modeld standby, fan standstill clamping, log rotation, diagnostic logging

- modeld standby: skip inference at standstill (model stays loaded in GPU),
  ModelStandby param + ModelStandbyTs heartbeat for race-free suppression
- controlsd: suppress commIssue/modeldLagging when ModelStandbyTs < 2s old,
  ignore telemetryd/dashcamd in process_not_running check
- Fan controller: standstill below 74°C clamps to 0-10% (near silent),
  standstill above 74°C allows 0-100%, thermald reads carState.standstill
- Deleter: enforce 4GB quota on /data/log2 session logs, oldest-first cleanup
- Diagnostic logging: steerTempUnavailable and controlsdLagging log to stderr
  with full context (steering angle, torque, speed, remaining time)
- CLAUDE.md: document memory params method name difference (C++ camelCase
  vs Python snake_case)

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

selfdrive/thermald/fan_controller.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.controls.lib.pid import PIDController
 
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, cur_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
     pass
 
 
@@ -20,9 +20,21 @@ class TiciFanController(BaseFanController):
     self.last_ignition = False
     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) -> int:
-    self.controller.neg_limit = -(100 if ignition else 30)
-    self.controller.pos_limit = -(30 if ignition else 0)
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
+    # CLEARPILOT: at standstill below 74°C, clamp to 0-10% (near silent)
+    # at standstill above 74°C, allow full 0-100% range
+    if ignition and standstill and cur_temp < 74:
+      self.controller.neg_limit = -10
+      self.controller.pos_limit = 0
+    elif ignition and standstill:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = 0
+    elif ignition:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -30
+    else:
+      self.controller.neg_limit = -30
+      self.controller.pos_limit = 0
 
     if ignition != self.last_ignition:
       self.controller.reset()

selfdrive/thermald/thermald.py

@@ -164,7 +164,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def thermald_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates", "carState"], poll="pandaStates")
 
   count = 0
 
@@ -290,7 +290,8 @@ def thermald_thread(end_event, hw_queue) -> None:
     msg.deviceState.maxTempC = all_comp_temp
 
     if fan_controller is not None:
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
+      standstill = sm['carState'].standstill if sm.seen['carState'] else False
+      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], standstill)
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: