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/thermald/thermald.py

@@ -170,7 +170,17 @@ def thermald_thread(end_event, hw_queue) -> None:
 
   onroad_conditions: dict[str, bool] = {
     "ignition": False,
+    # CLEARPILOT: park-aware gating. When False, manager runs controlsd_parked
+    # (CAN listener only) instead of the full onroad stack. Latched + hysteresis
+    # on going-into-parked to avoid R↔P↔D thrash; flips out of parked instantly.
+    # Initialized False (assume parked) so the full stack waits for carState
+    # to confirm gear has actually left Park before spinning up.
+    "not_parked": False,
   }
+  is_parked = True
+  parked_since: float | None = None  # monotonic ts when gear first read as Park
+  PARKED_HYSTERESIS_S = 1.5
+  ignition_param_prev: bool | None = None
   startup_conditions: dict[str, bool] = {}
   startup_conditions_prev: dict[str, bool] = {}
 
@@ -247,6 +257,32 @@ def thermald_thread(end_event, hw_queue) -> None:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
+    # CLEARPILOT: derive is_parked from carState gearShifter. Whichever controlsd
+    # variant is currently running publishes carState; we just read the gear.
+    # Going INTO parked has hysteresis (PARKED_HYSTERESIS_S) so brief P touches
+    # during low-speed parking don't kick the heavy stack off. Going OUT of
+    # parked is instant so the full stack starts spinning up the moment the
+    # driver shifts to D/R/N.
+    if sm.updated['carState']:
+      gear = sm['carState'].gearShifter
+      gear_is_park = gear == car.CarState.GearShifter.park
+      now_mono = time.monotonic()
+      if gear_is_park:
+        if parked_since is None:
+          parked_since = now_mono
+        if (not is_parked) and (now_mono - parked_since) >= PARKED_HYSTERESIS_S:
+          is_parked = True
+      else:
+        parked_since = None
+        is_parked = False
+    onroad_conditions["not_parked"] = not is_parked
+
+    # CLEARPILOT: expose ignition as a Param so manager predicates (which only
+    # see persistent Params, not pandaStates) can gate controlsd_parked.
+    if ignition_param_prev != onroad_conditions["ignition"]:
+      params.put_bool("IgnitionOn", onroad_conditions["ignition"])
+      ignition_param_prev = onroad_conditions["ignition"]
+
     try:
       last_hw_state = hw_queue.get_nowait()
     except queue.Empty: