calibrationd: publish valid based on calStatus, not sm.all_checks

Previous behavior gated liveCalibration.valid on calibrationd's own
sm.all_checks(). Upstream freq glitches (e.g. carState polling-pattern
artifacts) flapped liveCalibration.valid to False, which cascaded into
locationd: its filterInitialized check requires sm.allAliveAndValid(),
so flapped valid kept locationd uninitialized. While uninitialized,
locationd still published liveLocationKalman but with empty/garbage
angularVelocityCalibrated fields. paramsd's Kalman drank the garbage
and converged to steerRatio ≈ 0, stiffnessFactor ≈ 0 — which
controlsd clamped to 0.1 each and fed into VM.calc_curvature,
producing nonsense curvature commands and visibly jerky steering.

"valid" semantically asks whether the calibration data is
trustworthy — that's a question about convergence (calStatus ==
calibrated), not about input freshness. Switching the gate removes
the cascade: once calibration completes, liveCalibration.valid stays
True stably, locationd initializes, paramsd gets clean observations,
steerRatio converges to the real value.

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

selfdrive/locationd/calibrationd.py

@@ -263,7 +263,6 @@ def main() -> NoReturn:
   sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
 
   calibrator = Calibrator(param_put=True)
-  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
 
   while 1:
     timeout = 0 if sm.frame == -1 else 100
@@ -285,14 +284,13 @@ def main() -> NoReturn:
 
     # 4Hz driven by cameraOdometry
     if sm.frame % 5 == 0:
-      cal_valid = sm.all_checks()
+      # CLEARPILOT: publish valid based on calibration status, not upstream sm.all_checks().
-      # CLEARPILOT: log per-sub detail on transition to invalid — goes to calibrationd.log
+      # Original openpilot gated valid on fresh inputs, but that caused a cascade:
-      if cal_valid != dbg_prev_valid and not cal_valid:
+      # upstream freq glitches → liveCalibration.valid=False → locationd stays
-        import sys
+      # uninitialized → paramsd fed garbage → bogus steerRatio/stiffnessFactor → erratic
-        bad = [s for s in sm.alive if not (sm.alive[s] and sm.valid[s] and sm.freq_ok.get(s, True))]
+      # steering. "valid" semantically means "calibration data is trustworthy"; that's a
-        details = [f"{s}(a={sm.alive[s]},v={sm.valid[s]},f={sm.freq_ok[s]})" for s in bad]
+      # question about calibration convergence, not input freshness.
-        print(f"CLP liveCalibration valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
+      cal_valid = calibrator.cal_status == log.LiveCalibrationData.Status.calibrated
-      dbg_prev_valid = cal_valid
       calibrator.send_data(pm, cal_valid)