState();
+    int maxTempC = deviceState.getMaxTempC();
+    int fanPct = deviceState.getFanSpeedPercentDesired();
+    bool standstill = sm["carState"].getCarState().getStandstill();
+
+    static double last_model_status_t = 0;
+    static float model_status_fps = 0;
+    if (sm.updated("modelV2")) {
+      double now = millis_since_boot();
+      if (last_model_status_t > 0) {
+        double dt = now - last_model_status_t;
+        if (dt > 0) model_status_fps = model_status_fps * 0.8 + (1000.0 / dt) * 0.2;
+      }
+      last_model_status_t = now;
+    }
+
+    newStatus = QString("%1\u00B0C  FAN %2%  MDL %3")
+      .arg(maxTempC).arg(fanPct).arg(model_status_fps, 0, 'f', 0);
+    if (standstill) newStatus += "  STANDSTILL";
+  // CLEARPILOT: suppress "Always On Lateral active" status bar message
+  } else if (false && alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
     newStatus = tr("Always On Lateral active") + (tr(". Press the \"Cruise Control\" button to disable"));
   } else if (showConditionalExperimentalStatusBar) {
     newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];