diff --git a/CLAUDE.md b/CLAUDE.md
new file mode 100644
index 0000000..b1af24e
--- /dev/null
+++ b/CLAUDE.md
@@ -0,0 +1,270 @@
+# ClearPilot — CLAUDE.md
+
+## Project Overview
+
+ClearPilot is a custom fork of **FrogPilot** (itself a fork of comma.ai's openpilot), based on a 2024 release. It is purpose-built for Brian Hanson's **Hyundai Tucson** (HDA2 equipped). The vehicle's HDA2 system has specific quirks around how it synchronizes driving state with openpilot that require careful handling.
+
+### Key Customizations in This Fork
+
+- **UI changes** to the onroad driving interface
+- **Lane change behavior**: brief disengage when turn signal is active during lane changes
+- **Lateral control disabled**: the car's own radar cruise control handles lateral; openpilot handles longitudinal only
+- **Driver monitoring timeouts**: modified safety timeouts for the driver monitoring system
+- **Custom driving models**: `duck-amigo.thneed`, `farmville.onnx`, `wd-40.thneed` in `selfdrive/clearpilot/models/`
+- **ClearPilot service**: Node.js service at `selfdrive/clearpilot/` with behavior scripts for lane change and longitudinal control
+
+### Short-Term Goals
+
+- ~~Fix the dashcam/screen recorder feature~~ (done — see Dashcam section below)
+- Fix GPS tracking feature
+- Add a safe-speed-exceeded chime
+- Implement interactions for the "debug function button"
+
+## Working Rules
+
+### CRITICAL: Change Control
+
+This is self-driving software. All changes must be deliberate and well-understood.
+
+- **NEVER make changes outside of what is explicitly requested**
+- **Always explain proposed changes first** — describe the change, the logic, and the architecture; let Brian review and approve before writing any code
+- **Brian is an expert on this software** — do not override his judgment or assume responsibility for changes he doesn't understand
+- **Every line must be understood** — work slowly and deliberately
+- **Test everything thoroughly** — Brian must always be in the loop
+- **Do not refactor, clean up, or "improve" code beyond the specific request**
+
+### File Ownership
+
+We operate as `root` on this device, but openpilot runs as the `comma` user (uid=1000, gid=1000). After any code changes that touch multiple files or before testing:
+
+```bash
+chown -R comma:comma /data/openpilot
+```
+
+### Git
+
+- Remote: `git@git.internal.hanson.xyz:brianhansonxyz/comma.git`
+- Branch: `clearpilot`
+- Large model files are tracked in git (intentional — this is a backup)
+
+### Samba Share
+
+- Share name: `openpilot` (e.g. `\\comma-3889765b\openpilot`)
+- Path: `/data/openpilot`
+- Username: `comma`
+- Password: `i-like-to-drive-cars`
+- Runs as `comma:comma` via force user/group — files created over SMB are owned correctly
+- Enabled at boot (`smbd` + `nmbd`)
+
+### Testing Changes
+
+To restart the full openpilot stack after making changes:
+
+```bash
+# Fix ownership first (we edit as root, openpilot runs as comma)
+chown -R comma:comma /data/openpilot
+
+# Kill existing stack — use pgrep/kill to avoid pkill matching our own shell
+kill $(pgrep -f 'python.*manager') 2>/dev/null; sleep 2
+
+# Must use a login shell as comma — sudo -u won't set up the right Python/env
+su - comma -c "bash /data/openpilot/launch_openpilot.sh"
+```
+
+Note: `pkill -f manager` or `pkill -f launch_openpilot` will match the invoking shell's own command line and kill the launch process itself. Use `pgrep`+`kill` or run the kill as a separate step before launching.
+
+**Adding new params**: The params system uses a C++ whitelist. Adding a new param name in `manager.py` alone will crash with `UnknownKeyName`. You must also register the key in `common/params.cc` in the key list (alphabetically, with `PERSISTENT` or `CLEAR_ON_*` flag), then rebuild. The rebuild will recompile `params.cc` -> `libcommon.a` and re-link all binaries that use it.
+
+The `prebuilt` marker file skips compilation. It is **recreated automatically** after each successful build, so you must remove it every time you want to recompile:
+```bash
+rm -f /data/openpilot/prebuilt
+```
+
+## Dashcam / Screen Recorder
+
+### Architecture
+
+The dashcam is the FrogPilot `ScreenRecorder` — it captures the onroad UI screen (with overlays) and encodes to MP4 using the Qualcomm OMX H.264 hardware encoder.
+
+- **Codec**: H.264 AVC (hardware accelerated via `OMX.qcom.video.encoder.avc`)
+- **Resolution**: 1440x720 (downscaled from 2160x1080)
+- **Bitrate**: 2 Mbps
