locationd: ignore GPS as Kalman input; expand park-cached-output to onroad consumers

locationd: ignore gpsLocation observations entirely (clearpilot_disable_gps
const at the top of handle_gps; falls through to determine_gps_mode's
no-GPS path). gpsd.py keeps publishing real GPS for UI / dashcam / clock
/ night-mode — only locationd ignores it. The previous gpsd.py path was
hard-coding vNED=[0,0,0] while the car was moving 28 m/s, feeding the
Kalman contradictory GPS-vs-IMU velocity observations that propagated into
latcontrol_torque through liveLocationKalman.angularVelocityCalibrated and
caused a real "drift right on straight roads" symptom.

controlsd: short-circuit state_control() while parked. Skips LaC/LoC PID,
MPC, model_v2 reads, lane-change logic — all wasted work when the car
isn't moving. Returns the same enabled=False/latActive=False/longActive=False
CC the original code would have produced, so publish_logs runs unchanged
and card.controls_update keeps the sendcan / tester-present heartbeat
flowing at 100Hz. controlsd CPU dropped from ~59% to ~3% in park.

controlsd: also wire self.FPCC.noLatLaneChange = True/False in the
existing lane-change suppression branch. The Hyundai carcontroller already
reads off frogpilot_variables.no_lat_lane_change for the no-steer signal,
but the UI's distinctive yellow CHANGE_LANE_PATH_COLOR (onroad.cc:901)
reads from frogpilotCarControl.NoLatLaneChange — which nobody was setting,
so the yellow line never appeared during lane-change suppression.

plannerd: skip longitudinal_planner.update + publish + publish_ui_plan
while parked. Downstream controlsd already short-circuits in park, so
longitudinalPlan / uiPlan staleness is fine.

frogpilot_process: same idea — skip frogpilot_planner.update + publish
while parked.

dmonitoringmodeld: mirror the cached-output trick from modeld. Add carState
to the SubMaster, cache the last (model_output, dsp_execution_time) tuple,
and serve it on every frame while gear is in park instead of running DSP
inference on the driver camera.

Together with the existing modeld park-cached-output, the heavy onroad
processing pipeline (modeld → plannerd → controlsd → carcontroller) now
all idles in park and only fires when the car leaves park.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

CLAUDE.md

@@ -37,6 +37,20 @@ This is self-driving software. All changes must be deliberate and well-understoo
 - **Test everything thoroughly** — Brian must always be in the loop
 - **Do not refactor, clean up, or "improve" code beyond the specific request**
 
+### Logging
+
+**NEVER use `cloudlog`.** It's comma.ai's cloud telemetry pipeline, not ours — writes go to a publisher that's effectively a black hole for us (and the only thing it could do if ever reachable is bother the upstream FrogPilot developer). Our changes must always use **file logging** instead.
+
+Use `print(..., file=sys.stderr, flush=True)`. `manager.py` redirects each managed process's stderr to `/data/log2/current/{process}.log`, so these lines land in the per-process log we already grep. Prefix custom log lines with `CLP ` so they're easy to filter out from upstream noise.
+
+Example:
+```python
+import sys
+print(f"CLP frogpilotPlan valid=False: carState_freq_ok={sm.freq_ok['carState']}", file=sys.stderr, flush=True)
+```
+
+Do not use `cloudlog.warning`, `cloudlog.info`, `cloudlog.error`, `cloudlog.event`, or `cloudlog.exception` in any CLEARPILOT-added code. Existing upstream/FrogPilot `cloudlog` calls can stay untouched.
+
 ### File Ownership
 
 We operate as `root` on this device, but openpilot runs as the `comma` user (uid=1000, gid=1000). After any code changes that touch multiple files or before testing:
@@ -84,6 +98,31 @@ ls /data/log2/current/
 cat /data/log2/current/gpsd.log
 ```
 
+### Changing a Service's Publish Rate
+
+SubMaster's `freq_ok` check requires observed rate to fall within
+`[0.8 × min_freq, 1.2 × max_freq]` of the value declared in
+`cereal/services.py`. Publishing *faster* than declared fails the check
+just as surely as publishing too slowly — it trips `all_freq_ok()` →
+`EventName.commIssue` → "TAKE CONTROL IMMEDIATELY / Communication Issue
+Between Processes".
