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

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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>
This commit is contained in:
Brian Hanson
2026-04-26 14:17:25 -05:00
parent 7a584a7e39
commit ab9158bfb7
22 changed files with 955 additions and 236 deletions
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selfdrive/frogpilot/controls/frogpilot_planner.py
+1 -15
View File
@@ -58,9 +58,6 @@ class FrogPilotPlanner:
self.params = Params()
self.params_memory = Params("/dev/shm/params")
# CLEARPILOT: track valid transitions so we only log when it flips, not every cycle
self._dbg_prev_valid = True
self.cem = ConditionalExperimentalMode()
self.lead_one = Lead()
self.mtsc = MapTurnSpeedController()
@@ -245,18 +242,7 @@ class FrogPilotPlanner:
def publish(self, sm, pm):
frogpilot_plan_send = messaging.new_message('frogpilotPlan')
valid = sm.all_checks(service_list=['carState', 'controlsState'])
# CLEARPILOT: log on transition into invalid — stderr goes to our plannerd.log
if valid != self._dbg_prev_valid and not valid:
import sys
print(
"CLP frogpilotPlan valid=False: "
f"carState(a={sm.alive['carState']},v={sm.valid['carState']},f={sm.freq_ok['carState']}) "
f"controlsState(a={sm.alive['controlsState']},v={sm.valid['controlsState']},f={sm.freq_ok['controlsState']})",
file=sys.stderr, flush=True
)
self._dbg_prev_valid = valid
frogpilot_plan_send.valid = valid
frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
frogpilotPlan = frogpilot_plan_send.frogpilotPlan
frogpilotPlan.accelerationJerk = A_CHANGE_COST * (float(self.jerk) if self.lead_one.status else 1)
selfdrive/frogpilot/frogpilot_process.py
+2 -8
View File
@@ -85,15 +85,9 @@ def frogpilot_thread():
frogpilot_planner = FrogPilotPlanner(CP)
frogpilot_planner.update_frogpilot_params()
# CLEARPILOT: skip planner compute while parked, but KEEP publishing at
# the normal cadence so frogpilotPlan stays alive at consumers. Skipping
# publishes entirely caused commIssue ("not_alive: frogpilotPlan") at
# controlsd the moment we shifted out of park.
parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
if sm.updated['modelV2']:
if not parked:
frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
frogpilot_planner.publish(sm, pm)
if not time_validated: