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>
Adds a second controlsd variant that runs while ignition is on but the
car is in Park. It only listens to CAN and publishes carState — no
model, no planner, no lateral/long control, no actuator commands — so
modeld, locationd, calibrationd, plannerd, radard, paramsd, torqued,
dmonitoring*, soundd, loggerd all stay stopped while parked.
Manager swaps between the two via mutually-exclusive predicates:
- controlsd_parked: ignition AND not started
- controlsd (full): started (= ignition AND not_parked)
Thermald owns the swap. It already subscribes to carState; we add a
new onroad condition `not_parked` derived from gearShifter, with a
1.5s hysteresis on going into parked (R/P/D thrash protection) and
zero hysteresis on going out (instant wake on shift to D/R/N). At
boot we assume parked so the heavy stack waits for carState to
confirm gear has actually left Park.
Manager predicates can only see persistent Params, not pandaStates,
so thermald exposes ignition as a new IgnitionOn param (edge-written).
Reverse is treated as not-parked — driver is moving.
Files:
- selfdrive/controls/controlsd_parked.py (new, ~50 lines)
- selfdrive/thermald/thermald.py: not_parked condition + IgnitionOn
- selfdrive/manager/process_config.py: parked_only predicate + entry
- selfdrive/manager/manager.py: seed IgnitionOn=False
- common/params.cc: register IgnitionOn
The full controlsd is unchanged.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
The new fan control plumbing referenced log.CarState.GearShifter.park,
but CarState is defined in car.capnp and only DeviceState/PandaState
live in log.capnp. Thermald crashed immediately on first carState tick,
which meant deviceState stopped publishing entirely. The UI then read
stale/default values — freeSpacePercent=0 → "100% full" → "Out of Storage"
alert despite 65 GB actually free. The fan also stopped updating.
from cereal import car, log (was just log)
car.CarState.GearShifter.park (was log.CarState...)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Fan control rework (thermald → 4Hz):
- DT_TRML 0.5s → 0.25s (thermald loop + fan PID now at 4Hz)
- New clamp rules based on (gear, cruise_engaged, standstill):
parked → 0-100%
in drive + cruise engaged (any speed) → 30-100%
in drive + cruise off + standstill → 10-100%
in drive + cruise off + moving → 30-100%
- thermald now reads gearShifter (via carState) and controlsState.enabled,
passes them to fan_controller.update()
- Removed BENCH_MODE special case — new rules cover bench automatically
- Removed ignition-based branches — gear is the correct signal
System health overlay:
- Subscribed UI to peripheralState so we can read fanSpeedRpm
- Added FAN row: actual fan% (RPM / 65) to sit alongside LAG/DROP/TEMP/CPU/MEM.
Shows the real fan output vs. what the PID is asking for.
Migrate hot signals from paramsMemory to cereal (frogpilotCarControl):
- Added latRequested @3 and noLatLaneChange @4 to FrogPilotCarControl schema
- controlsd sets FPCC.latRequested / FPCC.noLatLaneChange (send-on-change
already gates the IPC)
- modeld reads from sm['frogpilotCarControl'] (added to its subscribers)
instead of paramsMemory (saves ~20 file-read syscalls/sec)
- carcontroller reads from frogpilot_variables (set in-process by controlsd)
instead of paramsMemory (saves ~100 file-read syscalls/sec in 100Hz path).
Dropped carcontroller's now-unused Params instance and import.
- UI (ui.cc, onroad.cc) reads from sm['frogpilotCarControl'].noLatLaneChange
- Removed LatRequested and no_lat_lane_change param registrations + defaults
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Python Params uses snake_case; the C++ camelCase call raised
AttributeError, killing thermald_thread at the exact moment of shutdown.
Result: DoShutdown never got set, the 10-minute timer "worked" once (set
DashcamShutdown=True) and then thermald died silently. Device kept
draining the battery instead of powering down.
Caught because CLAUDE.md specifically flags this pattern as a common
source of silent failures between C++ and Python.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Fan controller: allow full 100% fan when offroad temp >= 75°C (startup cooling)
- ModelFps memory param: modeld publishes actual FPS (20 or 4) so downstream
consumers can adjust frame-rate-dependent logic
- Longitudinal planner: dynamically adjusts dt and v_desired_filter based on
ModelFps; FCW crash_cnt threshold scales with FPS to maintain consistent
0.15s trigger window at both 20fps and 4fps
- controlsd: suppress commIssue alerts for 2s after lateral control engages
(FPS transition from 4->20 causes transient freq check failures)
- Shutdown timer: hardcoded to 10 minutes (was 45min via FrogPilot param),
screen taps reset the countdown via ShutdownTouchReset memory param,
removed Shutdown Timer UI selector from ClearPilot menu
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Dashcam recording now organized by trip in /data/media/0/videos/YYYYMMDD-HHMMSS/.
Starts recording immediately on launch (with 10-min idle timer), transitions to
continuous recording when drive gear detected. New trip on every ignition cycle.
Graceful shutdown via DashcamShutdown param with 15s ack timeout in thermald.
- Bitrate reduced to 2500 kbps (was 4 Mbps)
- Trip state machine: IDLE → RECORDING ↔ IDLE_TIMEOUT → TRIP_ENDED
- Deleter: trip-aware deletion (oldest trip first, then segments within active trip)
- camerad changed to always_run (was driverview) so dashcam works offroad
- DashcamShutdown param for graceful close before device power-off
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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