+
+If you change how often a process publishes, you **must** update the rate
+in `cereal/services.py` to match. Example (real bug we hit):
+
+- Bumped thermald from 2Hz → 4Hz (DT_TRML 0.5→0.25) for faster fan control
+- Bumped gpsd from 1Hz → 2Hz
+- manager publishes `managerState` gated by `sm.update()` returning on
+  `deviceState`, so it picks up thermald's rate automatically
+
+`services.py` still declared `deviceState` and `managerState` as 2Hz
+(ceiling 2.4Hz) and `gpsLocation` as 1Hz (ceiling 1.2Hz), so controlsd
+fired `commIssue` on every cycle the moment any of these arrived at the
+new faster rate.
+
+Fix: update the second tuple element (Hz) in `cereal/services.py` for the
+affected service. Cereal will use the updated rate for all consumers.
+
 ### Adding New Params
 
 The params system uses a C++ whitelist. Adding a new param name in `manager.py` alone will crash with `UnknownKeyName`. You must:
@@ -101,7 +140,7 @@ ClearPilot uses memory params (`/dev/shm/params/d/`) for UI toggles that should
 - **Python access**: Use `Params("/dev/shm/params")`
 - **Defaults**: Set in `manager_init()` via `Params("/dev/shm/params").put(key, value)`
 - **UI toggles**: Use `ToggleControl` with manual `toggleFlipped` lambda that writes via `Params("/dev/shm/params")`. Do NOT use `ParamControl` for memory params — it reads/writes persistent params only
-- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ModelStandby` (default "0"), `ScreenDisplayMode`, `DashcamState` (default "stopped"), `DashcamFrames` (default "0")
+- **Current memory params**: `TelemetryEnabled` (default "0"), `VpnEnabled` (default "1"), `ModelStandby` (default "0"), `ScreenDisplayMode`, `DashcamState` (default "stopped"), `DashcamFrames` (default "0"), `DashcamShutdown` (default "0")
 - **IMPORTANT — method names differ between C++ and Python**: C++ uses camelCase (`putBool`, `getBool`, `getInt`), Python uses snake_case (`put_bool`, `get_bool`, `get_int`). This is a common source of silent failures — the wrong casing compiles/runs but doesn't work.
 
 ### Building Native (C++) Processes
@@ -311,8 +350,7 @@ The OMX encoder (`selfdrive/frogpilot/screenrecorder/omx_encoder.cc`) was ported
 
 ### Params
 
-- `DashcamDebug` — when `"1"`, dashcamd runs even without car connected (for bench testing)
-- `DashcamShutdown` — set by thermald before power-off, dashcamd acks by clearing it
+- `DashcamShutdown` (memory param) — set by thermald before power-off, dashcamd acks by clearing it
 - `DashcamState` (memory param) — "stopped", "waiting", or "recording" — published every 5s
 - `DashcamFrames` (memory param) — per-trip encoded frame count, resets each trip — published every 5s
 
@@ -524,7 +562,7 @@ Power On
 
 ### ClearPilot Processes
 
-- `dashcamd` — raw camera dashcam recording (runs onroad or with DashcamDebug flag)
+- `dashcamd` — raw camera dashcam recording (always runs; manages its own trip lifecycle)
 
 ### GPS
 

cereal/custom.capnp

@@ -12,6 +12,9 @@ struct FrogPilotCarControl @0x81c2f05a394cf4af {
   alwaysOnLateral @0 :Bool;
   speedLimitChanged @1 :Bool;
   trafficModeActive @2 :Bool;
+  # CLEARPILOT: migrated from paramsMemory to avoid file-read syscalls in modeld/UI/carcontroller
+  latRequested @3 :Bool;        # controlsd's request to enable lat before ramp-up delay
+  noLatLaneChange @4 :Bool;     # lat is temporarily suppressed during a lane change
 }
 
 struct FrogPilotCarState @0xaedffd8f31e7b55d {

cereal/services.py

@@ -30,7 +30,7 @@ services: dict[str, tuple] = {
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
-  "deviceState": (True, 2., 1),
+  "deviceState": (True, 5., 1),  # CLEARPILOT: 5Hz — thermald decimates pandaStates (10Hz) every 2 ticks
   "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
@@ -50,7 +50,7 @@ services: dict[str, tuple] = {
   "longitudinalPlan": (True, 20., 5),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
-  "gpsLocation": (True, 1., 1),
+  "gpsLocation": (True, 2., 1),  # CLEARPILOT: 2Hz (was 1Hz) — gpsd polls at 2Hz
   "ubloxGnss": (True, 10.),
   "qcomGnss": (True, 2.),
   "gnssMeasurements": (True, 10., 10),
@@ -70,7 +70,7 @@ services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "modelV2": (True, 20., 40),
-  "managerState": (True, 2., 1),
+  "managerState": (True, 5., 1),  # CLEARPILOT: 5Hz — gated by deviceState arrival (see thermald)
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
   "navRoute": (True, 0.),

common/params.cc

@@ -109,7 +109,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CurrentBootlog", PERSISTENT},
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"DashcamDebug", PERSISTENT},
     {"DashcamFrames", PERSISTENT},
     {"DashcamState", PERSISTENT},
     {"DashcamShutdown", CLEAR_ON_MANAGER_START},
@@ -201,7 +200,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TelemetryEnabled", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
-    {"LatRequested", PERSISTENT},
     {"ModelFps", PERSISTENT},
     {"ModelStandby", PERSISTENT},
     {"ModelStandbyTs", PERSISTENT},
@@ -510,8 +508,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"WheelIcon", PERSISTENT},
     {"WheelSpeed", PERSISTENT},
 
-    // Clearpilot
-    {"no_lat_lane_change", PERSISTENT},
 };
 
 } // namespace

common/realtime.py

@@ -12,7 +12,7 @@ from openpilot.system.hardware import PC
 # time step for each process
 DT_CTRL = 0.01  # controlsd
 DT_MDL = 0.05  # model
-DT_TRML = 0.5  # thermald and manager
+DT_TRML = 0.25  # thermald and manager — 4 Hz
 DT_DMON = 0.05  # driver monitoring
 
 

selfdrive/car/hyundai/carcontroller.py

@@ -8,7 +8,6 @@ from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.common.params import Params
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -57,9 +56,6 @@ class CarController(CarControllerBase):
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
-    # CLEARPILOT: cache Params instance — create_steering_messages was building
-    # a new one every 10ms (100Hz), causing needless allocation + file opens
-    self.params_memory = Params("/dev/shm/params")
 
   def update(self, CC, CS, now_nanos, frogpilot_variables):
     actuators = CC.actuators
@@ -116,7 +112,8 @@ class CarController(CarControllerBase):
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      no_lat_lane_change = self.params_memory.get_int("no_lat_lane_change", 1)
+      # CLEARPILOT: no_lat_lane_change comes via frogpilot_variables (set by controlsd in-process)
+      no_lat_lane_change = int(getattr(frogpilot_variables, 'no_lat_lane_change', False))
       can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer, no_lat_lane_change))
 
       # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU

selfdrive/clearpilot/dashcamd.cc

@@ -38,7 +38,9 @@
 #include <cstdio>
 #include <ctime>
 #include <string>
+#include <errno.h>
 #include <signal.h>
+#include <sched.h>
 #include <execinfo.h>
 #include <sys/stat.h>
 #include <sys/resource.h>
@@ -121,6 +123,20 @@ int main(int argc, char *argv[]) {
   signal(SIGABRT, crash_handler);
   setpriority(PRIO_PROCESS, 0, -10);
 
+  // CLEARPILOT: pin to cores 0-3 (little cluster). Avoids cache/memory-bandwidth
+  // contention with the RT-pinned processes on the big cluster:
+  //   core 4 = controlsd, core 5 = plannerd/radard, core 7 = modeld.
+  // OMX offloads actual H.264 work to hardware, so the main thread just copies
+  // frames and muxes MP4 — fine on the little cluster.
