adopt pre-modelrevert clearpilot tree (d639e28) as the new head

Discard the modelrevert tree adoption (8b4b7e0) and the in-process park
short-circuits / cached-output / dashcam-idle work that came with it
(0dc8002, 37e095e). Restore the clearpilot tree as it stood at d639e28 —
the parked-controlsd manager-process split, the GPS-disable in locationd,
the controlsd UI hooks, the boardd ignition-edge safety_setter_thread
fix. After a full /data/params/d wipe and re-calibration drive, the
modelrevert-tree variant overcorrected on turns; reverting to the
parked-controlsd architecture (which Brian had previously vetted and
documented in 887b9c9 + 27cad05) and starting fresh.

Single new commit, no merge — file state matches d639e28 byte-for-byte.

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

selfdrive/boardd/boardd.cc

@@ -415,6 +415,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   Panda *peripheral_panda = pandas[0];
   bool is_onroad = false;
   bool is_onroad_last = false;
+  bool ignition_last = false;
   std::future<bool> safety_future;
 
   std::vector<std::string> connected_serials;
@@ -472,8 +473,14 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
     is_onroad = params.getBool("IsOnroad");
 
-    // set new safety on onroad transition, after params are cleared
-    if (is_onroad && !is_onroad_last) {
+    // CLEARPILOT: trigger on ignition rising edge instead of IsOnroad rising edge.
+    // ClearPilot's parked-mode split breaks the stock assumption that IsOnroad
+    // rises with ignition: IsOnroad now requires `started`, which requires
+    // thermald to see carState != park, which requires controlsd_parked to
+    // finish CarD init, which requires this thread to ack OBD multiplexing.
+    // Firing on ignition restores the original "set safety as soon as the bus
+    // is alive" timing for both controlsd variants.
+    if (ignition && !ignition_last) {
       if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
         safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
       } else {
@@ -482,6 +489,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
     }
 
     is_onroad_last = is_onroad;
+    ignition_last = ignition;
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();