fix: speed limit rounding, controlsd crashes, modeld calibration rate

- Speed limit display uses round() instead of floor() to fix off-by-one
- Initialize driving_gear in controlsd __init__ to prevent AttributeError
- Fix gpsLocation capnp access (attribute style, not getter methods)
- Fix sm.valid dict access (brackets not parentheses)
- modeld runs full 20fps during calibration instead of throttled 4fps
- Over-speed warning threshold below 50mph changed from 5 to 7

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

selfdrive/clearpilot/speed_logic.py

@@ -43,7 +43,7 @@ class SpeedState:
       unit = "mph"
 
     speed_int = int(math.floor(speed_display))
-    speed_limit_int = int(math.floor(speed_limit_display))
+    speed_limit_int = int(round(speed_limit_display))
     cruise_int = int(round(cruise_display))
 
     self.prev_speed_limit = speed_limit_int
@@ -61,7 +61,7 @@ class SpeedState:
     cruise_engaged = cruise_active and not cruise_standstill
 
     if speed_limit_int >= 20 and cruise_engaged and cruise_int > 0:
-      over_threshold = 10 if speed_limit_int >= 50 else 5
+      over_threshold = 10 if speed_limit_int >= 50 else 7
       if cruise_int >= speed_limit_int + over_threshold:
         warning = "over"
         warning_speed = str(cruise_int)

selfdrive/controls/controlsd.py

@@ -204,6 +204,7 @@ class Controls:
     self.always_on_lateral_main = self.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain")
 
     self.drive_added = False
+    self.driving_gear = False
     self.was_driving_gear = False
     self.fcw_random_event_triggered = False
     self.holiday_theme_alerted = False
@@ -1286,9 +1287,9 @@ class Controls:
     # ClearPilot speed processing (~2 Hz at 100 Hz loop)
     self.speed_state_frame += 1
     if self.speed_state_frame % 50 == 0:
-      gps = self.sm['gpsLocation'].getGpsLocation()
-      has_gps = self.sm.valid('gpsLocation') and gps.getHasFix()
-      speed_ms = gps.getSpeed() if has_gps else 0.0
+      gps = self.sm['gpsLocation']
+      has_gps = self.sm.valid['gpsLocation'] and gps.hasFix
+      speed_ms = gps.speed if has_gps else 0.0
       speed_limit_ms = self.params_memory.get_float("CarSpeedLimit")
       is_metric = (self.params_memory.get("CarIsMetric", encoding="utf-8") or "0") == "1"
       cruise_speed_ms = CS.cruiseState.speed

selfdrive/modeld/modeld.py

@@ -248,7 +248,8 @@ def main(demo=False):
     lat_active = sm['carControl'].latActive
     lane_changing = params_memory.get_bool("no_lat_lane_change")
     standstill = sm['carState'].standstill
-    full_rate = lat_active or lane_changing
+    calibrating = sm['liveCalibration'].calStatus != log.LiveCalibrationData.Status.calibrated
+    full_rate = lat_active or lane_changing or calibrating
 
     # Standby transitions (standstill only)
     should_standby = standstill and not full_rate