locationd: ignore GPS as Kalman input; expand park-cached-output to onroad consumers

locationd: ignore gpsLocation observations entirely (clearpilot_disable_gps
const at the top of handle_gps; falls through to determine_gps_mode's
no-GPS path). gpsd.py keeps publishing real GPS for UI / dashcam / clock
/ night-mode — only locationd ignores it. The previous gpsd.py path was
hard-coding vNED=[0,0,0] while the car was moving 28 m/s, feeding the
Kalman contradictory GPS-vs-IMU velocity observations that propagated into
latcontrol_torque through liveLocationKalman.angularVelocityCalibrated and
caused a real "drift right on straight roads" symptom.

controlsd: short-circuit state_control() while parked. Skips LaC/LoC PID,
MPC, model_v2 reads, lane-change logic — all wasted work when the car
isn't moving. Returns the same enabled=False/latActive=False/longActive=False
CC the original code would have produced, so publish_logs runs unchanged
and card.controls_update keeps the sendcan / tester-present heartbeat
flowing at 100Hz. controlsd CPU dropped from ~59% to ~3% in park.

controlsd: also wire self.FPCC.noLatLaneChange = True/False in the
existing lane-change suppression branch. The Hyundai carcontroller already
reads off frogpilot_variables.no_lat_lane_change for the no-steer signal,
but the UI's distinctive yellow CHANGE_LANE_PATH_COLOR (onroad.cc:901)
reads from frogpilotCarControl.NoLatLaneChange — which nobody was setting,
so the yellow line never appeared during lane-change suppression.

plannerd: skip longitudinal_planner.update + publish + publish_ui_plan
while parked. Downstream controlsd already short-circuits in park, so
longitudinalPlan / uiPlan staleness is fine.

frogpilot_process: same idea — skip frogpilot_planner.update + publish
while parked.

dmonitoringmodeld: mirror the cached-output trick from modeld. Add carState
to the SubMaster, cache the last (model_output, dsp_execution_time) tuple,
and serve it on every frame while gear is in park instead of running DSP
inference on the driver camera.

Together with the existing modeld park-cached-output, the heavy onroad
processing pipeline (modeld → plannerd → controlsd → carcontroller) now
all idles in park and only fires when the car leaves park.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

selfdrive/locationd/locationd.cc

@@ -308,12 +308,18 @@ void Localizer::input_fake_gps_observations(double current_time) {
 }
 
 void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
+  // CLEARPILOT: GPS disabled as a Kalman input. gpsd still publishes real GPS for
+  // UI / dashcam / clock / night-mode; only locationd ignores it. Falls through to
+  // determine_gps_mode() which is openpilot's existing no-GPS path (fake observations
+  // to bound position uncertainty). To re-enable, set this to false.
+  const bool clearpilot_disable_gps = true;
+
   bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
   bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
   bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
-  if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
+  if (clearpilot_disable_gps || !log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
     //this->gps_valid = false;
     this->determine_gps_mode(current_time);
     return;