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>
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>
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>
- 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>
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>
- 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>
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>