+  cpu_set_t mask;
+  CPU_ZERO(&mask);
+  for (int i = 0; i < 4; i++) CPU_SET(i, &mask);
+  if (sched_setaffinity(0, sizeof(mask), &mask) != 0) {
+    LOGW("dashcamd: sched_setaffinity failed (%d), continuing unpinned", errno);
+  } else {
+    LOGW("dashcamd: pinned to cores 0-3");
+  }
+
   // Ensure base output directory exists
   mkdir(VIDEOS_BASE.c_str(), 0755);
 
@@ -263,12 +279,12 @@ int main(int argc, char *argv[]) {
     // Check for graceful shutdown request (every ~1 second)
     if (++param_check_counter >= CAMERA_FPS) {
       param_check_counter = 0;
-      if (params.getBool("DashcamShutdown")) {
+      if (params_memory.getBool("DashcamShutdown")) {
         LOGW("dashcamd: shutdown requested");
         if (state == RECORDING || state == IDLE_TIMEOUT) {
           close_trip();
         }
-        params.putBool("DashcamShutdown", false);
+        params_memory.putBool("DashcamShutdown", false);
         LOGW("dashcamd: shutdown ack sent, exiting");
         break;
       }

selfdrive/controls/controlsd.py

@@ -81,9 +81,11 @@ class Controls:
     self.params_memory.put_bool("CPTLkasButtonAction", False)
     self.params_memory.put_int("ScreenDisplayMode", 0)
 
-    # ClearPilot speed processing
+    # CLEARPILOT: speed-limit/cruise-warning state machine + park→drive auto-reset
     self.speed_state = SpeedState()
     self.speed_state_frame = 0
+    self.was_driving_gear = False
+    self.driving_gear = False
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
@@ -114,8 +116,7 @@ class Controls:
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick', 'frogpilotPlan', 'gpsLocation'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore+['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'],
-                                  ignore_valid=['testJoystick', 'gpsLocation'],
+                                  ignore_alive=ignore + ['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'], ignore_valid=['testJoystick', 'gpsLocation'],
                                   frequency=int(1/DT_CTRL))
 
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
@@ -170,9 +171,6 @@ class Controls:
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = None
     self.not_running_prev = None
-    self.lat_requested_ts = 0  # CLEARPILOT: timestamp when lat was first requested (ramp-up delay + comm issue suppression)
-    self.prev_lat_requested = False
-    self.prev_no_lat_lane_change = None  # CLEARPILOT: gate no_lat_lane_change write on change
     self.steer_limited = False
     self.desired_curvature = 0.0
     self.experimental_mode = False
@@ -207,8 +205,6 @@ class Controls:
     self.always_on_lateral_main = self.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain")
 
     self.drive_added = False
-    self.driving_gear = False
-    self.was_driving_gear = False
     self.fcw_random_event_triggered = False
     self.holiday_theme_alerted = False
     self.onroad_distance_pressed = False
@@ -458,13 +454,7 @@ class Controls:
       standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
     except (ValueError, TypeError):
       standby_ts = 0
-    now = time.monotonic()
-    model_suppress = (now - standby_ts) < 2.0
-
-    # CLEARPILOT: suppress commIssue/location/params errors for 2s after lat was requested
-    # Model FPS jumps from 4 to 20 on engage, causing transient freq check failures
-    # lat_requested_ts is set in state_control on the False->True transition of LatRequested
-    lat_engage_suppress = (now - self.lat_requested_ts) < 2.0
+    model_suppress = (time.monotonic() - standby_ts) < 2.0
 
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
@@ -495,13 +485,16 @@ class Controls:
     # generic catch-all. ideally, a more specific event should be added above instead
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress and not lat_engage_suppress:
+    # CLEARPILOT: fire commIssue ONLY when messages actually aren't flowing (not_alive)
+    # or CAN RX is timing out. Don't fire on self-declared valid=False — that's the
+    # polling-pattern / all_checks cascade that paramsd/torqued/plannerd/frogpilot
+    # propagate even while their publish rate and content are fine.
