Three independent changes for the parked-controlsd architecture.
controlsd_parked: send the Hyundai HDA2 tester-present heartbeat
("\x02\x3E\x80\x00\x00\x00\x00\x00") at 1 Hz to 0x730 on E-CAN while we're
the active controlsd variant. The full carcontroller normally sends this
to keep the ADAS ECU held in its disabled diagnostic session — when full
controlsd hands off to parked-controlsd, the heartbeat used to stop, the
ECU would time out (~5 s default-session timeout) and snap back to stock,
lighting up the LKAS / blind-spot warning icons on the cluster. Continuing
the heartbeat from the parked variant keeps the ECU disabled across the
swap. The panda safety filter only allows tester-present on 0x730 so this
is the only "graceful release" mechanism available to us.
thermald: cruise-set override on the parked check. If carState.cruiseState
.speed > 0 (engaged OR paused-with-speed-set), stay in not_parked even if
gear is in P. The user can shift to park at a stop, glance at the cluster
to verify cruise is still set, and roll forward without waiting for full
controlsd to spin up. PARKED_HYSTERESIS_S still applies for the
gear-in-park-no-cruise → parked transition.
dashcamd: close the trip immediately on gear shift to PARK (was: 10-min
idle timer before close). User wants the dashcam idle in park and a fresh
trip on every drive engagement; brief drive-thru / fuel-stop across-trip
continuity isn't valued.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Discard the modelrevert tree adoption (8b4b7e0) and the in-process park
short-circuits / cached-output / dashcam-idle work that came with it
(0dc8002, 37e095e). Restore the clearpilot tree as it stood at d639e28 —
the parked-controlsd manager-process split, the GPS-disable in locationd,
the controlsd UI hooks, the boardd ignition-edge safety_setter_thread
fix. After a full /data/params/d wipe and re-calibration drive, the
modelrevert-tree variant overcorrected on turns; reverting to the
parked-controlsd architecture (which Brian had previously vetted and
documented in 887b9c9 + 27cad05) and starting fresh.
Single new commit, no merge — file state matches d639e28 byte-for-byte.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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>
brianhansonxyz