Disabled the variable-rate (4/10/20fps) logic — it caused persistent
downstream freq/valid cascades that broke paramsd's angle-offset
learner, calibrationd, and locationd's one-shot filterInitialized latch.
Symptom: user's "TAKE CONTROL IMMEDIATELY / Communication Issue"
banner during engaged driving, plus subtle right-pull (paramsd's fast
angle-offset adaptation was frozen all session).
Simpler model now:
standstill → standby (0fps, paused)
otherwise → 20fps (no variable rate)
Republish-caching and FPCC.latRequested/noLatLaneChange plumbing left in
place so re-enabling variable rate later is a one-line change
(full_rate = True → the original full_rate expression).
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>
Reduced-rate modeld path now branches on IsDaylight:
- daylight: skip 1/2 frames → 10fps (better model responsiveness when
lighting gives the net more signal)
- night: skip 4/5 frames → 4fps (unchanged, conservative for power)
IsDaylight is already in /dev/shm (memory) via gpsd.py. Gated the
IsDaylight write on change — it flips twice a day, no reason to rewrite
every 30s. GPS polling bumped from 1Hz → 2Hz.
ModelFps publishes "10" / "4" / "20" so longitudinal_planner's dt and
FCW-threshold scaling (if re-enabled) still track actual rate.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Decouples "tell modeld to go fast" from "steering actually active":
- New LatRequested memory param — controlsd writes when lat would be active
- modeld reads LatRequested (not carControl.latActive) for FPS decision,
so it switches to 20fps immediately on engage request
- controlsd delays CC.latActive becoming true by 250ms (5 frames @ 20fps)
after LatRequested goes true, giving downstream services
(longitudinalPlan, liveCalibration, etc.) time to stabilize at the new rate
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>
- modeld: full 20fps (lat active), 4fps (driving no lateral), 0fps
(standstill). Standby timestamp written in both standby and 4fps modes
to suppress transient errors on engagement transition
- tlog: all calls commented out (was causing 100Hz CPU load in controlsd
and carstate). tlog client now checks TelemetryEnabled param before
sending — zero cost when disabled
- dashcamd: wait for valid frame dimensions on startup (fix SIGSEGV),
always_run (manages own trip lifecycle)
- Fan: driving range 15-100%
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>
