brianhansonxyz/clearpilot
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8b4b7e04b5f31928402b4ae8955f8c18f7733242
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4 Commits
Author SHA1 Message Date
brianhansonxyzandClaude Opus 4.7 8b4b7e04b5 adopt modelrevert tree as the new clearpilot baseline 
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>
 2026-04-26 12:17:35 -05:00
brianhansonxyzandClaude Opus 4.7 47321e3867 restore driving logic to pre-variable-fps baseline 
Wholesale revert of driving-relevant files to the snapshot in
/projects/openpilot/archive/clearpilot (HEAD 980f0aa). Goal: get
known-good driving behavior back, then re-introduce optimizations
slowly to track down a "feels like the wheel pulls right" regression.

Files restored from baseline:
- selfdrive/controls/controlsd.py
- selfdrive/controls/lib/events.py
- selfdrive/controls/lib/longitudinal_planner.py
- selfdrive/modeld/modeld.py
- selfdrive/modeld/dmonitoringmodeld.py
- selfdrive/locationd/calibrationd.py
- selfdrive/locationd/paramsd.py
- selfdrive/locationd/torqued.py
- selfdrive/car/interfaces.py
- selfdrive/car/hyundai/carstate.py (CAN-FD telemetry preserved as a
  commented block for future re-enable)
- selfdrive/monitoring/dmonitoringd.py
- selfdrive/frogpilot/controls/frogpilot_planner.py
- common/realtime.py

Intentionally NOT restored (kept as current):
- selfdrive/thermald/* (fan/power tuning kept)
- selfdrive/car/hyundai/carcontroller.py + hyundaicanfd.py (perf-only
  hoist of no_lat_lane_change Params read; behavior-equivalent)
- cereal/services.py, cereal/custom.capnp (additive only)
- selfdrive/manager/*, common/params.cc (heavy ClearPilot
  infrastructure: bench mode, log dir, dashcamd, gpsd, params)
- All selfdrive/ui/, selfdrive/clearpilot/, system/clearpilot/

UI features will be re-wired in a follow-up commit.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
 2026-04-26 08:40:02 -05:00
brianhansonxyzandClaude Opus 4.6 e86eafde15 diag: per-publisher valid=False logging; 30min shutdown; daylight fix; UI tweaks
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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>
 2026-04-17 19:31:09 -05:00
brianhansonxyz e2a0c1894a clearpilot: initial commit of full source 2026-04-11 06:25:25 +00:00