controlsd: in park+ignition-on, run full step() only every 10th cycle.
data_sample still runs every cycle (CAN parse, button detection) and
card.controls_update still runs every cycle (CAN TX heartbeat, counter
increments). Skipped cycles re-send cached controlsState/carControl so
downstream freq_ok stays OK. Button edge handling + display-mode
transitions extracted to handle_screen_mode() and called every cycle so
debug-button presses aren't dropped. controlsd: 55% → 30% CPU in park.
dmonitoringmodeld: subscribe to carState; at standstill, skip model.run
and re-publish last inference. driverStateV2 continues flowing at 10Hz
with known-good last face data (driver can't become distracted relative
to a stopped car). ~5% CPU saved.
power_monitoring: remove the `car_battery_capacity_uWh <= 0` shutdown
trigger. That virtual capacity counter floor-limits to 3e6 µWh on boot
and drains in ~12 min at typical device power, so a short drive (that
doesn't fully recharge the 30e6 µWh virtual cap) followed by a quick
store stop would trip shutdown well before the 30-min idle timer. The
real car-battery-voltage protection (low_voltage_shutdown at 11.8V with
60s debounce) is kept.
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>
- 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>
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