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/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