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: