restore driving logic to pre-variable-fps baseline

Wholesale revert of driving-relevant files to the snapshot in
/projects/openpilot/archive/clearpilot (HEAD 980f0aa). Goal: get
known-good driving behavior back, then re-introduce optimizations
slowly to track down a "feels like the wheel pulls right" regression.

Files restored from baseline:
- selfdrive/controls/controlsd.py
- selfdrive/controls/lib/events.py
- selfdrive/controls/lib/longitudinal_planner.py
- selfdrive/modeld/modeld.py
- selfdrive/modeld/dmonitoringmodeld.py
- selfdrive/locationd/calibrationd.py
- selfdrive/locationd/paramsd.py
- selfdrive/locationd/torqued.py
- selfdrive/car/interfaces.py
- selfdrive/car/hyundai/carstate.py (CAN-FD telemetry preserved as a
  commented block for future re-enable)
- selfdrive/monitoring/dmonitoringd.py
- selfdrive/frogpilot/controls/frogpilot_planner.py
- common/realtime.py

Intentionally NOT restored (kept as current):
- selfdrive/thermald/* (fan/power tuning kept)
- selfdrive/car/hyundai/carcontroller.py + hyundaicanfd.py (perf-only
  hoist of no_lat_lane_change Params read; behavior-equivalent)
- cereal/services.py, cereal/custom.capnp (additive only)
- selfdrive/manager/*, common/params.cc (heavy ClearPilot
  infrastructure: bench mode, log dir, dashcamd, gpsd, params)
- All selfdrive/ui/, selfdrive/clearpilot/, system/clearpilot/

UI features will be re-wired in a follow-up commit.

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

selfdrive/locationd/calibrationd.py

@@ -284,14 +284,7 @@ def main() -> NoReturn:
 
     # 4Hz driven by cameraOdometry
     if sm.frame % 5 == 0:
-      # CLEARPILOT: publish valid based on calibration status, not upstream sm.all_checks().
-      # Original openpilot gated valid on fresh inputs, but that caused a cascade:
-      # upstream freq glitches → liveCalibration.valid=False → locationd stays
-      # uninitialized → paramsd fed garbage → bogus steerRatio/stiffnessFactor → erratic
-      # steering. "valid" semantically means "calibration data is trustworthy"; that's a
-      # question about calibration convergence, not input freshness.
-      cal_valid = calibrator.cal_status == log.LiveCalibrationData.Status.calibrated
-      calibrator.send_data(pm, cal_valid)
+      calibrator.send_data(pm, sm.all_checks())
 
 
 if __name__ == "__main__":

selfdrive/locationd/paramsd.py

@@ -187,7 +187,6 @@ def main():
   avg_offset_valid = True
   total_offset_valid = True
   roll_valid = True
-  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
 
   while True:
     sm.update()
@@ -257,15 +256,7 @@ def main():
         liveParameters.filterState.std = P.tolist()
         liveParameters.filterState.valid = True
 
-      lp_valid = sm.all_checks()
-      # CLEARPILOT: on transition to invalid, log per-subscriber state to paramsd.log
-      if lp_valid != dbg_prev_valid and not lp_valid:
-        import sys
-        bad = [s for s in sm.alive if not (sm.alive[s] and sm.valid[s] and sm.freq_ok.get(s, True))]
-        details = [f"{s}(a={sm.alive[s]},v={sm.valid[s]},f={sm.freq_ok[s]})" for s in bad]
-        print(f"CLP liveParameters valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
-      dbg_prev_valid = lp_valid
-      msg.valid = lp_valid
+      msg.valid = sm.all_checks()
 
       if sm.frame % 1200 == 0:  # once a minute
         params = {

selfdrive/locationd/torqued.py

@@ -226,8 +226,6 @@ def main(demo=False):
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
     estimator = TorqueEstimator(CP)
 
-  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
-
   while True:
     sm.update()
     if sm.all_checks():
@@ -238,15 +236,7 @@ def main(demo=False):
 
     # 4Hz driven by liveLocationKalman
     if sm.frame % 5 == 0:
-      tq_valid = sm.all_checks()
-      # CLEARPILOT: log per-sub detail on transition to invalid — goes to torqued.log
-      if tq_valid != dbg_prev_valid and not tq_valid:
-        import sys
-        bad = [s for s in sm.alive if not (sm.alive[s] and sm.valid[s] and sm.freq_ok.get(s, True))]
-        details = [f"{s}(a={sm.alive[s]},v={sm.valid[s]},f={sm.freq_ok[s]})" for s in bad]
-        print(f"CLP liveTorqueParameters valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
-      dbg_prev_valid = tq_valid
-      pm.send('liveTorqueParameters', estimator.get_msg(valid=tq_valid))
+      pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
 
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0: