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>

CLAUDE.md

@@ -101,7 +101,8 @@ ClearPilot uses memory params (`/dev/shm/params/d/`) for UI toggles that should
 - **Python access**: Use `Params("/dev/shm/params")`
 - **Defaults**: Set in `manager_init()` via `Params("/dev/shm/params").put(key, value)`
 - **UI toggles**: Use `ToggleControl` with manual `toggleFlipped` lambda that writes via `Params("/dev/shm/params")`. Do NOT use `ParamControl` for memory params — it reads/writes persistent params only
-- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ScreenDisplayMode`
+- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ModelStandby` (default "0"), `ScreenDisplayMode`
+- **IMPORTANT — method names differ between C++ and Python**: C++ uses camelCase (`putBool`, `getBool`, `getInt`), Python uses snake_case (`put_bool`, `get_bool`, `get_int`). This is a common source of silent failures — the wrong casing compiles/runs but doesn't work.
 
 ### Building Native (C++) Processes
 

common/params.cc

@@ -198,6 +198,8 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TelemetryEnabled", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
+    {"ModelStandby", PERSISTENT},
+    {"ModelStandbyTs", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
     {"VpnEnabled", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},

selfdrive/car/interfaces.py

@@ -484,10 +484,19 @@ class CarInterfaceBase(ABC):
           self.silent_steer_warning = True
           events.add(EventName.steerTempUnavailableSilent)
         else:
+          # CLEARPILOT: log once per instance of this warning
+          if not getattr(self, '_steer_fault_logged', False):
+            import sys
+            print(f"CLP steerTempUnavailable: steerFaultTemporary={cs_out.steerFaultTemporary} "
+                  f"steeringPressed={cs_out.steeringPressed} standstill={cs_out.standstill} "
+                  f"steering_unpressed={self.steering_unpressed} steeringAngleDeg={cs_out.steeringAngleDeg:.1f} "
+                  f"steeringTorque={cs_out.steeringTorque:.1f} vEgo={cs_out.vEgo:.2f}", file=sys.stderr)
+            self._steer_fault_logged = True
           events.add(EventName.steerTempUnavailable)
     else:
       self.no_steer_warning = False
       self.silent_steer_warning = False
+      self._steer_fault_logged = False
     if cs_out.steerFaultPermanent:
       events.add(EventName.steerUnavailable)
 

selfdrive/controls/controlsd.py

@@ -48,7 +48,7 @@ CAMERA_OFFSET = 0.04
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "telemetryd", "dashcamd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -455,6 +455,8 @@ class Controls:
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
+      import sys
+      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'])):
@@ -467,9 +469,16 @@ 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:
+    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -542,7 +551,7 @@ class Controls:
         self.distance_traveled = 0
       self.distance_traveled += CS.vEgo * DT_CTRL
 
-      if self.sm['modelV2'].frameDropPerc > 20:
+      if self.sm['modelV2'].frameDropPerc > 20 and not model_suppress:
         self.events.add(EventName.modeldLagging)
 
 

selfdrive/manager/manager.py

@@ -87,6 +87,8 @@ def manager_init(frogpilot_functions) -> None:
   params_memory = Params("/dev/shm/params")
   params_memory.put("TelemetryEnabled", "0")
   params_memory.put("VpnEnabled", "1")
+  params_memory.put("ModelStandby", "0")
+  params_memory.put("ModelStandbyTs", "0")
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
   if is_release_branch():

selfdrive/modeld/modeld.py

@@ -134,11 +134,15 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
+  import time as _time
   cloudlog.warning("setting up CL context")
+  _t0 = _time.monotonic()
   cl_context = CLContext()
-  cloudlog.warning("CL context ready; loading model")
+  _t1 = _time.monotonic()
+  cloudlog.warning("CL context ready in %.3fs; loading model", _t1 - _t0)
   model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
+  _t2 = _time.monotonic()
+  cloudlog.warning("model loaded in %.3fs (total init %.3fs), modeld starting", _t2 - _t1, _t2 - _t0)
 
   # visionipc clients
   while True:
@@ -179,6 +183,9 @@ def main(demo=False):
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
+  model_standby = False
+  last_standby_ts_write = 0
+  params_memory = Params("/dev/shm/params")
   nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
   nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
@@ -233,6 +240,27 @@ def main(demo=False):
       meta_extra = meta_main
 
     sm.update(0)
+
+    # CLEARPILOT: standstill power saving — skip inference, keep model loaded
+    standstill = sm['carState'].standstill
+    if standstill and not model_standby:
+      params_memory.put_bool("ModelStandby", True)
+      model_standby = True
+      cloudlog.warning("modeld: standby ON (standstill)")
+    elif not standstill and model_standby:
+      params_memory.put_bool("ModelStandby", False)
+      model_standby = False
+      run_count = 0
+      frame_dropped_filter.x = 0.
+      cloudlog.warning("modeld: standby OFF")
+    if model_standby:
+      now = _time.monotonic()
+      if now - last_standby_ts_write > 1.0:
+        params_memory.put("ModelStandbyTs", str(now))
+        last_standby_ts_write = now
+      last_vipc_frame_id = meta_main.frame_id
+      continue
+
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId

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:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
-    self.controller.neg_limit = -(100 if ignition else 30)
+    # CLEARPILOT: at standstill below 74°C, clamp to 0-10% (near silent)
-    self.controller.pos_limit = -(30 if ignition else 0)
+    # 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:

system/loggerd/deleter.py

@@ -101,6 +101,39 @@ def delete_oldest_video():
     return False
 
 
+# CLEARPILOT: max total size for /data/log2 session logs
+LOG2_MAX_BYTES = 4 * 1024 * 1024 * 1024
+
+def cleanup_log2():
+  """Delete oldest session log directories until /data/log2 is under LOG2_MAX_BYTES."""
+  log_base = "/data/log2"
+  if not os.path.isdir(log_base):
+    return
+  # Get all session dirs sorted oldest first (by name = timestamp)
+  dirs = []
+  for entry in sorted(os.listdir(log_base)):
+    if entry == "current":
+      continue
+    path = os.path.join(log_base, entry)
+    if os.path.isdir(path) and not os.path.islink(path):
+      size = sum(f.stat().st_size for f in os.scandir(path) if f.is_file())
+      dirs.append((entry, path, size))
+  total = sum(s for _, _, s in dirs)
+  # Also count current session
+  current = os.path.join(log_base, "current")
+  if os.path.isdir(current):
+    total += sum(f.stat().st_size for f in os.scandir(current) if f.is_file())
+  # Delete oldest until under quota
+  while total > LOG2_MAX_BYTES and dirs:
+    entry, path, size = dirs.pop(0)
+    try:
+      cloudlog.info(f"deleting log session {path} ({size // 1024 // 1024} MB)")
+      shutil.rmtree(path)
+      total -= size
+    except OSError:
+      cloudlog.exception(f"issue deleting log {path}")
+
+
 def deleter_thread(exit_event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
@@ -135,6 +168,8 @@ def deleter_thread(exit_event):
           cloudlog.exception(f"issue deleting {delete_path}")
       exit_event.wait(.1)
     else:
+      # CLEARPILOT: enforce log2 size quota even when disk space is fine
+      cleanup_log2()
       exit_event.wait(30)