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/controls/plannerd.py

@@ -34,21 +34,9 @@ def plannerd_thread():
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      # CLEARPILOT: skip the planning compute while parked, but KEEP publishing
-      # at the normal cadence so consumers' alive flags stay healthy. Skipping
-      # publishes entirely caused longitudinalPlan to go alive=False at
-      # controlsd, which fires a real commIssue the moment we shift out of park.
-      # Stale published values are fine — controlsd's own park short-circuit
-      # ignores the longitudinalPlan content while parked anyway.
-      parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
-      if not parked:
-        longitudinal_planner.update(sm)
+      longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-      # publish_ui_plan reads longitudinal_planner.a_desired_trajectory_full
-      # which is only set inside update(). Skip it while parked — uiPlan is
-      # UI-only, not on controlsd's commIssue check list, so going silent is fine.
-      if not parked:
-        publish_ui_plan(sm, pm, longitudinal_planner)
+      publish_ui_plan(sm, pm, longitudinal_planner)
 
 def main():
   plannerd_thread()