+    comms_really_broken = (not self.sm.all_alive()) or self.card.can_rcv_timeout
+    if comms_really_broken and no_system_errors and not model_suppress:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
-      elif not self.sm.all_freq_ok():
-        self.events.add(EventName.commIssueAvgFreq)
-      else:  # invalid or can_rcv_timeout.
-        self.events.add(EventName.commIssue)
+      else:
+        self.events.add(EventName.commIssue)  # can_rcv_timeout path
 
       logs = {
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
@@ -516,15 +509,13 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      # CLEARPILOT: also suppress on lat engage — modeld 4fps→20fps transition causes
-      # transient inputsOK/valid drops in locationd/paramsd downstream
-      if not self.sm['liveLocationKalman'].posenetOK and not model_suppress and not lat_engage_suppress:
+      if not self.sm['liveLocationKalman'].posenetOK and not model_suppress:
         self.events.add(EventName.posenetInvalid)
       if not self.sm['liveLocationKalman'].deviceStable:
         self.events.add(EventName.deviceFalling)
-      if not self.sm['liveLocationKalman'].inputsOK and not model_suppress and not lat_engage_suppress:
+      if not self.sm['liveLocationKalman'].inputsOK and not model_suppress:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress and not lat_engage_suppress:
+      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress:
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
@@ -538,8 +529,16 @@ class Controls:
       if self.cruise_mismatch_counter > int(6. / DT_CTRL):
         self.events.add(EventName.cruiseMismatch)
 
-    # CLEARPILOT: FCW disabled — car's own radar AEB works better and triggers reliably.
-    # The comma FCW was producing false positives and adds nothing over the stock system.
+    # Check for FCW
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
+    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
+    if planner_fcw or model_fcw:
+      self.events.add(EventName.fcw)
+      # self.fcw_random_event_triggered = True
+    # elif self.fcw_random_event_triggered and self.random_events:
+      # self.events.add(EventName.yourFrogTriedToKillMe)
+      # self.fcw_random_event_triggered = False
 
     for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
       try:
@@ -666,6 +665,25 @@ class Controls:
   def state_control(self, CS):
     """Given the state, this function returns a CarControl packet"""
 
+    # CLEARPILOT: short-circuit while parked. Skip LaC/LoC PID, MPC, model_v2
+    # reads, lane-change logic — none of it matters when the car isn't moving.
+    # publish_logs still runs and still triggers carcontroller.apply via
+    # card.controls_update, so the sendcan heartbeats / tester-present messages
+    # keep flowing at 100Hz and the car doesn't fault. Saves ~30% controlsd CPU
+    # in park.
+    if CS.gearShifter == car.CarState.GearShifter.park:
+      CC = car.CarControl.new_message()
+      CC.enabled = False
+      CC.latActive = False
+      CC.longActive = False
+      CC.actuators.longControlState = self.LoC.long_control_state
+      self.LaC.reset()
+      self.LoC.reset(v_pid=CS.vEgo)
+      self.frogpilot_variables.no_lat_lane_change = False
+      self.FPCC.noLatLaneChange = False
+      lac_log = log.ControlsState.LateralDebugState.new_message()
+      return CC, lac_log
+
     # Update VehicleModel
     lp = self.sm['liveParameters']
     x = max(lp.stiffnessFactor, 0.1)
@@ -687,18 +705,8 @@ class Controls:
 
     # Check which actuators can be enabled
     standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    lat_requested = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                    (not standstill or self.joystick_mode)
-
-    # CLEARPILOT: tell modeld early so it can ramp to 20fps, then delay latActive by
-    # 250ms (5 frames at 20fps) so downstream services stabilize before steering engages.
