UI: shift speed-limit/cruise numbers down; modeld: keep 20fps at standstill-in-drive; health: FPS instead of LAG

- onroad: speed-limit sign and cruise over/under sign — shift the number
  ~10% further down inside the inner box (adjusted top inset 42→86).
- modeld: narrow the standby condition. Previously 0fps when
  standstill-or-parked; now 0fps only when parked. Standstill in drive
  (red light) continues to run at 20fps so lateral can engage/stay
  responsive and liveCalibration/paramsd keep seeing observations.
  Ignition-off still stops modeld at the manager level.
- Health overlay: replace LAG row with FPS (modeld framerate read from
  ModelFps memory param, which modeld already writes only on standby
  transition — no per-frame writes).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

selfdrive/modeld/modeld.py

@@ -241,10 +241,12 @@ def main(demo=False):
 
     sm.update(0)
 
-    # CLEARPILOT: two-state modeld — 0fps at standstill or parked, 20fps otherwise.
+    # CLEARPILOT: two-state modeld — 0fps only when parked (ignition-on means
-    standstill = sm['carState'].standstill
+    # engine running in park; ignition-off stops modeld at the manager level).
+    # Standstill in drive (red light) keeps running so lateral stays responsive
+    # and liveCalibration/paramsd observations continue.
     parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
-    should_standby = standstill or parked
+    should_standby = parked
     if should_standby and not model_standby:
       params_memory.put_bool("ModelStandby", True)
       params_memory.put("ModelFps", "0")

selfdrive/ui/qt/onroad.cc

@@ -607,9 +607,9 @@ void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
     p.setFont(InterFont(30, QFont::Bold));
     p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
 
-    // Speed limit number
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
   } else {
     // Normal: white background, black border and text
     QColor borderColor(0, 0, 0);
@@ -635,9 +635,9 @@ void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
     p.setFont(InterFont(30, QFont::Bold));
     p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
 
-    // Speed limit number
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
   }
 
   p.restore();
@@ -691,7 +691,7 @@ void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
 
     // Cruise speed number
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
   } else {
     // Normal: colored background with white border/text
     QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
@@ -717,7 +717,7 @@ void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
 
     // Cruise speed number
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
   }
 
   p.restore();
@@ -733,12 +733,14 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
 
 // CLEARPILOT: System health overlay — shows metrics that indicate the system
 // is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
-// Metrics (top→bottom): LAG, DROP, TEMP, CPU, MEM
+// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
-//   LAG (ms): controlsd cumLagMs — most direct "is the loop keeping up" indicator
+//   FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
+//        param which modeld writes only on transition.
 //   DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
 //   TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
 //   CPU (%): max core from deviceState.cpuUsagePercent
 //   MEM (%): deviceState.memoryUsagePercent
+//   FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
 // Each value color-codes green/yellow/red by severity.
 void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
   static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
@@ -751,12 +753,11 @@ void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
   if (!enabled) return;
 
   SubMaster &sm = *(uiState()->sm);
-  auto cs = sm["controlsState"].getControlsState();
   auto ds = sm["deviceState"].getDeviceState();
   auto mv = sm["modelV2"].getModelV2();
   auto ps = sm["peripheralState"].getPeripheralState();
 
-  float lag_ms = cs.getCumLagMs();
+  int model_fps = paramsMemory.getInt("ModelFps");
   float drop_pct = mv.getFrameDropPerc();
   float temp_c = ds.getMaxTempC();
   int mem_pct = ds.getMemoryUsagePercent();
@@ -773,7 +774,7 @@ void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
 
   struct Row { QString label; QString value; QColor color; };
   Row rows[] = {
-    {"LAG",  QString::number((int)lag_ms),  color_for(lag_ms,  50.f,  200.f)},
+    {"FPS",  QString::number(model_fps),    QColor(0xff, 0xff, 0xff)},
     {"DROP", QString::number((int)drop_pct),color_for(drop_pct, 5.f,  15.f)},
     {"TEMP", QString::number((int)temp_c),  color_for(temp_c,  75.f,  88.f)},
     {"CPU",  QString::number(cpu_pct),      color_for((float)cpu_pct, 75.f, 90.f)},