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.
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>
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>
brianhansonxyz