Adds the AT-command-based GPS daemon for the Quectel EC25 modem (the
device has no u-blox chip and qcomgpsd's diag interface hangs on this
hardware). Trimmed from broken's version: dropped cloudlog calls and
the IsDaylight / ScreenDisplayMode auto-switching (those belong to the
display-modes feature, port later).
Used solely for system clock initialization, on-screen UI speed, and
per-segment dashcam GPS metadata.
Self-driving must NOT consume gpsLocation — feeding it to locationd's
kalman filter screws up the math. Patch locationd to skip GPS:
- locationd_thread() no longer subscribes to gpsLocation/gpsLocationExternal
- handle_msg's GPS branches commented (dead code without subscription)
- the "save LastGPSPosition once a minute when gpsOK" block commented
(dead because gpsOK is now permanently false)
Result: liveLocationKalman.gpsOK = false for all self-driving consumers
(controlsd, paramsd, torqued, frogpilot_planner). They already handle
that case. Other liveLocationKalman fields still publish from the
camera-odometry + IMU + calibration kalman state.
system/clearpilot/__init__.py added so system.clearpilot.gpsd is a
valid Python module.
selfdrive/ui/text is a shell wrapper that execs ./_text. After exec,
the running process's argv has no path component, so
pkill -f 'selfdrive/ui/text' silently misses it. Add pkill -x _text
alongside the existing path-pattern kills in build_only.sh,
launch_openpilot.sh, and launch_chffrplus.sh.
We don't use comma's upload/replay pipeline, and the segment recorder
was silently filling /data with 30 MB rlog files per minute (the 64 GB
we just cleared). Disable the writers entirely.
- process_config.py: comment out loggerd, encoderd, stream_encoderd
- manager.py: skip save_bootlog() at manager init (was writing
boot info to /data/media/0/realdata/boot/<bootid>/)
deleter still runs for cleanup of any leftover data; logmessaged still
runs (in-memory log routing IPC). uploader was already disabled in
baseline. No process consumes loggerd/encoderd output onroad, so this
is purely a sink removal.
Every other reference treats ScreenDisplayMode as an int (range 0-4).
The init line was using put_bool(0) which happened to write the same
"0" string and read back fine via get_int, but the type mismatch was
misleading.
Records: where the broken-but-feature-complete tree lives
(/data/openpilot-broken-2026-05-03 + tag pre-reset-2026-05-03), where
the baseline source still sits (/data/clearpilot-baseline), the
working-baseline-2 tag, and a categorized roadmap of features in the
broken tree that still need to be ported (driving behavior, onroad UI,
speed/cruise logic, dashcamd, gpsd, telemetry, bench mode, power/
thermal, memory params, session logging).
Carries forward the operational guardrails from the previous CLAUDE.md
(no cloudlog, chown to comma, samba/git/test workflow, params/cereal
gotchas, device specifics) so future sessions don't re-learn them.
- onroad.cc: fix screenDisplayMode reference to nvg->screenDisplayMode
(baseline had a stale reference to the variable after it moved into
AnnotatedCameraWidget). Restores the original conditional intent.
- ui/SConscript + home.cc: drop QtWebEngine include/link entirely
(no longer used by any active code).
- build.py: BUILD_ONLY env var spawns the failure TextWindow fully
detached (own session, /dev/null stdio) so build_only.sh exits and
caller can capture stderr; spinner binary update uses temp+os.replace
so a running spinner doesn't ETXTBSY the build.
- build_only.sh: tee build output to /tmp/build.log and propagate
build.py's exit code via PIPESTATUS.
Verified: build_only.sh completes cleanly, launch_openpilot.sh boots
the manager and spawns the standard process set.
Restoring the working tree to the pristine pre-Claude baseline previously
preserved at /data/clearpilot (now /data/clearpilot-baseline). The prior
modified-but-broken tree is snapshotted at /data/openpilot-broken-2026-05-03
and tagged here as pre-reset-2026-05-03 for reference.
From here, features (UI changes, dashcam, telemetry, GPS, display modes,
speed logic, standstill power saving, etc.) will be re-introduced one at
a time with proper testing.
Adds back the UI plumbing that the baseline controlsd doesn't have, so
the existing UI features keep working without changing driving logic:
- ScreenDisplayMode 5-state machine (auto-normal, auto-nightrider,
manual normal, screen-off, manual nightrider) driven by the LFA
debug button + gear edges. Replaces baseline's simple 0..2 cycle.
Pure params write — no actuator effect.
- Speed/cruise-warning overlay tick at ~2Hz feeding SpeedState, which
writes ClearpilotSpeedDisplay / ClearpilotSpeedLimitDisplay /
ClearpilotCruiseWarning for the onroad UI. Reads gpsLocation,
CarSpeedLimit, and CS.cruiseState — no actuator effect.
- frogpilot_variables.no_lat_lane_change is now populated alongside
the existing Params write, so the perf-optimized carcontroller (which
takes the bit as an argument instead of re-reading Params on the
100Hz hot path) still sees the lane-change suppression signal.
- ScreenDisplayMode init switched from put_bool to put_int (UI reads
it as int).
- gpsLocation added to SubMaster (ignore_alive/avg_freq/valid set,
since gpsd is a ClearPilot addition not present everywhere).
No changes to controlsd's lateral or longitudinal control paths.
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>
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>
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>
Original gate was sm.all_checks() which required modelV2 fresh and
liveCalibration.valid. Both fail spuriously in our setup:
- modelV2 stops at standstill/parked (two-state modeld)
- calibrationd propagates its own freq_ok glitches into liveCalibration.valid
Either condition froze DM pose updates — face_detected stuck False →
maybe_distracted True → awareness decayed to 0 within ~6s of engagement
("TAKE OVER" driver-distraction alert the moment controlsd engaged).
Narrow the gate to only the subs update_states actually consumes
(driverStateV2, carState, controlsState, liveCalibration), check only
alive+valid (skip freq_ok), and skip liveCalibration.valid — rpyCalib
presence is sufficient proof that calibration has produced output.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Generated from xscreensaver left-facing wag pair (pacman.c frames 5 & 6)
and recolored blue at 2x our bg.jpg sprite size. Saved in source
orientation (portrait, same as bg.jpg) for hand-editing later.
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>
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>
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>
Root cause of "TAKE CONTROL IMMEDIATELY / Communication Issue Between
Processes" during driving: our 4Hz thermald and 2Hz gpsd changes pushed
deviceState, managerState, and gpsLocation above their declared rate
ceilings in cereal/services.py. SubMaster's freq_ok check requires
observed rate within [0.8*min, 1.2*max]; publishing faster than max also
fails the check — which trips all_freq_ok(), raises EventName.commIssue,
and fires the banner.
- deviceState: 2Hz → 4Hz (matches thermald DT_TRML=0.25)
- gpsLocation: 1Hz → 2Hz (matches gpsd 2Hz polling)
- managerState: 2Hz → 4Hz (gated on deviceState arrival, inherits rate)
Also:
- Re-enabled dashcamd in process_config.py (was disabled for the
diagnostic test — dashcamd was innocent).
- Added a CLAUDE.md section documenting this class of bug so the next
rate change updates services.py too.
Co-Authored-By: Claude Opus 4.6 (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>
Stock rk.lagging fires at 11.1ms (90% of 10ms interval), which the
Hyundai CAN load routinely crosses during normal driving as carstate
parses 50-200 msgs/sec. That's normal, not a fault — the same code
behaved the same way at the fork baseline; we just made it visible with
the LAG overlay.
50Hz effective control is still tighter than any human reaction loop.
rk.lagging remains wired to the defensive skip paths (secondary camera
and radar checks) at the original tighter threshold, so we still avoid
false-alarming dependent events when briefly overloaded.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Two related fixes for the post-engage lag spike:
1. controlsdLagging suppressed during lat_engage_suppress window.
Ratekeeper.lagging triggers when avg cycle duration over 100 cycles
exceeds 11.1ms (90% of 10ms budget). The modeld 10→20fps ramp causes
a legitimate transient where downstream services (plannerd, locationd,
calibrationd, paramsd) each drain 2x the message rate, briefly pushing
avg cycle time past the threshold. The underlying system isn't broken —
it's correctly absorbing a scheduled workload transition.