+- **Container**: MP4
+- **Segment length**: 3 minutes per file
+- **Save path**: `/data/media/0/videos/YYYYMMDD-HHMMSS.mp4`
+
+### Changes Made (2026-04-11)
+
+1. **Disabled comma training data video** (`selfdrive/manager/process_config.py`): commented out `encoderd` and `stream_encoderd`. CAN/sensor logs (`rlog`/`qlog`) are still recorded by `loggerd`.
+
+2. **Re-enabled screen recorder** (`selfdrive/ui/qt/onroad.cc`): uncommented the `QTimer` that feeds frames to the encoder at UI_FREQ rate.
+
+3. **Auto-start recording** (`selfdrive/frogpilot/screenrecorder/screenrecorder.cc`): modified `update_screen()` to automatically start recording when the car is on (`scene.started`) and stop when off. No button press needed.
+
+4. **Hidden UI elements**: the record button is constructed but never made visible or added to layout. Recording is invisible to the driver.
+
+5. **Debug flag** (`ScreenRecorderDebug` param): when set to `"1"`, recording starts even without a car connected. Used for bench testing. Read via `scene.screen_recorder_debug` in `ui.h`/`ui.cc`.
+
+6. **Deleter updated** (`system/loggerd/deleter.py`): free space threshold raised from 5 GB to 9 GB. Oldest videos in `/data/media/0/videos/` are deleted first before falling back to log segments.
+
+### Key Files
+
+| File | Role |
+|------|------|
+| `selfdrive/frogpilot/screenrecorder/screenrecorder.cc` | Screen capture and auto-start/stop logic |
+| `selfdrive/frogpilot/screenrecorder/omx_encoder.cc` | OMX H.264 hardware encoder wrapper |
+| `selfdrive/ui/qt/onroad.cc` | Timer that drives frame capture |
+| `selfdrive/ui/ui.h` | `screen_recorder_debug` scene flag |
+| `selfdrive/ui/ui.cc` | Reads `ScreenRecorderDebug` param |
+| `selfdrive/manager/manager.py` | Default params |
+| `selfdrive/manager/process_config.py` | encoderd disabled here |
+| `system/loggerd/deleter.py` | Storage rotation (9 GB threshold, videos + logs) |
+
+## Device: comma 3x
+
+### Hardware
+
+- Qualcomm Snapdragon SoC (aarch64)
+- Serial: comma-3889765b
+- Connects to the car via comma panda (CAN bus interface)
+
+### Operating System
+
+- **Ubuntu 20.04.6 LTS (Focal Fossa)** on aarch64
+- **Kernel**: 4.9.103+ (custom comma.ai PREEMPT build, Feb 2024) — very old, vendor-patched Qualcomm kernel
+- **AGNOS version**: 9.7 (comma's custom OS layer on top of Ubuntu)
+- **Display server**: Weston (Wayland compositor) on tty1
+- **SELinux**: mounted (enforcement status varies)
+
+### Users
+
+- `comma` (uid=1000) — the user openpilot runs as; member of root, sudo, disk, gpu, gpio groups
+- `root` — what we SSH in as; files must be chowned back to comma before running openpilot
+
+### Filesystem / Mount Quirks
+
+| Mount       | Device      | Type    | Notes |
+|-------------|-------------|---------|-------|
+| `/`         | /dev/sda7   | ext4    | Root filesystem, read-write |
+| `/data`     | /dev/sda12  | ext4    | **Persistent**. Openpilot lives here. Survives reboots. |
+| `/home`     | overlay     | overlayfs | **VOLATILE** — upperdir on tmpfs, changes lost on reboot |
+| `/tmp`      | tmpfs       | tmpfs   | Volatile, 150 MB |
+| `/var`      | tmpfs       | tmpfs   | Volatile, 128 MB (fstab) / 1.5 GB (actual) |
+| `/systemrw` | /dev/sda10  | ext4    | Writable system overlay, noexec |
+| `/persist`  | /dev/sda2   | ext4    | Persistent config/certs, noexec |
+| `/cache`    | /dev/sda11  | ext4    | Android-style cache partition |
+| `/dsp`      | /dev/sde26  | ext4    | **Read-only** Qualcomm DSP firmware |
+| `/firmware`  | /dev/sde4   | vfat    | **Read-only** firmware blobs |
+| `/data/media`| NVMe       | auto    | 69 GB dashcam video storage |
+
+### Unusual Packages / Services
+
+- `vnstat` — network traffic monitor
+- `cdsprpcd`, `qseecomd` — Qualcomm DSP and secure execution daemons
+- `tftp_server` — TFTP server running (Qualcomm firmware access)
+- armhf multiarch libraries present (32-bit binary support)
+- Reverse SSH tunnel running via screen (`/data/brian/reverse_ssh.sh`)
+- `phantom_touch_logger.py`, `power_drop_monitor.py` — comma hardware monitors
+
+### Large Files on Device
+
+- `/data/media` — ~69 GB (dashcam video segments)
+- `/data/scons_cache` — ~1.9 GB (build cache)
+- `/data/safe_staging` — ~1.5 GB (OTA update staging)
+- Model files in repo: ~238 MB total (see models section below)
+
+## Boot Sequence
+
+```
+Power On
+  -> systemd: comma.service (runs as comma user)
+    -> /usr/comma/comma.sh (waits for Weston, handles factory reset)
+      -> /data/continue.sh (exec bridge to openpilot)
+        -> /data/openpilot/launch_openpilot.sh
+          -> Sources launch_env.sh (thread counts, AGNOS_VERSION)
+          -> Runs agnos_init (marks boot slot, GPU perms, checks OS update)
+          -> Sets PYTHONPATH, symlinks /data/pythonpath
+          -> Runs build.py if no `prebuilt` marker
+          -> Launches selfdrive/manager/manager.py
+            -> manager_init() sets default params
+            -> ensure_running() loop starts all managed processes
+```
+
+## Openpilot Architecture
+
+### Process Manager
+
+`selfdrive/manager/manager.py` orchestrates all processes defined in `selfdrive/manager/process_config.py`.
+
+### Always-Running Processes (offroad + onroad)
+
+- `thermald` — thermal management, high CPU (~5.6%)
+- `pandad` — panda CAN bus interface
+- `ui` — Qt-based onroad/offroad UI
+- `deleter` — storage cleanup
+- `statsd`, `timed`, `logmessaged`, `tombstoned` — telemetry/logging
+- `manage_athenad` — comma cloud connectivity
+
+### Onroad-Only Processes (when driving)
+
+- `controlsd` — main vehicle control loop
+- `plannerd` — path planning
+- `radard` — radar processing
+- `modeld` — driving model inference
+- `dmonitoringmodeld` — driver monitoring model
+- `locationd` — positioning/localization
+- `calibrationd` — camera calibration
+- `paramsd`, `torqued` — parameter estimation
+- `sensord` — IMU/sensor data
+- `soundd` — alert sounds
+- `camerad` — camera capture
+- `loggerd`, `encoderd` — video logging/encoding
+- `boardd` — board communication
+
+### GPS
+
+- `ubloxd` + `pigeond` for u-blox GPS hardware
+- `qcomgpsd`, `ugpsd`, `navd` currently **commented out** in process_config
+
+### FrogPilot Additions
+
+- `selfdrive/frogpilot/frogpilot_process.py` — FrogPilot main process
+- `selfdrive/frogpilot/controls/` — custom planner, control libraries
+- `selfdrive/frogpilot/fleetmanager/` — fleet management web UI
+- `selfdrive/frogpilot/screenrecorder/` — C++ OMX-based screen recorder (dashcam)
+- `selfdrive/frogpilot/ui/qt/` — custom UI widgets and settings panels
+- `selfdrive/frogpilot/assets/` — custom assets
+
+### ClearPilot Additions
+
+- `selfdrive/clearpilot/clearpilot.js` — Node.js service
+- `selfdrive/clearpilot/behavior/` — lane change, longitudinal control mode scripts
+- `selfdrive/clearpilot/models/` — custom driving models (duck-amigo, farmville, wd-40)
+- `selfdrive/clearpilot/manager/api.js` — manager API
+- `selfdrive/clearpilot/theme/`, `selfdrive/clearpilot/resource/` — theming and assets
+
+### Car Interface (Hyundai)
+
+- `selfdrive/car/hyundai/interface.py` — main car interface
+- `selfdrive/car/hyundai/carcontroller.py` — actuator commands
+- `selfdrive/car/hyundai/carstate.py` — vehicle state parsing
+- `selfdrive/car/hyundai/radar_interface.py` — radar data
+- `selfdrive/car/hyundai/hyundaicanfd.py` — CAN-FD message definitions (HDA2 uses CAN-FD)
+- `selfdrive/car/hyundai/values.py`, `fingerprints.py` — car-specific constants
+
+### UI Code
+
+- `selfdrive/ui/` — Qt/C++ based
+- `selfdrive/ui/qt/onroad.cc` — main driving screen (contains uiDebug publish, screen recorder integration)
+- `selfdrive/ui/qt/home.cc` — home/offroad screen
+- `selfdrive/ui/qt/sidebar.cc` — sidebar
+- `selfdrive/ui/ui.cc`, `ui.h` — UI state management
+
+### Key Dependencies
+
+- **Python 3.11** with: numpy, casadi, onnx/onnxruntime, pycapnp, pyzmq, sentry-sdk, sympy, Cython
+- **capnp (Cap'n Proto)** — IPC message serialization between all processes
+- **ZeroMQ** — IPC transport layer
+- **Qt 5** — UI framework
+- **OpenMAX (OMX)** — hardware video encoding (screen recorder)
+- **SCons** — build system for native C++ components
diff --git a/common/params.cc b/common/params.cc
index 3c58d55..9e216ef 100755
--- a/common/params.cc
+++ b/common/params.cc
@@ -416,6 +416,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ScreenBrightnessOnroad", PERSISTENT},
     {"ScreenManagement", PERSISTENT},
     {"ScreenRecorder", PERSISTENT},
+    {"ScreenRecorderDebug", PERSISTENT},
     {"ScreenTimeout", PERSISTENT},
     {"ScreenTimeoutOnroad", PERSISTENT},
     {"SearchInput", PERSISTENT},
diff --git a/selfdrive/frogpilot/screenrecorder/screenrecorder.cc b/selfdrive/frogpilot/screenrecorder/screenrecorder.cc
index 21f3265..01f19ed 100755
--- a/selfdrive/frogpilot/screenrecorder/screenrecorder.cc
+++ b/selfdrive/frogpilot/screenrecorder/screenrecorder.cc
@@ -132,13 +132,20 @@ void ScreenRecorder::stop() {
 }
 
 void ScreenRecorder::update_screen() {
-  if (!uiState()->scene.started) {
+  bool car_on = uiState()->scene.started || uiState()->scene.screen_recorder_debug;
+
+  if (!car_on) {
     if (recording) {
       stop();
     }
     return;
   }
-  if (!recording) return;
+
+  // CLEARPILOT: auto-start recording when car is on (or debug flag set)
+  if (!recording) {
+    start();
+    return;
+  }
 
   if (milliseconds() - started > 1000 * 60 * 3) {
     stop();
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index b1901dc..7983e4d 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -229,6 +229,7 @@ def manager_init(frogpilot_functions) -> None:
     ("ScreenBrightnessOnroad", "101"),
     ("ScreenManagement", "1"),
     ("ScreenRecorder", "1"),
+    ("ScreenRecorderDebug", "1"),
     ("ScreenTimeout", "30"),
     ("ScreenTimeoutOnroad", "30"),
     ("SearchInput", "0"),
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 59c6181..948646c 100755
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -62,8 +62,9 @@ procs = [
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  # CLEARPILOT: disabled video encoding (camera .hevc files) — CAN/sensor logs still recorded via loggerd
+  # NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
+  # NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   #NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 5b89787..783f3a6 100755
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -919,14 +919,14 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
     animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
   });
 
-  // Initialize the timer for the screen recorder
-  // QTimer *record_timer = new QTimer(this);
-  // connect(record_timer, &QTimer::timeout, this, [this]() {
-  //   if (recorder_btn) {
-  //     recorder_btn->update_screen();
-  //   }
-  // });
-  // record_timer->start(1000 / UI_FREQ);
+  // CLEARPILOT: screen recorder timer — feeds frames to the OMX encoder
+  QTimer *record_timer = new QTimer(this);
+  connect(record_timer, &QTimer::timeout, this, [this]() {
+    if (recorder_btn) {
+      recorder_btn->update_screen();
+    }
+  });
+  record_timer->start(1000 / UI_FREQ);
 }
 
 void AnnotatedCameraWidget::updateFrogPilotWidgets() {
@@ -1016,7 +1016,7 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     drawSLCConfirmation(p);
   }
 
-  // recorder_btn->setVisible(scene.screen_recorder && !mapOpen);
+  // CLEARPILOT: screen recorder runs invisibly, no UI button shown
   recorder_btn->setVisible(false);
 }
 
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 93c95e0..67cccde 100755
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -391,6 +391,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101;
   scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101;
   scene.screen_recorder = screen_management && params.getBool("ScreenRecorder");
+  scene.screen_recorder_debug = params.getBool("ScreenRecorderDebug");
   scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 120;
   scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
   scene.standby_mode = screen_management && params.getBool("StandbyMode");
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 78dc059..85368c3 100755
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -231,6 +231,7 @@ typedef struct UIScene {
   bool road_name_ui;
   bool rotating_wheel;
   bool screen_recorder;
+  bool screen_recorder_debug;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool show_jerk;
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index 2f0b96c..5dcec7b 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -8,11 +8,15 @@ from openpilot.system.loggerd.config import get_available_bytes, get_available_p
 from openpilot.system.loggerd.uploader import listdir_by_creation
 from openpilot.system.loggerd.xattr_cache import getxattr
 
-MIN_BYTES = 5 * 1024 * 1024 * 1024
+# CLEARPILOT: increased from 5 GB to 9 GB to reserve space for screen recordings
+MIN_BYTES = 9 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
 
 DELETE_LAST = ['boot', 'crash']
 
+# CLEARPILOT: screen recorder video directory
+VIDEOS_DIR = '/data/media/0/videos'
+
 PRESERVE_ATTR_NAME = 'user.preserve'
 PRESERVE_ATTR_VALUE = b'1'
 PRESERVE_COUNT = 5
@@ -44,12 +48,37 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
   return preserved
 
 
+def delete_oldest_video():
+  """CLEARPILOT: delete the oldest screen recording MP4 when disk space is low."""
+  try:
+    if not os.path.isdir(VIDEOS_DIR):
+      return False
+    videos = sorted(
+      (f for f in os.listdir(VIDEOS_DIR) if f.endswith('.mp4')),
+      key=lambda f: os.path.getctime(os.path.join(VIDEOS_DIR, f))
+    )
+    if not videos:
+      return False
+    delete_path = os.path.join(VIDEOS_DIR, videos[0])
+    cloudlog.info(f"deleting video {delete_path}")
+    os.remove(delete_path)
+    return True
+  except OSError:
+    cloudlog.exception(f"issue deleting video from {VIDEOS_DIR}")
+    return False
+
+
 def deleter_thread(exit_event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
+      # CLEARPILOT: try deleting oldest video first, then fall back to log segments
+      if delete_oldest_video():
+        exit_event.wait(.1)
+        continue
+
       dirs = listdir_by_creation(Paths.log_root())
 
       # skip deleting most recent N preserved segments (and their prior segment)