-    now_ts = time.monotonic()
-    if lat_requested != self.prev_lat_requested:
-      self.params_memory.put_bool("LatRequested", lat_requested)
-      if lat_requested:
-        self.lat_requested_ts = now_ts
-    self.prev_lat_requested = lat_requested
-    CC.latActive = lat_requested and (now_ts - self.lat_requested_ts) >= 0.25
+    CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
+                   (not standstill or self.joystick_mode)
     CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
@@ -713,13 +721,13 @@ class Controls:
       CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
       CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
 
-    no_lat_lane_change = model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change
-    if no_lat_lane_change:
+    if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
       CC.latActive = False
-    # CLEARPILOT: only write on change — per-cycle atomic writes were eating ~15% CPU
-    if no_lat_lane_change != self.prev_no_lat_lane_change:
-      self.params_memory.put_bool("no_lat_lane_change", no_lat_lane_change)
-      self.prev_no_lat_lane_change = no_lat_lane_change
+      self.frogpilot_variables.no_lat_lane_change = True
+      self.FPCC.noLatLaneChange = True
+    else:
+      self.frogpilot_variables.no_lat_lane_change = False
+      self.FPCC.noLatLaneChange = False
 
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame
@@ -999,11 +1007,6 @@ class Controls:
       while True:
         self.step()
         self.rk.monitor_time()
-        # CLEARPILOT: accumulated debt from startup/blocking calls never recovers.
-        # Reset the rate keeper when catastrophically behind — prevents a one-time
-        # ~8s fingerprinting stall from poisoning the lag metric for the whole session.
-        if self.rk.remaining < -1.0:
-          self.rk._next_frame_time = time.monotonic() + self.rk._interval
     except SystemExit:
       e.set()
       t.join()
@@ -1074,11 +1077,13 @@ class Controls:
       elif self.sm['modelV2'].meta.turnDirection == Desire.turnRight:
         self.events.add(EventName.turningRight)
 
-    # CLEARPILOT: check crash file once per second, not every cycle (stat syscall at 100Hz hurts)
-    if self.sm.frame % 100 == 0:
-      self._crashed_file_exists = os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
-    if getattr(self, '_crashed_file_exists', False) and self.crashed_timer < 10:
+    if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')) and self.crashed_timer < 10:
       self.events.add(EventName.openpilotCrashed)
+
+      # if self.random_events and not self.openpilot_crashed_triggered:
+      #   self.events.add(EventName.openpilotCrashedRandomEvents)
+      #   self.openpilot_crashed_triggered = True
+
       self.crashed_timer += DT_CTRL
 
     # if self.speed_limit_alert or self.speed_limit_confirmation:
@@ -1302,7 +1307,8 @@ class Controls:
 
       self.params_memory.put_int("ScreenDisplayMode", new_mode)
 
-    # ClearPilot speed processing (~2 Hz at 100 Hz loop)
+    # ClearPilot speed processing (~2 Hz at 100 Hz loop) — drives speed-limit sign
+    # and cruise over/under warning sign via memory params read by the UI.
     self.speed_state_frame += 1
     if self.speed_state_frame % 50 == 0:
       gps = self.sm['gpsLocation']
@@ -1315,7 +1321,6 @@ class Controls:
       cruise_standstill = CS.cruiseState.standstill
       self.speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
                               cruise_speed_ms, cruise_active, cruise_standstill)
-
     return CC
 
 def main():

selfdrive/controls/lib/longitudinal_planner.py

@@ -143,9 +143,6 @@ class LongitudinalPlanner:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
-    # CLEARPILOT: track model FPS for dynamic dt adjustment
-    self.model_fps = 20
-
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
     self.release = get_short_branch() == "clearpilot"
@@ -176,19 +173,6 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
-    # CLEARPILOT: read actual model FPS and adjust dt accordingly
-    model_fps_raw = self.params_memory.get("ModelFps")
-    if model_fps_raw is not None:
-      try:
-        fps = int(model_fps_raw)
-        if fps > 0 and fps != self.model_fps:
-          self.model_fps = fps
-          self.dt = 1.0 / fps
-          self.v_desired_filter.dt = self.dt
-          self.v_desired_filter.update_alpha(2.0)  # rc=2.0, same as __init__
-      except (ValueError, ZeroDivisionError):
-        pass
-
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
@@ -255,10 +239,7 @@ class LongitudinalPlanner:
     self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
-    # CLEARPILOT: scale crash_cnt threshold by FPS — at 20fps need 3 frames (0.15s),
-    # at 4fps need 1 frame (0.25s already exceeds 0.15s window)
-    fcw_threshold = max(0, int(0.15 * self.model_fps) - 1)  # 20fps->2, 4fps->0
-    self.fcw = self.mpc.crash_cnt > fcw_threshold and not sm['carState'].standstill
+    self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
     if self.fcw:
       cloudlog.info("FCW triggered")
 

selfdrive/controls/plannerd.py

@@ -34,6 +34,10 @@ def plannerd_thread():
   while True:
     sm.update()
     if sm.updated['modelV2']:
+      # CLEARPILOT: skip planning while parked. The downstream consumer (controlsd)
+      # already short-circuits in park, so longitudinalPlan/uiPlan staleness is fine.