2. frogpilotCarControl now sends only on change (+ 1Hz keepalive) instead
of every 10ms. The message has 3 bool fields, of which speedLimitChanged
code is entirely commented out, trafficModeActive flips only on UI
button press, and alwaysOnLateral changes only on cruise/gear/brake
edges. plannerd doesn't include frogpilotCarControl in its all_checks
list so stale-freq detection isn't a concern. Saves ~7ms/sec of
capnp build + zmq send work.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Previously ran unpinned (affinity mask 0xff) across all 8 cores. When it
landed on core 4 (controlsd) or 5 (plannerd/radard) or 7 (modeld), its
70MB/s frame copies and MP4 muxing caused cache/memory-bandwidth
contention with the RT-pinned processes. SCHED_FIFO prevented direct
preemption but not the cache thrash.
OMX offloads actual H.264 work to hardware so the main thread is
lightweight — fine on the little cluster.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
System health overlay:
- Lower-right 5-metric panel: LAG (controlsState.cumLagMs), DROP
(modelV2.frameDropPerc), TEMP (deviceState.maxTempC), CPU (max core of
deviceState.cpuUsagePercent), MEM (deviceState.memoryUsagePercent)
- Color-coded white→yellow→red by severity (LAG: 50/200ms, DROP: 5/15%,
TEMP: 75/88°C, CPU: 75/90%, MEM: 70/85%)
- Toggle in ClearPilot → Debug → "System Health Overlay"
- New param ClearpilotShowHealthMetrics, PERSISTENT (disk, survives
reboots), default false — re-polled every ~2s so toggle takes effect
without process restart
- InterFont(90, Bold) to match speed limit numeric styling, 30px margin,
40px between rows, black rounded background
Nightrider center lane path (the "tire track" polygon from
scene.track_vertices) is now drawn at 2x the width of other lines —
highlights the planned path distinctly against the otherwise stark
outline-only rendering.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Audit of post-fork param additions found CarCruiseDisplayActual was
written every CAN cycle (gated) but only consumed by hyundaicanfd.py::
create_buttons_alt, which has `return` on line 1 and no active callers.
Write was pure waste. Removed registration, write path, cache field,
and the dead read.
Also dropped the now-unused `from openpilot.common.params import Params`
in hyundaicanfd.py.
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>
create_steering_messages was constructing a new Params("/dev/shm/params")
object and reading no_lat_lane_change on every CAN steering message build
— i.e. 100 allocations + 100 file reads per second. Now the Params
instance lives on CarController, and the value is read once per update()
cycle and passed as a parameter.
Audited all other hyundai CAN-FD integration code for similar patterns:
- carstate.py — already fixed (previous commit)
- carcontroller.py — other Params references are all in commented-out code
- hyundaicanfd.py::create_buttons_alt — dead code (early return), so the
Params read there never executes; left as-is
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Speed limit ≤25 mph now allows +8 over before warning (e.g. limit 25 →
33 is ok, warn at 34). Existing tiers unchanged: ≥50 → +9 ok warn at +10,
26-49 → +6 ok warn at +7.
Also gate all 7 speed_logic param writes on change (same pattern as the
earlier carstate/controlsd perf fix). Called at 2Hz so not as hot, but
unit/is_metric never change mid-drive and the cruise warning rarely
flips — no reason to thrash /dev/shm on every update.
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>
Tucson's radar-based collision warning is more reliable than the comma
model/planner FCW and was producing false positives. Single-user fork in
a single car, so no need to keep both.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Captures how we found the hot Params writes in carstate.py so the same
technique can be repeated. Includes the awk aggregators for per-callsite
and per-file-line breakdowns.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
py-spy showed per-cycle atomic param writes were the dominant cost. Each
put() is mkstemp+fsync+flock+rename+fsync_dir — fine when rare, ruinous at
100Hz. At park with no state changes, these writes were running anyway and
the flock contention was poisoning the whole system.
carstate.py (update + update_canfd): CarSpeedLimit, CarIsMetric,
CarCruiseDisplayActual were written every CAN update. Now cached and
written only on change.
controlsd.py: same fix for LatRequested and no_lat_lane_change. Also
throttle the sentry crash-file stat() from 100Hz to 1Hz.
Also: suppress locationdTemporaryError/paramsdTemporaryError/posenetInvalid
on lat engage (same 2s window as commIssue), and tie suppression to the
LatRequested edge instead of CC.latActive (fires immediately, not after
the 250ms ramp-up delay).
Also: reset Ratekeeper when it falls >1s behind — the ~6s fingerprinting
stall at startup was poisoning the lag metric for the entire session.
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>
dashcamd now waits for valid system time + GPS fix + drive gear before
starting a trip. Returns to waiting state on 10-min park timeout or
ignition off. Publishes DashcamState and per-trip DashcamFrames to
memory params. Status window shows stopped/waiting/recording states.
Updated CLAUDE.md with current display mode behavior, OmxEncoder port
details, speed limit warning thresholds, and dashcam param docs.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- OMX_Init/OMX_Deinit managed per encoder instance lifecycle
- Proper error handling in constructor, encoder_open, encoder_close
- Null guards on done_out.pop() and handle in destructor
- Codec config written directly to codecpar (no codec_ctx)
- ffmpeg faststart remux on segment close
- Crash handler in dashcamd for diagnostics
- DashcamFrames param for live frame count in status window
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Reset OMX subsystem (Deinit/Init) on dashcamd startup to clear stale
encoder state from previous unclean exits
- Validate OMX output buffers before memcpy to prevent segfault
- Validate VisionBuf frame data before encoding
- Add dashcam row to status window showing recording state and disk usage
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Removed nightrider exception that kept onroad UI visible in park.
Shifting to park from nightrider mode now auto-switches to screen off.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Tapping the touchscreen while in display mode 3 (screen off) resets
ScreenDisplayMode to 0 (auto-normal) and wakes the display.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
updateWakefulness was overriding display power every frame when ignition
was on, fighting the screen-off set by home.cc. Now respects
ScreenDisplayMode 3 unconditionally. Also auto-resets to mode 0 when
shifting into drive from screen-off.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Plays a ding via soundd when the cruise warning sign becomes visible
(cruise set speed out of range vs speed limit) or when the speed limit
changes while the warning sign is already showing. Max 1 ding per 30s.
Ding is mixed independently into soundd output at max volume without
interrupting alert sounds. bench_cmd ding available for manual trigger.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Cruise warning sign appears above speed limit sign when cruise set
speed is too far from the speed limit:
- Red (over): cruise >= limit + 10 (if limit >= 50) or + 5 (if < 50)
- Green (under): cruise <= limit - 5
- Only when cruise active (not paused/disabled) and limit >= 20
- Nightrider mode: colored text/border on black background
Speed limit sign enlarged 5%. 20px gap between signs. Bench mode
gains cruiseactive command (0=disabled, 1=active, 2=paused).
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
New speed_logic.py module converts raw CAN speed limit and GPS speed
into display-ready params. Called from controlsd (live) and
bench_onroad (bench) at ~2Hz. UI reads params to render:
- Current speed (top center, hidden when 0 or no GPS)
- MUTCD speed limit sign (lower-left, normal + nightrider styles)
- Unit-aware display (mph/kph based on CAN DISTANCE_UNIT)
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Standstill quiet mode was clamped to 0-10% which is dangerously low
under sustained load. Raised to 0-30%. Bench mode now forces 30-100%
onroad fan range regardless of standstill to prevent overheating
during bench testing.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Ensures git push works without GIT_SSH_COMMAND override. Idempotent —
skips if Host entry already exists in /root/.ssh/config.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Keys now install to /root/.ssh/ (for root git operations) instead of
/data/ssh/.ssh/. Runs every boot via on_start.sh so keys are available
even without a full provision cycle.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Create /usr/local/bin/claude wrapper that remounts / read-write before
calling the real binary. Removes PATH append to ~/.bashrc which was
duplicating on every provision run.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
manage_athenad was calling launcher() with only 2 args but the
per-process logging changes added a required log_path parameter.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Provision script now checks and corrects the git origin URL to the
SSH remote before fetching updates. Also fixed CLAUDE.md to reflect
the correct hostname (git.hanson.xyz, not git.internal.hanson.xyz).
