Replaces clearpilot's working state wholesale with the modelrevert branch's
tree (modelrevert tip cea422b). Discards the parked-controlsd manager-process
split and the two session READMEs that documented it; keeps the simpler
in-process park short-circuits (controlsd state_control, plannerd, frogpilot_process)
and the cached-output decimation (modeld, dmonitoringmodeld) that achieve
the same goal with less moving parts. Also brings in the locationd GPS
ignore, the calibrationd valid=calStatus gate, and the model-revert lineage's
controlsd / paramsd / torqued / events.py / carstate.py / interfaces.py.
This is a single new commit on clearpilot (no merge), so the branch advances
linearly while the file state matches modelrevert exactly.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Four logically-related changes that together get the manager booting
cleanly end-to-end after the prior session's baseline revert + parked-mode
split, plus a session doc.
boardd: trigger safety_setter_thread on ignition rising edge, not on
IsOnroad rising edge. The parked-mode split broke the stock assumption
that ignition rising implies IsOnroad rising — IsOnroad now requires
`started`, which requires thermald to see carState != park, which
requires controlsd_parked to publish carState, which can't happen until
boardd acks OBD multiplexing. Triggering on ignition edge restores the
"set safety as soon as the bus is alive" intent for both controlsd
variants.
controlsd: drop the two `params_memory.put_bool("no_lat_lane_change",
...)` calls. The key was never registered in common/params.cc so
state_control crashed with UnknownKeyName on first cycle. The carcontroller
reads off `frogpilot_variables.no_lat_lane_change` (in-process), which
controlsd already sets; the UI reads `frogpilotCarControl.NoLatLaneChange`
from cereal, which nobody was setting in the restored controlsd. Add
`self.FPCC.noLatLaneChange = True/False` in the same lane-change branch
so the UI lane-edge indicator reflects state. No actuator change.
cereal/services.py: restore deviceState/managerState declarations to 2Hz
to match the restored DT_TRML=0.5 (thermald at 2Hz). Earlier fan-control
work bumped both to 5Hz; the realtime.py revert undid the thermald rate
bump but services.py wasn't reverted, so freq window [4.0, 6.0]Hz failed
on every cycle and controlsd fired commIssue continuously.
locationd: add a `clearpilot_disable_gps` const at the top of handle_gps
and OR it into the existing reject condition. With it true, every
gpsLocation message falls through to determine_gps_mode() — openpilot's
stock no-GPS path. last_gps_msg never updates, is_gps_ok() permanently
false. gpsd is untouched so UI / dashcamd / clock-set / night-mode auto-
switch keep working unchanged. The user's "drift right on straight roads"
symptom went away after this edit; the previous gpsd.py was hard-coding
vNED=[0,0,0] while the car was moving, feeding the Kalman contradictory
GPS-vs-IMU velocity observations that propagated into latcontrol_torque
through liveLocationKalman.angularVelocityCalibrated. Reversible by
flipping the const to false.
sessions/: a single README documenting this session. Includes the
calibrationd-still-stale investigation — liveCalibration.valid stuck at
False because of a Python SubMaster freq_ok issue with carState under
poll='cameraOdometry' (likely MSGQ NUM_READERS=12 eviction with too many
subscribers). 7ee923b already solved this exact failure mode by gating
calibrationd's publish on calStatus instead of sm.all_checks(); that
commit was reverted in 47321e3 as part of the variable-FPS rollback
but is unrelated to that family and is the natural next move.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Previous behavior gated liveCalibration.valid on calibrationd's own
sm.all_checks(). Upstream freq glitches (e.g. carState polling-pattern
artifacts) flapped liveCalibration.valid to False, which cascaded into
locationd: its filterInitialized check requires sm.allAliveAndValid(),
so flapped valid kept locationd uninitialized. While uninitialized,
locationd still published liveLocationKalman but with empty/garbage
angularVelocityCalibrated fields. paramsd's Kalman drank the garbage
and converged to steerRatio ≈ 0, stiffnessFactor ≈ 0 — which
controlsd clamped to 0.1 each and fed into VM.calc_curvature,
producing nonsense curvature commands and visibly jerky steering.
"valid" semantically asks whether the calibration data is
trustworthy — that's a question about convergence (calStatus ==
calibrated), not about input freshness. Switching the gate removes
the cascade: once calibration completes, liveCalibration.valid stays
True stably, locationd initializes, paramsd gets clean observations,
steerRatio converges to the real value.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
CLAUDE.md: added a "Logging" rule — never use cloudlog (upstream cloud
pipeline, effectively a black hole for us), always use
print(..., file=sys.stderr, flush=True). Manager redirects each process's
stderr to /data/log2/current/{proc}.log. Prefix our lines with "CLP ".
Diagnostic logging — when a publisher sets its own msg.valid=False, log
which specific subscriber tripped the check. Only fires on transition
(True→False) so we don't spam. Covers the services whose cascades we've
been chasing:
- frogpilot_planner (frogpilotPlan)
- longitudinal_planner (longitudinalPlan)
- paramsd (liveParameters)
- calibrationd (liveCalibration)
- torqued (liveTorqueParameters)
- dmonitoringd (driverMonitoringState)
gpsd.is_daylight: fixed a day-boundary bug where the function would flip
to "night" at UTC midnight regardless of actual local sunset. At 85W
sunset is ~00:20 UTC next day, so between local 8pm and actual sunset
the function used *tomorrow's* sunrise/sunset and said night. Now checks
yesterday/today/tomorrow windows with UTC-day offsets.
ui/onroad.cc: nightrider tire-path outline is now light blue (#99CCFF)
at 3px (was white/status-tinted at 6px); lane lines 5% thinner (float
pen width).
thermald/power_monitoring: auto-shutdown timer 10min → 30min.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
brianhansonxyz