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/modeld/dmonitoringmodeld.py

@@ -128,14 +128,10 @@ def main():
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
-  sm = SubMaster(["liveCalibration", "carState"])
+  sm = SubMaster(["liveCalibration"])
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  # CLEARPILOT: cache last model output so we can republish (not re-infer) at standstill.
-  # Saves ~7% CPU; downstream dmonitoringd sees a steady 10Hz stream with known-good
-  # last readings (driver can't become distracted relative to a stopped car).
-  last_model_output = None
   # last = 0
 
   while True:
@@ -147,16 +143,8 @@ def main():
     if sm.updated["liveCalibration"]:
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
-    standstill = sm["carState"].standstill
-
     t1 = time.perf_counter()
-    if standstill and last_model_output is not None:
-      # CLEARPILOT: reuse last inference at standstill
-      model_output = last_model_output
-      dsp_execution_time = 0.0
-    else:
-      model_output, dsp_execution_time = model.run(buf, calib)
-      last_model_output = model_output
+    model_output, dsp_execution_time = model.run(buf, calib)
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))