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
The decrypt step in provision.sh was writing decrypted private keys
directly into the source tree (system/clearpilot/dev/), leaving them
as untracked files in the repo. Now decrypts to a mktemp dir, copies
to the SSH dir, and cleans up. Also added ed25519 key paths to
.gitignore to match the existing id_rsa entries.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Generate new ed25519 keypair (replaces old RSA keys)
- Encrypt with device serial from /proc/cmdline (always available, no manager needed)
- Update decrypt/encrypt tools and provision.sh to use serial
- Remove dependency on DongleId param for SSH key provisioning
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Add build_preflight.sh to create obj/ dirs that git can't track (body/board/obj, panda/board/obj)
- Wire preflight into build_only.sh and launch_chffrplus.sh
- Restore missing third_party binaries (libyuv, snpe, acados, maplibre) that were text pointers
- Remove dead Qt5WebEngineWidgets dependency from UI SConscript
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Install ccrypt, nodejs 18, npm, claude code in provision
- Decrypt id_rsa/id_rsa.pub via dongle ID and install to /data/ssh/.ssh/
- Run provision directly instead of through qt_shell wrapper
- Fix panda and body SConscripts to mkdir obj/ before writing gitversion.h
- Add sudo to su - comma build call
- Remount / rw at top of provision
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
SSH keys and sshd start immediately on every boot, not gated behind
quick_boot or dongle check. Provision script only handles packages,
git pull, and build.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- on_start.sh runs provision through qt_shell for on-screen display
- provision_wrapper.sh redirects stderr to stdout so errors are visible
- provision.sh: SSH setup before WiFi wait, verbose echo output,
sleep on failure so messages are readable
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- on_start.sh: always enables WiFi, waits 30s for connectivity if
no /data/quick_boot, then runs provision.sh
- New provision.sh: sets up SSH keys, installs openvpn, pulls latest
code from remote (hard reset, remote wins), runs build_only.sh,
touches /data/quick_boot on success
- Delete old dev/on_start.sh, dev/provision.sh, dev/on_start_brian.sh.cpt
(encrypted key decryption no longer needed)
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>
- Comment out all tlog() calls in controlsd (100Hz) and carstate (100Hz)
— was causing controlsd to lag from JSON serialization + ZMQ overhead
- tlog() now checks TelemetryEnabled memory param (1/sec file read),
returns immediately when disabled — zero cost when telemetry is off
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>
- Telemetry status bar in onroad UI: temp, fan %, model FPS, standstill
- Fix paramsMemory usage: Params("/dev/shm/params") not "/dev/shm/params/d"
- Telemetry/VPN toggles use ToggleControl with manual paramsMemory writes
- TelemetryEnabled/VpnEnabled registered PERSISTENT, written to memory path
- GPS telemetry: telemetryd subscribes to gpsLocation at 1Hz via cereal
- Nightrider: force CameraWidget bg black to eliminate color bleed border
- Suppress "Always On Lateral active" status bar message
- Re-enable gpsd and dashcamd
- CLAUDE.md: document memory params pattern, speed_limit.calculated usage
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Nightrider: lines 1px wider (3px outline), engagement border hidden,
planner lines hidden when disengaged, stay on onroad view in park
- Normal mode only: return to ready splash on park
- Ready text sprite at native 1x size
- Nice monitor: keeps claude processes at nice 19, runs every 30s
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Fix controlsd crash: self.state.name AttributeError when state is int
- Move telemetry tlog import to module level in carstate.py (was per-frame)
- Remove FrogPilot screen recorder from UI (was crashing OMX on init)
- Ready screen: boot logo background, 8-bit READY! sprite, error states
(panda not connected, car not recognized) with 10s startup grace period
- ClearPilot menu: always opens to General, QButtonGroup for sidebar,
System Status uses ButtonControl, VPN toggle with process control
- Sidebar hidden on construction (no flash before splash)
- Status window: threaded data collection (QtConcurrent), panda detection
via scene.pandaType (SPI, not USB), only refreshes when visible
- VPN: moved to system/clearpilot/, SIGTERM graceful shutdown, keepalive
ping through tunnel, killall openvpn on disable, launched from
launch_openpilot.sh instead of continue.sh
- Disable gpsd and dashcamd temporarily for perf testing
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Document 5-state display mode system with auto day/night switching,
nightrider rendering, and button behavior. Update dashcam section for
trip directories, 2500kbps bitrate, SRT subtitles, graceful shutdown.
