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>

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];