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 atd639e28— 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 in887b9c9+27cad05) and starting fresh. Single new commit, no merge — file state matchesd639e28byte-for-byte. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
@@ -0,0 +1,358 @@
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# Session: 2026-04-26 — GPS disabled in locationd; calibrationd-still-stale notes
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## Context
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Followup session to `2026-04-26-0914-baseline-revert-and-parked-mode`.
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After the baseline restore, the manager wouldn't start cleanly and the car
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exhibited a "drifting right on straight roads, model rescues us mid-curve"
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symptom. This session unblocked the startup chain end-to-end so the car can
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boot and run, disabled GPS as an input to locationd (the actual fix that
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made the drift go away), and pinned down — but did **not** solve — why
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`liveCalibration.valid` is still stuck at `False` and what that latently
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breaks downstream.
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Pre-session tip: `27cad05`. Single combined commit covering four code
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changes plus this README:
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- `selfdrive/boardd/boardd.cc` — `safety_setter_thread` on ignition edge
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- `selfdrive/controls/controlsd.py` — drop unregistered
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`no_lat_lane_change` Params write, wire `FPCC.noLatLaneChange` for UI
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- `cereal/services.py` — deviceState/managerState back to 2Hz to match
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restored `DT_TRML`
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- `selfdrive/locationd/locationd.cc` — ignore GPS as Kalman input
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(reversible flag)
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---
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## Commit 1: boardd — safety_setter_thread on ignition edge
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### Symptom
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Manager started fine but `controlsd_parked` blocked indefinitely at:
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```
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set_obd_multiplexing (selfdrive/car/fw_versions.py:236)
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fingerprint (selfdrive/car/car_helpers.py:149)
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get_car (selfdrive/car/car_helpers.py:210)
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__init__ (selfdrive/car/card.py:60)
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main (selfdrive/controls/controlsd_parked.py:41)
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```
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`set_obd_multiplexing` does `params.get_bool("ObdMultiplexingChanged", block=True)` —
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it waits for **boardd's `safety_setter_thread`** to ack. That thread spawns
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only on the **rising edge of `IsOnroad`** (`boardd.cc:476`). `IsOnroad` is set
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by manager from the `started` flag (`helpers.py:49`). With the parked-mode split
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from the prior session, `started` requires `not_parked`, which requires thermald
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to see `carState.gearShifter != park`, which requires `controlsd_parked` to
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publish carState — which it can't do until OBD multiplexing is acked.
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Classic deadlock: ignition rising no longer implies IsOnroad rising.
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### Fix
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`selfdrive/boardd/boardd.cc:476` — change the trigger from IsOnroad rising
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edge to **ignition rising edge**. Adds `bool ignition_last = false;` next to
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`is_onroad_last`, swaps the gate variable, sets `ignition_last = ignition;`
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after. Restores stock openpilot's intent: set safety as soon as the bus is
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alive. Both controlsd variants need it; the thread's phase 2 (waiting on
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`ControlsReady`) is harmless in parked mode — it just sits.
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`is_onroad`/`is_onroad_last` left in place; they're now unused beyond this
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gate but the read of `params.getBool("IsOnroad")` still happens, in case any
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future logic wants it.
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---
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## Commit 2: controlsd — drop unregistered Params write
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### Symptom
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After the boardd fix, controlsd_parked progressed but full controlsd
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crashed at first `state_control` cycle:
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```
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File "selfdrive/controls/controlsd.py", line 693, in state_control
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self.params_memory.put_bool("no_lat_lane_change", False)
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common.params_pyx.UnknownKeyName: b'no_lat_lane_change'
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```
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The baseline-restored controlsd unconditionally writes `no_lat_lane_change`
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to memory params on every state_control cycle. That key was never
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registered in `common/params.cc`. Pre-revert (`62a403d`) controlsd didn't
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write the param at all — it set `self.FPCC.noLatLaneChange` (capnp field).
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The baseline brought back a code path the fork's params.cc never matched.
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### Fix
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In `selfdrive/controls/controlsd.py:687-694`, remove the two
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`params_memory.put_bool("no_lat_lane_change", ...)` calls and replace with
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`self.FPCC.noLatLaneChange = True/False` (matches what the kept UI code in
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`onroad.cc:897` and `ui.cc:122` is reading from cereal). The
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`frogpilot_variables.no_lat_lane_change` writes were already there — those
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are what the kept Hyundai carcontroller actually reads at 100Hz.
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No actuator change. Pure plumbing.
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---
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## Commit 3: services.py — restore deviceState/managerState rates
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### Symptom
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After fixing the controlsd crash, controlsd booted but immediately fired
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**continuous `commIssue`** with:
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```
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"not_freq_ok": ["deviceState", "managerState"]
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```
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### Diagnosis
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`common/realtime.py` was reverted to `DT_TRML = 0.5` (thermald → 2Hz) in
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the baseline restore. But `cereal/services.py` still declared `deviceState`
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and `managerState` at 5Hz from earlier 4Hz-fan-control work. The freq window
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is `[0.8 × min, 1.2 × max]` — declared 5Hz means [4.0, 6.0]Hz. Thermald
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publishing at 2Hz fell well below 4.0 → freq_ok=False every cycle →
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commIssue every cycle.
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Already documented as a known footgun in `CLAUDE.md` ("Changing a Service's
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Publish Rate").
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### Fix
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`cereal/services.py:33,73` — set both back to 2Hz with a comment pointing
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at `DT_TRML`. After this, `not_freq_ok=[]` and the continuous commIssue
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stopped — only one transient commIssue at startup remained (warmup).
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---
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## Commit 4: locationd — ignore GPS as Kalman input (reversible)
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### Why
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The car was drifting right on straight roads. Pre-revert, the user
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reported this had been working for years; the only practically-new thing
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is that `system/clearpilot/gpsd.py` (AT-command-based GPS) had recently
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**started actually getting fixes**, where for a long time it wasn't.
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Two concrete data problems with the GPS feed for selfdrive purposes:
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- `gpsd.py:221` hard-codes `gps.vNED = [0.0, 0.0, 0.0]` while the user is
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moving 28 m/s. locationd's `handle_gps` derives `OBSERVATION_ECEF_VEL`
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from this; the Kalman gets "GPS says you're stopped" while accelerometer
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says otherwise.
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- `gpsd.py:216,222` populate horizontalAccuracy/verticalAccuracy from
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`hdop * 5` (a rough conversion); `bearingAccuracyDeg = 10.0` and
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`speedAccuracy = 1.0` are constants. None of these match what a real
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GNSS chip reports.
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These flow into the latcontrol_torque pipeline indirectly through
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`liveLocationKalman.angularVelocityCalibrated` (used as
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`actual_curvature_llk = ... / CS.vEgo` blended with steering-angle-derived
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curvature) and through `liveLocationKalman.calibratedOrientationNED`
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(pitch). When the Kalman has wrong velocity observations, those derived
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fields go wrong — and on a straight crowned road, the controller's
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"actual_curvature" picture is off-center, biasing torque output.
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### What the user does NOT want disabled
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gpsd publishes are still consumed by:
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- UI speed indicator and the ClearPilot status overlay
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- `dashcamd` for `.srt` subtitle sidecars (lat/lon per segment)
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- `timed.py` for system-clock setting via `unixTimestampMillis`
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- `gpsd.py` itself for sunset/sunrise → `IsDaylight` (auto night mode)
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- `telemetryd.py` for the `gps` group in the CSV
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So we cannot just stop publishing — only locationd should ignore.
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### Fix
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`selfdrive/locationd/locationd.cc:310-323` — add a `clearpilot_disable_gps`
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const at the top of `Localizer::handle_gps` and OR it into the existing
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reject condition. With it true, every gpsLocation message falls through to
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`determine_gps_mode(current_time)` (openpilot's stock no-GPS path:
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`input_fake_gps_observations` once position uncertainty grows past
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`SANE_GPS_UNCERTAINTY`, otherwise nothing). `last_gps_msg` never updates,
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`is_gps_ok()` returns False, `liveLocationKalman.gpsOK = false`.
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Effect verified by user: drift improved noticeably. The torque controller
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is no longer fed contradictory GPS-vs-IMU velocity observations through
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the Kalman.
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To re-enable GPS as a Kalman input: flip the `clearpilot_disable_gps`
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constant to `false` and rebuild. Self-contained edit.
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---
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## Calibrationd: still stale, root-cause partially understood
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### What is happening
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`calibrationd` publishes `liveCalibration.valid = sm.all_checks()` on every
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cycle, where `sm` polls `cameraOdometry` and non-polls `carState` and
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`carParams`. We measured: **120 publishes in 30 seconds, every single one
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`valid=False`** with `calStatus=calibrated, calPerc=100, validBlocks=50`.
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The body of the calibration is converged — the validity flag is stuck off.
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### Why this matters
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`liveCalibration.valid=False` cascades:
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1. `locationd.cc:715` — `filterInitialized = sm.allAliveAndValid()`.
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liveCalibration is in the sub list and not in `ignore_alive` /
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`ignore_valid`. So filterInitialized stays False forever.
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2. With Kalman uninitialized, `liveLocationKalman` still publishes but the
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body fields are empty/default. `liveLocationKalman.status = uninitialized`.
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3. `paramsd.py` subscribes to `liveLocationKalman` with `poll='liveLocationKalman'`
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and gates its update logic on `sm.all_checks()`. When liveLocationKalman
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itself isn't in a sane state, paramsd's `roll`, `angleOffsetDeg`,
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`steerRatio`, `stiffnessFactor` either never converge or converge to bad
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values.
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4. `latcontrol_torque.py:135-136` uses `params.angleOffsetDeg` to compute
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`actual_curvature_vm` and `params.roll` for `roll_compensation`. With
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`roll=0`, no compensation for a crowned/banked road. With wrong
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`angleOffsetDeg`, the closed-loop "actual curvature" measurement is
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biased.
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So the latent risk is: even with our GPS fix, the controller is running
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**without learned roll compensation and without a learned steering-angle
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offset**. Symptom-free on straight, level pavement; biased on banked roads.
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### Why `valid=False`
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Inside calibrationd's SubMaster, `sm.all_checks() = all_alive AND all_freq_ok
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AND all_valid`. We measured each:
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- `cameraOdometry`: alive=True, valid=True, freq_ok=True ✓
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- `carState`: alive flickers True/False, valid=True, **freq_ok=False (every cycle)**
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- `carParams`: alive=True after first arrival, valid=True, freq_ok=False
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but excluded from `all_freq_ok` because `_check_avg_freq` skips services
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with `frequency < 0.99` Hz (carParams is 0.02 Hz declared) — so it doesn't
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fail the gate.
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The smoking gun is **`carState.freq_ok = False` from inside calibrationd's
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`poll='cameraOdometry'` SubMaster**.
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Direct measurement (`/tmp/test_subs.py`):
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| poll arg | carState observed rate | freq_ok |
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|---|---:|:-:|
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| `None` (all polled) | 97.40 Hz | True |
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| `'cameraOdometry'` | **2.24 Hz** | **False** |
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| `'carState'` | 98.58 Hz | True |
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carState is published at 100 Hz to a 10MB shared-memory MSGQ queue. From
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inside `poll='cameraOdometry'`, our non-blocking `recv_one_or_none(carState)`
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returns None ~88% of the time. `/tmp/diag_recv.py`:
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```
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cameraOdometry msgs received: 121
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carState recv calls: 121, hits: 14 (11.6% hit rate)
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avg cycle duration: 50.0ms
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```
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So we're calling `recv` 20× per second on carState's queue, and finding
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the queue empty 9 out of 10 times — even though carState is being published
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at 100 Hz to that same queue with a `conflate=True` socket option.
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### The MSGQ NUM_READERS = 12 hypothesis
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`cereal/messaging/msgq.h:9` defines `#define NUM_READERS 12`. When a 13th
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subscriber tries to subscribe to a queue, `msgq.cc:182-197` **invalidates
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ALL readers simultaneously** (`*q->read_valids[i] = false` for all i)
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to "reset and re-register". On the next read, an invalidated reader's
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`msgq_msg_recv` jumps to `msgq_reset_reader` (line 347) and ends up with
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`read_pointer == write_pointer` (caught up to current), returning size 0.
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Subscribers to `carState` in our running system include: controlsd,
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plannerd, locationd, calibrationd, paramsd, dmonitoringd, frogpilot_process,
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telemetryd, statsd. That's already nine. The introspection scripts
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(`/tmp/check_*.py`, `/tmp/measure_freq.py`, `/tmp/diag_recv.py`,
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`/tmp/cal_view.py`) and any UI-side subscribers add more, can easily
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push past 12 and trigger global eviction. Once evicted, a long-running
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subscriber stays in the "find empty queue / reset / try again" loop, which
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is what we measured.
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This is **partially confirmed** but not proven definitively. The
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investigation was paused before instrumenting the queue header to count
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slot churn. The smoking-gun would be: print `q->num_readers` from inside
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calibrationd at boot vs. during steady state and watch it tick up to 12+.
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### Things to consider for the actual fix
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1. **`7ee923b` already solved this exact problem.** It changed
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calibrationd's publish to:
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```python
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# was: calibrator.send_data(pm, sm.all_checks())
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# to: calibrator.send_data(pm, calibrator.cal_status == log.LiveCalibrationData.Status.calibrated)
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```
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The commit message documented the exact failure mode (cascade through
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locationd uninitialized → paramsd steerRatio≈0 / stiffnessFactor≈0 →
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nonsense curvature commands). It was reverted by `47321e3` as part of
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"restore driving logic to pre-variable-fps baseline" — but that revert
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was about isolating the drift cause, and the calibrationd change here
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is *not* in the variable-FPS family. **Re-applying `7ee923b` is
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probably the right next move**, narrowly scoped to calibrationd.py.
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2. Less attractive alternatives: bump `NUM_READERS`; switch
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carState to `poll=None` in calibrationd (more cycles per update,
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higher CPU); add `ignore_average_freq=['carState']` to calibrationd's
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SubMaster (treats freq glitches as benign, but keeps the cascade for
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alive/valid).
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---
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## Steer-fault alert investigation (separate symptom)
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User saw "Steering Temporarily Unavailable" alerts during a test drive
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even though we hadn't touched lateral-control code. Captured in
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`realdata/00000081--528e2aa03a--0/rlog`:
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- Faults occur in **brief 50–100 ms pulses** clustered while moving slowly
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(`vEgo` 2.7–5.2 m/s ≈ 6–12 mph).
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- Each pulse correlates with **large driver wheel torque** (-250, +273,
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-187, +119 Nm) — i.e. the user actively turning the wheel during a
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parking-lot maneuver.
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- `cruise.enabled = False` throughout — openpilot was not engaged.
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- The car's MDPS sets `LKA_FAULT` at low speeds when torque is high; that
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bit maps directly to `cs_out.steerFaultTemporary` (`carstate.py:259`),
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which fires `steerTempUnavailableSilent` regardless of engagement
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(`ET.WARNING` displays unconditionally).
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User reports they've "never had this issue before" — implying earlier
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ClearPilot revisions either gated the fault on speed or used a different
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no-lateral path. **Not confirmed which.** Open follow-up.
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---
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## Open follow-ups (ordered by likely return)
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1. **Re-apply `7ee923b`** — gate `liveCalibration.valid` on `calStatus`,
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not `sm.all_checks()`. Unblocks locationd init → paramsd convergence →
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real `params.roll` and `params.angleOffsetDeg` for the torque
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controller. Latent benefit beyond what GPS-disable alone gave us.
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2. **Investigate the persistent low-speed `steerTempUnavailable` alert.**
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Either (a) gate `steerFaultTemporary` on `vEgo > ~8 m/s` in
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`carstate.py:259`, or (b) find what the previous fork did — possibly
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stopped sending tester CAN messages on park, possibly suppressed the
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alert specifically during a park transition window.
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3. **Suppress LKAS fault display when shifting drive → park.** The user
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reports the car shows an LKAS-fault icon when openpilot keeps publishing
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tester-present CAN messages after entering park. Investigation needed
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in `selfdrive/car/hyundai/carcontroller.py` and `hyundaicanfd.py` to
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gate tester messages on gear ≠ park.
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4. **Wheel-torque headroom edit.** User mentioned a community-known edit
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that allows slightly higher steering torque on the Hyundai panda safety
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model. Research target: panda safety code for HYUNDAI_CANFD safety
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model and the `MAX_TORQUE` / per-cycle delta limits.
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5. **Single startup `commIssue` event.** Even with all our fixes, controlsd
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logs one transient commIssue right after `controlsd.initialized`
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(timeout=true after 6s). The `invalid` set at that moment is
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downstream services still warming up (liveCalibration, liveLocationKalman,
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liveParameters, liveTorqueParameters, frogpilotPlan, longitudinalPlan,
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driverMonitoringState). Most should clear once the calibrationd issue
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is fixed; remaining ones are normal warmup.
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6. **gpsd.py vNED / accuracy fields.** Out of scope for this session
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(we disabled GPS in locationd instead), but if GPS is ever re-enabled,
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`gpsd.py:216,221-224` need real values: vNED from
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`speed × {cos(bearing), sin(bearing), 0}`, and accuracy fields from
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actual modem reports rather than hard-coded constants.
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||||
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