Update offroad UI section for new ClearPilot menu panels.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
New ScreenDisplayMode param (fixes ScreenDisaplayMode typo):
0=auto-normal, 1=auto-nightrider, 2=normal, 3=screen-off, 4=nightrider
Nightrider mode: black background (no camera feed), path/lane lines
drawn as 2px outlines only. Auto mode uses NOAA solar position calc
in gpsd to switch between day/night based on GPS lat/lon and UTC time.
First calc on GPS fix, then every 30 seconds.
Button cycle onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto).
Offroad: any→3, 3→0. bench_cmd debugbutton simulates the button press.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Added brakePressed to cruise group, prev_cruise_button and
prev_main_button to buttons group in carstate telemetry. New "engage"
group in controlsd logs state machine state, enabled/active flags, and
stock cruise state every frame for tracing engagement desync bugs.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Speed indicator now uses gpsLocation speed (MPH) instead of carState
vEgo. Hides completely when no GPS fix is available. Added gpsLocation
to UI SubMaster subscriptions.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Each MP4 segment gets a companion .srt file with 1Hz entries containing
speed (MPH), lat/lon coordinates, and UTC timestamp from gpsLocation
cereal messages. Falls back to "No GPS" when fix is unavailable.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Replace Home panel with General: status, reset calibration, shutdown
timer, reboot/soft reboot/power off. Add Network tab (stock networking
minus APN). Remove system settings access — ClearPilot menu is now the
only settings interface. build_only.sh now auto-chowns before build.
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>
GPS: fix AT response parsing (strip mmcli `response: '...'` wrapper),
fix capnp field names (horizontalAccuracy, hasFix), set system clock
directly from first GPS fix when time is invalid, kill system gpsd on
startup.
Logging: replace module-level log dir creation with init_log_dir()
called from manager_init(). Active session always at /data/log2/current
(real dir until time resolves, then symlink to timestamped dir). Add
LogDirInitialized param. Redirect both stdout+stderr for all processes.
Also: thorough process cleanup in launch scripts, dashcamd binary,
CLAUDE.md updates for GPS/telemetry/bench/logging docs.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Device has no u-blox chip (/dev/ttyHS0 missing). GPS is via the Quectel
EC25 LTE modem. Uncommented qcomgpsd in process_config.
GPS hardware confirmed working — modem returns fix via AT+QGPSLOC with
7 satellites, 1m accuracy. However qcomgpsd's diag interface reader
appears to stall after setup — the cereal gpsLocationExternal message
is not being populated. The diag subprocess exits as a zombie. Needs
further investigation into the ModemDiag interface.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Logs high-value CAN bus data every frame in update_canfd():
- car: vEgo, aEgo, steering angle, gear, brake/gas, blinkers, standstill
- cruise: enabled, speed, ACCMode, VSetDis, aReq, distance setting, lead dist
- speed_limit: all 3 CLUSTER_SPEED_LIMIT values, school zone, chimes,
calculated speed limit, metric flag
- buttons: cruise buttons, main button, LKAS, main_enabled state
Data flows through the diff-based telemetry logger (only changed values
written to CSV) when TelemetryEnabled param is set.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Unblocked thermald and camerad — thermald manages CPU cores and reads
fake pandaStates for ignition, bench no longer publishes deviceState
- camerad starts with live camera feed on bench
- Force nvg->update() every frame for HUD repaint without camera dependency
- Blue blinking telemetry circle uses getBool pattern
- camerad debug logging for startup diagnostics
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- SIGSEGV/SIGABRT crash handler in ui/main.cc prints stack trace to stderr
- Fixed onroad crash: guard update_model() against empty model position data
(was dereferencing end()-1 on empty list when modeld not running in bench)
- Status window: added device temperature and fan speed
- Interactive timeout returns to splash/onroad (not ClearPilotPanel)
- bench_cmd dump detects crash loops via UI process uptime check
- bench_cmd wait_ready timeout increased to 20s
- Restored camerad to bench ignore list (not needed for UI testing)
- Updated CLAUDE.md with crash debugging procedures
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Bench mode (--bench flag):
- bench_onroad.py publishes fake vehicle state as managed process
- manager blocks real car processes (pandad, thermald, controlsd, etc.)
