modeld standby on lat inactive, dashcamd always-on, alert suppression

- modeld: enter standby when latActive=false (not just standstill),
  exception for lane changes (no_lat_lane_change). Fix Python capnp
  property access (.latActive not getLatActive())
- controlsd: move model_suppress computation early, suppress radarFault,
  posenetInvalid, locationdTemporaryError, paramsdTemporaryError during
  model standby + 2s grace period. All cascade from modeld not publishing
- dashcamd: always_run (manages own trip lifecycle), wait for valid frame
  dimensions before encoding (fix SIGSEGV on early start)
- Fan: driving range 15-100% (was 30-100%)

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

selfdrive/clearpilot/dashcamd.cc

@@ -130,18 +130,28 @@ int main(int argc, char *argv[]) {
   if (do_exit) return 0;
   LOGW("dashcamd: system time valid");
 
-  LOGW("dashcamd: connecting to camerad road stream");
+  LOGW("dashcamd: started, connecting to camerad road stream");
   VisionIpcClient vipc("camerad", VISION_STREAM_ROAD, false);
   while (!do_exit && !vipc.connect(false)) {
     usleep(100000);
   }
   if (do_exit) return 0;
+  LOGW("dashcamd: vipc connected, waiting for valid frame");
 
-  int width = vipc.buffers[0].width;
+  // Wait for a frame with valid dimensions (camerad may still be initializing)
-  int height = vipc.buffers[0].height;
+  VisionBuf *init_buf = nullptr;
-  int y_stride = vipc.buffers[0].stride;
+  while (!do_exit) {
+    init_buf = vipc.recv();
+    if (init_buf != nullptr && init_buf->width > 0 && init_buf->height > 0) break;
+    usleep(100000);
+  }
+  if (do_exit) return 0;
+
+  int width = init_buf->width;
+  int height = init_buf->height;
+  int y_stride = init_buf->stride;
   int uv_stride = y_stride;
-  LOGW("dashcamd: connected %dx%d, stride=%d", width, height, y_stride);
+  LOGW("dashcamd: first valid frame %dx%d stride=%d", width, height, y_stride);
 
   // Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
   SubMaster sm({"carState", "deviceState", "gpsLocation"});

selfdrive/controls/controlsd.py

@@ -442,6 +442,13 @@ class Controls:
     # All events here should at least have NO_ENTRY and SOFT_DISABLE.
     num_events = len(self.events)
 
+    # CLEARPILOT: compute model standby suppression early — used by multiple checks below
+    try:
+      standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
+    except (ValueError, TypeError):
+      standby_ts = 0
+    model_suppress = (time.monotonic() - standby_ts) < 2.0
+
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
       self.events.add(EventName.processNotRunning)
@@ -459,7 +466,7 @@ class Controls:
       print(f"CLP controlsdLagging: remaining={self.rk.remaining:.4f} standstill={CS.standstill} vEgo={CS.vEgo:.2f}", file=sys.stderr)
       self.events.add(EventName.controlsdLagging)
     if not self.radarless_model:
-      if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
+      if not model_suppress and (len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState']))):
         self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
@@ -469,13 +476,6 @@ class Controls:
       self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead
-    # CLEARPILOT: skip comm check when modeld was recently in standby
-    # ModelStandbyTs is written every 1s while in standby — if < 2s old, suppress
-    try:
-      standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
-    except (ValueError, TypeError):
-      standby_ts = 0
-    model_suppress = (time.monotonic() - standby_ts) < 2.0
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
     if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress:
@@ -499,13 +499,13 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['liveLocationKalman'].posenetOK:
+      if not self.sm['liveLocationKalman'].posenetOK and not model_suppress:
         self.events.add(EventName.posenetInvalid)
       if not self.sm['liveLocationKalman'].deviceStable:
         self.events.add(EventName.deviceFalling)
-      if not self.sm['liveLocationKalman'].inputsOK:
+      if not self.sm['liveLocationKalman'].inputsOK and not model_suppress:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
+      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress:
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error

selfdrive/manager/process_config.py

@@ -54,7 +54,7 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool:
 
 # ClearPilot functions
 def dashcam_should_run(started, params, CP: car.CarParams) -> bool:
-  return started or params.get_bool("DashcamDebug")
+  return True  # CLEARPILOT: dashcamd manages its own trip lifecycle
 
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),

selfdrive/modeld/modeld.py

@@ -241,13 +241,17 @@ def main(demo=False):
 
     sm.update(0)
 
-    # CLEARPILOT: standstill power saving — skip inference, keep model loaded
+    # CLEARPILOT: power saving — skip inference when lateral control is not active
-    standstill = sm['carState'].standstill
+    # Covers standstill, manual driving (no cruise), and disengaged states
-    if standstill and not model_standby:
+    # Exception: keep processing during lane changes (no_lat_lane_change)
+    lat_active = sm['carControl'].latActive
+    lane_changing = params_memory.get_bool("no_lat_lane_change")
+    should_standby = not lat_active and not lane_changing
+    if should_standby and not model_standby:
       params_memory.put_bool("ModelStandby", True)
       model_standby = True
-      cloudlog.warning("modeld: standby ON (standstill)")
+      cloudlog.warning("modeld: standby ON (lat_active=%s standstill=%s)", lat_active, sm['carState'].standstill)
-    elif not standstill and model_standby:
+    elif not should_standby and model_standby:
       params_memory.put_bool("ModelStandby", False)
       model_standby = False
       run_count = 0

selfdrive/thermald/fan_controller.py

@@ -31,7 +31,7 @@ class TiciFanController(BaseFanController):
       self.controller.pos_limit = 0
     elif ignition:
       self.controller.neg_limit = -100
-      self.controller.pos_limit = -30
+      self.controller.pos_limit = -15
     else:
       self.controller.neg_limit = -30
       self.controller.pos_limit = 0