fix: standstill fan clamp 0-30% and bench mode always 30-100%

Standstill quiet mode was clamped to 0-10% which is dangerously low
under sustained load. Raised to 0-30%. Bench mode now forces 30-100%
onroad fan range regardless of standstill to prevent overheating
during bench testing.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

selfdrive/thermald/fan_controller.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 from abc import ABC, abstractmethod
 
 from openpilot.common.realtime import DT_TRML
@@ -6,6 +7,8 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
+BENCH_MODE = os.environ.get("BENCH_MODE") == "1"
+
 class BaseFanController(ABC):
   @abstractmethod
   def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
@@ -21,10 +24,14 @@ class TiciFanController(BaseFanController):
     self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
 
   def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
-    # CLEARPILOT: at standstill below 74°C, clamp to 0-10% (near silent)
+    # CLEARPILOT: bench mode always uses normal onroad fan range (30-100%)
+    if BENCH_MODE and ignition:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -30
+    # CLEARPILOT: at standstill below 74°C, clamp to 0-30% (quiet)
     # at standstill above 74°C, allow full 0-100% range
-    if ignition and standstill and cur_temp < 74:
-      self.controller.neg_limit = -10
+    elif ignition and standstill and cur_temp < 74:
+      self.controller.neg_limit = -30
       self.controller.pos_limit = 0
     elif ignition and standstill:
       self.controller.neg_limit = -100