 brianhansonxyz
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47321e3867
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restore driving logic to pre-variable-fps baseline
Wholesale revert of driving-relevant files to the snapshot in
/projects/openpilot/archive/clearpilot (HEAD 980f0aa). Goal: get
known-good driving behavior back, then re-introduce optimizations
slowly to track down a "feels like the wheel pulls right" regression.
Files restored from baseline:
- selfdrive/controls/controlsd.py
- selfdrive/controls/lib/events.py
- selfdrive/controls/lib/longitudinal_planner.py
- selfdrive/modeld/modeld.py
- selfdrive/modeld/dmonitoringmodeld.py
- selfdrive/locationd/calibrationd.py
- selfdrive/locationd/paramsd.py
- selfdrive/locationd/torqued.py
- selfdrive/car/interfaces.py
- selfdrive/car/hyundai/carstate.py (CAN-FD telemetry preserved as a
commented block for future re-enable)
- selfdrive/monitoring/dmonitoringd.py
- selfdrive/frogpilot/controls/frogpilot_planner.py
- common/realtime.py
Intentionally NOT restored (kept as current):
- selfdrive/thermald/* (fan/power tuning kept)
- selfdrive/car/hyundai/carcontroller.py + hyundaicanfd.py (perf-only
hoist of no_lat_lane_change Params read; behavior-equivalent)
- cereal/services.py, cereal/custom.capnp (additive only)
- selfdrive/manager/*, common/params.cc (heavy ClearPilot
infrastructure: bench mode, log dir, dashcamd, gpsd, params)
- All selfdrive/ui/, selfdrive/clearpilot/, system/clearpilot/
UI features will be re-wired in a follow-up commit.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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2026-04-26 08:40:02 -05:00 |
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brianhansonxyz
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bf030db9fe
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modeld standby, fan standstill clamping, log rotation, diagnostic logging
- modeld standby: skip inference at standstill (model stays loaded in GPU),
ModelStandby param + ModelStandbyTs heartbeat for race-free suppression
- controlsd: suppress commIssue/modeldLagging when ModelStandbyTs < 2s old,
ignore telemetryd/dashcamd in process_not_running check
- Fan controller: standstill below 74°C clamps to 0-10% (near silent),
standstill above 74°C allows 0-100%, thermald reads carState.standstill
- Deleter: enforce 4GB quota on /data/log2 session logs, oldest-first cleanup
- Diagnostic logging: steerTempUnavailable and controlsdLagging log to stderr
with full context (steering angle, torque, speed, remaining time)
- CLAUDE.md: document memory params method name difference (C++ camelCase
vs Python snake_case)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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2026-04-14 01:35:14 -05:00 |
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