Starting point for rebuilding self-drive from a known-good baseline.
Reverts the following to their state at f46339c:
- selfdrive/modeld/modeld.py (constant 20fps, no variable-rate / standby skip)
- selfdrive/modeld/dmonitoringmodeld.py (no carState sub, no standstill skip)
- selfdrive/controls/controlsd.py (no parked-cycle skip, no FPCC hoisting, no MDPS split)
- selfdrive/controls/lib/longitudinal_planner.py
- selfdrive/locationd/calibrationd.py (valid = sm.all_checks again)
- selfdrive/locationd/paramsd.py
- selfdrive/locationd/torqued.py
All non-self-drive features (thermald fan control, speed limit controller,
cruise warning signs, UI state transitions, GPS fixes, ClearPilot menu,
dashcamd, telemetry, etc.) remain as-is on this branch — only the 4 core
self-drive processes are reverted.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- onroad: speed-limit sign and cruise over/under sign — shift the number
~10% further down inside the inner box (adjusted top inset 42→86).
- modeld: narrow the standby condition. Previously 0fps when
standstill-or-parked; now 0fps only when parked. Standstill in drive
(red light) continues to run at 20fps so lateral can engage/stay
responsive and liveCalibration/paramsd keep seeing observations.
Ignition-off still stops modeld at the manager level.
- Health overlay: replace LAG row with FPS (modeld framerate read from
ModelFps memory param, which modeld already writes only on standby
transition — no per-frame writes).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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>
- modeld: simplified to 0fps (standstill or parked) or 20fps. Removed
4/10fps reduced-rate path, republish caching, FPCC/liveCalibration
reads, and ModelFps per-cycle param writes.
- ui.cc updateWakefulness: ignition on→off now resets interactive_timeout
to 0 for immediate screen blank. Tap still wakes via existing handler.
- home.cc offroadTransition(false): reset ready->has_driven to false so
the READY text appears on fresh ignition, not the textless post-drive
splash.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
- commIssue now fires only on real comms failure (not_alive or CAN RX
timeout), not on self-declared valid=False cascades from MSGQ-conflate +
slow-polling freq_ok artifacts. Car drives fine through these and the
banner was false-positive.
- Add 5-cycle hysteresis (50ms) on commIssue / posenetInvalid /
locationdTemporaryError / paramsdTemporaryError.
- Cascade-aware suppression: skip posenet/locationd/paramsd temporary
errors when the only problem is freq_only_cascade (all alive, just
freq/valid tripped).
- Remove debug _dbg_dump_alert_triggers helper and EVENTS/EVENT_NAME
imports.
- Re-enable variable-rate modeld (4/10fps idle, 20fps when lat_active /
lane_changing / calibrating) with republish caching so consumers get
constant publish rate.
- Split lat_requested (modeld signal) from lat_engaged (actuator gate).
Momentary steerFaultTemporary no longer drops modeld rate, preventing
stale-prediction feedback loop on MDPS recovery. CC.latActive still
respects the fault.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Disabled the variable-rate (4/10/20fps) logic — it caused persistent
downstream freq/valid cascades that broke paramsd's angle-offset
learner, calibrationd, and locationd's one-shot filterInitialized latch.
Symptom: user's "TAKE CONTROL IMMEDIATELY / Communication Issue"
banner during engaged driving, plus subtle right-pull (paramsd's fast
angle-offset adaptation was frozen all session).
Simpler model now:
standstill → standby (0fps, paused)
otherwise → 20fps (no variable rate)
Republish-caching and FPCC.latRequested/noLatLaneChange plumbing left in
place so re-enabling variable rate later is a one-line change
(full_rate = True → the original full_rate expression).
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>
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>
Decouples "tell modeld to go fast" from "steering actually active":
- New LatRequested memory param — controlsd writes when lat would be active
- modeld reads LatRequested (not carControl.latActive) for FPS decision,
so it switches to 20fps immediately on engage request
- controlsd delays CC.latActive becoming true by 250ms (5 frames @ 20fps)
after LatRequested goes true, giving downstream services
(longitudinalPlan, liveCalibration, etc.) time to stabilize at the new rate
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>
- modeld: full 20fps (lat active), 4fps (driving no lateral), 0fps
(standstill). Standby timestamp written in both standby and 4fps modes
to suppress transient errors on engagement transition
- tlog: all calls commented out (was causing 100Hz CPU load in controlsd
and carstate). tlog client now checks TelemetryEnabled param before
sending — zero cost when disabled
- dashcamd: wait for valid frame dimensions on startup (fix SIGSEGV),
always_run (manages own trip lifecycle)
- Fan: driving range 15-100%
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- modeld: enter standby when latActive=false (not just standstill),
exception for lane changes (no_lat_lane_change). Fix Python capnp
property access (.latActive not getLatActive())
- controlsd: move model_suppress computation early, suppress radarFault,
posenetInvalid, locationdTemporaryError, paramsdTemporaryError during
model standby + 2s grace period. All cascade from modeld not publishing
- dashcamd: always_run (manages own trip lifecycle), wait for valid frame
dimensions before encoding (fix SIGSEGV on early start)
- Fan: driving range 15-100% (was 30-100%)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
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