reset to pre-modification baseline; restart feature work from clean state

Restoring the working tree to the pristine pre-Claude baseline previously
preserved at /data/clearpilot (now /data/clearpilot-baseline). The prior
modified-but-broken tree is snapshotted at /data/openpilot-broken-2026-05-03
and tagged here as pre-reset-2026-05-03 for reference.

From here, features (UI changes, dashcam, telemetry, GPS, display modes,
speed logic, standstill power saving, etc.) will be re-introduced one at
a time with proper testing.

selfdrive/car/hyundai/carcontroller.py

@@ -8,6 +8,7 @@ from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
+from openpilot.common.params import Params
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -56,7 +57,6 @@ class CarController(CarControllerBase):
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
-
   def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
     hud_control = CC.hudControl
@@ -112,9 +112,7 @@ class CarController(CarControllerBase):
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      # CLEARPILOT: no_lat_lane_change comes via frogpilot_variables (set by controlsd in-process)
-      no_lat_lane_change = int(getattr(frogpilot_variables, 'no_lat_lane_change', False))
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer, no_lat_lane_change))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
 
       # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
       if self.frame % 5 == 0 and hda2:

selfdrive/car/hyundai/carstate.py

@@ -420,59 +420,6 @@ class CarState(CarStateBase):
     # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
 
-    # CLEARPILOT: CAN-FD telemetry — preserved but disabled. Re-enable by uncommenting (also restore the import).
-    # from openpilot.selfdrive.clearpilot.telemetry import tlog
-    #
-    # speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
-    # scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
-    # cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
-    #
-    # tlog("car", {
-    #   "vEgo": round(ret.vEgo, 3),
-    #   "vEgoRaw": round(ret.vEgoRaw, 3),
-    #   "aEgo": round(ret.aEgo, 3),
-    #   "steeringAngleDeg": round(ret.steeringAngleDeg, 1),
-    #   "gear": str(ret.gearShifter),
-    #   "brakePressed": ret.brakePressed,
-    #   "gasPressed": ret.gasPressed,
-    #   "standstill": ret.standstill,
-    #   "leftBlinker": ret.leftBlinker,
-    #   "rightBlinker": ret.rightBlinker,
-    # })
-    #
-    # tlog("cruise", {
-    #   "enabled": ret.cruiseState.enabled,
-    #   "available": ret.cruiseState.available,
-    #   "speed": round(ret.cruiseState.speed, 3),
-    #   "standstill": ret.cruiseState.standstill,
-    #   "accFaulted": ret.accFaulted,
-    #   "ACCMode": scc.get("ACCMode", 0),
-    #   "VSetDis": scc.get("VSetDis", 0),
-    #   "aReqRaw": round(scc.get("aReqRaw", 0), 3),
-    #   "aReqValue": round(scc.get("aReqValue", 0), 3),
-    #   "DISTANCE_SETTING": scc.get("DISTANCE_SETTING", 0),
-    #   "ACC_ObjDist": round(scc.get("ACC_ObjDist", 0), 1),
-    # })
-    #
-    # tlog("speed_limit", {
-    #   "SPEED_LIMIT_1": cluster.get("SPEED_LIMIT_1", 0),
-    #   "SPEED_LIMIT_2": cluster.get("SPEED_LIMIT_2", 0),
-    #   "SPEED_LIMIT_3": cluster.get("SPEED_LIMIT_3", 0),
-    #   "SCHOOL_ZONE": cluster.get("SCHOOL_ZONE", 0),
-    #   "CHIME_1": cluster.get("CHIME_1", 0),
-    #   "CHIME_2": cluster.get("CHIME_2", 0),
-    #   "SPEED_CHANGE_BLINKING": cluster.get("SPEED_CHANGE_BLINKING", 0),
-    #   "calculated": self.calculate_speed_limit(cp, cp_cam),
-    #   "is_metric": self.is_metric,
-    # })
-    #
-    # tlog("buttons", {
-    #   "cruise_button": self.cruise_buttons[-1],
-    #   "main_button": self.main_buttons[-1],
-    #   "lkas_enabled": self.lkas_enabled,
-    #   "main_enabled": self.main_enabled,
-    # })
-
     return ret
 
   def get_can_parser(self, CP):

selfdrive/car/hyundai/hyundaicanfd.py

@@ -2,6 +2,7 @@ from openpilot.common.numpy_fast import clip
 from openpilot.selfdrive.car import CanBusBase
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
+from openpilot.common.params import Params
 
 class CanBus(CanBusBase):
   def __init__(self, CP, hda2=None, fingerprint=None) -> None:
@@ -35,9 +36,12 @@ class CanBus(CanBusBase):
     return self._cam
 
 
-def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer, no_lat_lane_change=0):
-  # CLEARPILOT: no_lat_lane_change is passed in by the caller so we can hoist
-  # the Params read out of the 100Hz hot path (was ~5% of carcontroller time)
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
+
+  # Im sure there is a better way to do this
+  params_memory = Params("/dev/shm/params")
+  no_lat_lane_change = params_memory.get_int("no_lat_lane_change", 1)
+
   ret = []
 
   values = {
@@ -126,7 +130,9 @@ def create_buttons(packer, CP, CAN, cnt, btn):
 
 def create_buttons_alt(packer, CP, CAN, cnt, btn, template):
   return
-
+  params_memory = Params("/dev/shm/params")
+  CarCruiseDisplayActual = params_memory.get_float("CarCruiseDisplayActual")
+  
   values = {
     "COUNTER": cnt,
     "NEW_SIGNAL_1": 0.0,