From ef4e02e354640fd1a4bc9bde186dc3fe3ab17283 Mon Sep 17 00:00:00 2001
From: Brian Hanson <brian@hanson.xyz>
Date: Thu, 16 Apr 2026 21:41:29 -0500
Subject: [PATCH] feat: 10fps daytime / 4fps night modeld + 2Hz GPS
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Reduced-rate modeld path now branches on IsDaylight:
- daylight: skip 1/2 frames → 10fps (better model responsiveness when
  lighting gives the net more signal)
- night: skip 4/5 frames → 4fps (unchanged, conservative for power)

IsDaylight is already in /dev/shm (memory) via gpsd.py. Gated the
IsDaylight write on change — it flips twice a day, no reason to rewrite
every 30s. GPS polling bumped from 1Hz → 2Hz.

ModelFps publishes "10" / "4" / "20" so longitudinal_planner's dt and
FCW-threshold scaling (if re-enabled) still track actual rate.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
---
 selfdrive/modeld/modeld.py | 14 +++++++++-----
 system/clearpilot/gpsd.py  |  8 ++++++--
 2 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index fd9c790..7b95f24 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -273,17 +273,21 @@ def main(demo=False):
       last_vipc_frame_id = meta_main.frame_id
       continue
 
-    # Reduced framerate: 4fps when not lat active and not standstill
-    # Skip 4 out of every 5 frames (20fps -> 4fps)
+    # Reduced framerate: daylight 10fps (skip 1/2), night 4fps (skip 4/5)
+    # Daytime runs twice as fast — better model responsiveness when lighting is good
+    # and the neural net has more signal. Night stays conservative for power.
     # Write standby timestamp so controlsd suppresses transient errors
     if not full_rate:
-      if params_memory.get("ModelFps") != b"4":
-        params_memory.put("ModelFps", "4")
+      is_daylight = params_memory.get_bool("IsDaylight")
+      skip_interval = 2 if is_daylight else 5
+      target_fps = b"10" if is_daylight else b"4"
+      if params_memory.get("ModelFps") != target_fps:
+        params_memory.put("ModelFps", target_fps.decode())
       now = _time.monotonic()
       if now - last_standby_ts_write > 1.0:
         params_memory.put("ModelStandbyTs", str(now))
         last_standby_ts_write = now
-      if run_count % 5 != 0:
+      if run_count % skip_interval != 0:
         last_vipc_frame_id = meta_main.frame_id
         run_count += 1
         continue
diff --git a/system/clearpilot/gpsd.py b/system/clearpilot/gpsd.py
index 296975e..cf4f402 100644
--- a/system/clearpilot/gpsd.py
+++ b/system/clearpilot/gpsd.py
@@ -159,6 +159,7 @@ def main():
   params_memory = Params("/dev/shm/params")
   last_daylight_check = 0.0
   daylight_computed = False
+  prev_daylight = None  # CLEARPILOT: gate IsDaylight write on change
   print("gpsd: entering main loop", file=sys.stderr, flush=True)
 
   while True:
@@ -205,7 +206,10 @@ def main():
           last_daylight_check = now_mono
           utc_now = datetime.datetime.utcfromtimestamp(fix["timestamp_ms"] / 1000)
           daylight = is_daylight(fix["latitude"], fix["longitude"], utc_now)
-          params_memory.put_bool("IsDaylight", daylight)
+          # CLEARPILOT: gate on change — daylight flips twice a day, don't rewrite every 30s
+          if daylight != prev_daylight:
+            params_memory.put_bool("IsDaylight", daylight)
+            prev_daylight = daylight
 
           if not daylight_computed:
             daylight_computed = True
@@ -221,7 +225,7 @@ def main():
             params_memory.put_int("ScreenDisplayMode", 0)
             cloudlog.warning("gpsd: auto-switch to normal (sunrise)")
 
-    time.sleep(1.0)  # 1 Hz polling
+    time.sleep(0.5)  # 2 Hz polling
 
 
 if __name__ == "__main__":