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.
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>
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>
brianhansonxyz