feat: 4Hz fan control with gear/cruise-aware clamps; move hot signals to cereal

Fan control rework (thermald → 4Hz):
- DT_TRML 0.5s → 0.25s (thermald loop + fan PID now at 4Hz)
- New clamp rules based on (gear, cruise_engaged, standstill):
    parked                                → 0-100%
    in drive + cruise engaged (any speed) → 30-100%
    in drive + cruise off + standstill    → 10-100%
    in drive + cruise off + moving        → 30-100%
- thermald now reads gearShifter (via carState) and controlsState.enabled,
  passes them to fan_controller.update()
- Removed BENCH_MODE special case — new rules cover bench automatically
- Removed ignition-based branches — gear is the correct signal

System health overlay:
- Subscribed UI to peripheralState so we can read fanSpeedRpm
- Added FAN row: actual fan% (RPM / 65) to sit alongside LAG/DROP/TEMP/CPU/MEM.
  Shows the real fan output vs. what the PID is asking for.

Migrate hot signals from paramsMemory to cereal (frogpilotCarControl):
- Added latRequested @3 and noLatLaneChange @4 to FrogPilotCarControl schema
- controlsd sets FPCC.latRequested / FPCC.noLatLaneChange (send-on-change
  already gates the IPC)
- modeld reads from sm['frogpilotCarControl'] (added to its subscribers)
  instead of paramsMemory (saves ~20 file-read syscalls/sec)
- carcontroller reads from frogpilot_variables (set in-process by controlsd)
  instead of paramsMemory (saves ~100 file-read syscalls/sec in 100Hz path).
  Dropped carcontroller's now-unused Params instance and import.
- UI (ui.cc, onroad.cc) reads from sm['frogpilotCarControl'].noLatLaneChange
- Removed LatRequested and no_lat_lane_change param registrations + defaults

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

selfdrive/thermald/fan_controller.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import os
 from abc import ABC, abstractmethod
 
 from openpilot.common.realtime import DT_TRML
@@ -7,11 +6,11 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
-BENCH_MODE = os.environ.get("BENCH_MODE") == "1"
 
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
+             is_parked: bool = True, cruise_engaged: bool = False) -> int:
     pass
 
 
@@ -23,29 +22,27 @@ class TiciFanController(BaseFanController):
     self.last_ignition = False
     self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
 
-  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
-    # CLEARPILOT: bench mode always uses normal onroad fan range (30-100%)
-    if BENCH_MODE and ignition:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
+             is_parked: bool = True, cruise_engaged: bool = False) -> int:
+    # CLEARPILOT fan range rules:
+    #   parked                                              → 0-100% (full, no floor)
+    #   in drive + cruise engaged (any speed, inc standstill) → 30-100%
+    #   in drive + cruise off + standstill                  → 10-100%
+    #   in drive + cruise off + moving                      → 30-100%
+    # In the PID output, neg_limit is how negative it can go (= max fan as %),
+    # pos_limit is how positive (= negative of min fan %).
+    if is_parked:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = 0
+    elif cruise_engaged:
       self.controller.neg_limit = -100
       self.controller.pos_limit = -30
-    # CLEARPILOT: at standstill below 74°C, clamp to 0-30% (quiet)
-    # at standstill above 74°C, allow full 0-100% range
-    elif ignition and standstill and cur_temp < 74:
-      self.controller.neg_limit = -30
-      self.controller.pos_limit = 0
-    elif ignition and standstill:
+    elif standstill:
       self.controller.neg_limit = -100
-      self.controller.pos_limit = 0
-    elif ignition:
-      self.controller.neg_limit = -100
-      self.controller.pos_limit = -15
-    # CLEARPILOT: offroad but overheating (startup cooling) — full fan range
-    elif cur_temp >= 75:
-      self.controller.neg_limit = -100
-      self.controller.pos_limit = 0
+      self.controller.pos_limit = -10
     else:
-      self.controller.neg_limit = -30
-      self.controller.pos_limit = 0
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -30
 
     if ignition != self.last_ignition:
       self.controller.reset()