- bench_cmd.py for setting params and querying UI state
- BLOCKER: UI segfaults (SIGSEGV) when OnroadWindow becomes visible
without camera frames — need to make CameraWidget handle missing
VisionIPC gracefully before bench drive mode works
ClearPilot menu:
- Replaced grid launcher with sidebar settings panel (ClearPilotPanel)
- Sidebar: Home, Dashcam, Debug
- Home panel: Status and System Settings buttons
- Debug panel: telemetry logging toggle (ParamControl)
- Tap from any view (splash, onroad) opens ClearPilotPanel
- Back button returns to splash/onroad
Status window:
- Live system stats refreshing every 1 second
- Storage, RAM, load, IP, WiFi, VPN, GPS, time, telemetry status
- Tap anywhere to close, returns to previous view
- Honors interactive timeout
UI introspection RPC:
- ZMQ REP server at ipc:///tmp/clearpilot_ui_rpc
- Dumps full widget tree with visibility, geometry, stacked indices
- bench_cmd dump queries it, detects crash loops via process uptime
- ui_dump.py standalone tool
Other:
- Telemetry toggle wired to TelemetryEnabled param with disk space guard
- Telemetry disabled on every manager start
- Blinking red circle on onroad UI when telemetry recording
- Fixed showDriverView overriding park/drive transitions every frame
- Fixed offroadTransition sidebar visibility race in MainWindow
- launch_openpilot.sh: cd to /data/openpilot, --bench flag support
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- telemetry.py: client library, tlog(group, data) sends JSON over ZMQ PUSH
- telemetryd.py: collector process, diffs against previous state per group,
writes only changed values to /data/log2/{session}/telemetry.csv
- Registered as always-run managed process in process_config.py
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Per-process stderr logging to /data/log2/{session}/ with time-safe
directory naming (boot-xxx renamed once GPS/NTP sets clock)
- Aggregate session.log with major events (start/stop, transitions)
- 30-day log rotation cleanup on manager startup
- build_only.sh: compile without starting manager, non-blocking error
display, kills stale processes
- build.py: copies updated spinner binary after successful build
- Onroad park mode: show splash screen when car is on but in park,
switch to camera view when shifted to drive, honor screen on/off
- Spinner: full-screen boot logo background from /usr/comma/bg.jpg
with white progress bar overlay
- Boot logo: auto-regenerate when boot_logo.png changes, 140% scale
- launch_openpilot.sh: cd to /data/openpilot for reliable execution
- launch_chffrplus.sh: kill stale text error displays on startup
- spinner shell wrapper: prefer freshly built _spinner over prebuilt
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- New dashcamd: connects to camerad via VisionIPC, feeds raw NV12
frames directly to OMX H.264 encoder. Full 1928x1208 resolution,
4Mbps, 3-minute MP4 segments. Works regardless of UI state.
- Added encode_frame_nv12() to OmxEncoder — skips RGBA->NV12 conversion
- Suspends recording after 10 minutes of standstill
- Disabled old screen recorder timer in onroad.cc
- Suppress debug button alert (clpDebug event still fires for screen toggle)
- launch_openpilot.sh self-cleans other instances before starting
- Register DashcamDebug param in params.cc and manager.py
- Add dashcamd to build system (SConscript) and process_config
- Updated CLAUDE.md with all session changes
- Added GOALS.md feature roadmap
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Strip out date, version, update/alert widgets from OffroadHome
- Replace with grid layout: Dashcam and Settings buttons
- Skip sidebar when tapping splash screen
- Settings button still opens original comma settings
- Dashcam button placeholder (viewer not yet built)
- Add DASHCAM_PROJECT.md with plans for footage viewer
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
- Re-enable FrogPilot OMX screen recorder (H.264 MP4, 1440x720, 2Mbps)
- Auto-start recording when car is on, auto-stop when off
- Hide all recorder UI elements (invisible to driver)
- Add ScreenRecorderDebug param for bench testing without car
- Disable encoderd (camera .hevc files) — CAN/sensor logs still recorded
- Raise deleter free space threshold from 5GB to 9GB
- Deleter rotates oldest videos before log segments
- Add CLAUDE.md project documentation
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
