fix: update services.py rates to match new thermald/gpsd publish rates

Root cause of "TAKE CONTROL IMMEDIATELY / Communication Issue Between
Processes" during driving: our 4Hz thermald and 2Hz gpsd changes pushed
deviceState, managerState, and gpsLocation above their declared rate
ceilings in cereal/services.py. SubMaster's freq_ok check requires
observed rate within [0.8*min, 1.2*max]; publishing faster than max also
fails the check — which trips all_freq_ok(), raises EventName.commIssue,
and fires the banner.

- deviceState: 2Hz → 4Hz  (matches thermald DT_TRML=0.25)
- gpsLocation: 1Hz → 2Hz  (matches gpsd 2Hz polling)
- managerState: 2Hz → 4Hz (gated on deviceState arrival, inherits rate)

Also:
- Re-enabled dashcamd in process_config.py (was disabled for the
  diagnostic test — dashcamd was innocent).
- Added a CLAUDE.md section documenting this class of bug so the next
  rate change updates services.py too.

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

cereal/services.py

@@ -30,7 +30,7 @@ services: dict[str, tuple] = {
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
-  "deviceState": (True, 2., 1),
+  "deviceState": (True, 4., 1),  # CLEARPILOT: 4Hz (was 2Hz) — thermald DT_TRML=0.25
   "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
@@ -50,7 +50,7 @@ services: dict[str, tuple] = {
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
+  "gpsLocation": (True, 2., 1),  # CLEARPILOT: 2Hz (was 1Hz) — gpsd polls at 2Hz
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
   "gnssMeasurements": (True, 10., 10),
@@ -70,7 +70,7 @@ services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "modelV2": (True, 20., 40),
-  "managerState": (True, 2., 1),
+  "managerState": (True, 4., 1),  # CLEARPILOT: 4Hz (was 2Hz) — gated by deviceState arrival
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),