+      if sm['carState'].gearShifter == car.CarState.GearShifter.park:
+        continue
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
       publish_ui_plan(sm, pm, longitudinal_planner)

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -58,6 +58,9 @@ class FrogPilotPlanner:
     self.params = Params()
     self.params_memory = Params("/dev/shm/params")
 
+    # CLEARPILOT: track valid transitions so we only log when it flips, not every cycle
+    self._dbg_prev_valid = True
+
     self.cem = ConditionalExperimentalMode()
     self.lead_one = Lead()
     self.mtsc = MapTurnSpeedController()
@@ -242,7 +245,18 @@ class FrogPilotPlanner:
 
   def publish(self, sm, pm):
     frogpilot_plan_send = messaging.new_message('frogpilotPlan')
-    frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    # CLEARPILOT: log on transition into invalid — stderr goes to our plannerd.log
+    if valid != self._dbg_prev_valid and not valid:
+      import sys
+      print(
+        "CLP frogpilotPlan valid=False: "
+        f"carState(a={sm.alive['carState']},v={sm.valid['carState']},f={sm.freq_ok['carState']}) "
+        f"controlsState(a={sm.alive['controlsState']},v={sm.valid['controlsState']},f={sm.freq_ok['controlsState']})",
+        file=sys.stderr, flush=True
+      )
+    self._dbg_prev_valid = valid
+    frogpilot_plan_send.valid = valid
     frogpilotPlan = frogpilot_plan_send.frogpilotPlan
 
     frogpilotPlan.accelerationJerk = A_CHANGE_COST * (float(self.jerk) if self.lead_one.status else 1)

selfdrive/frogpilot/frogpilot_process.py

@@ -85,7 +85,9 @@ def frogpilot_thread():
           frogpilot_planner = FrogPilotPlanner(CP)
           frogpilot_planner.update_frogpilot_params()
 
-      if sm.updated['modelV2']:
+      # CLEARPILOT: skip planner work while parked.
+      parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
+      if sm.updated['modelV2'] and not parked:
         frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
                                   sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
         frogpilot_planner.publish(sm, pm)

selfdrive/locationd/calibrationd.py

@@ -284,7 +284,14 @@ def main() -> NoReturn:
 
     # 4Hz driven by cameraOdometry
     if sm.frame % 5 == 0:
-      calibrator.send_data(pm, sm.all_checks())
+      # CLEARPILOT: publish valid based on calibration status, not upstream sm.all_checks().
+      # The original gate cascaded upstream freq glitches into liveCalibration.valid=False,
+      # which kept locationd.filterInitialized False, which fed garbage into paramsd, which
+      # corrupted steerRatio and caused erratic steering (and controlsd commIssue banners).
+      # "valid" here semantically means "the calibration data is trustworthy" — a question
+      # about convergence, not input freshness.
+      cal_valid = calibrator.cal_status == log.LiveCalibrationData.Status.calibrated
+      calibrator.send_data(pm, cal_valid)
 
 
 if __name__ == "__main__":

selfdrive/locationd/locationd.cc

@@ -308,12 +308,18 @@ void Localizer::input_fake_gps_observations(double current_time) {
 }
 
 void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
+  // CLEARPILOT: GPS disabled as a Kalman input. gpsd still publishes real GPS for
+  // UI / dashcam / clock / night-mode; only locationd ignores it. Falls through to
+  // determine_gps_mode() which is openpilot's existing no-GPS path (fake observations
+  // to bound position uncertainty). To re-enable, set this to false.
+  const bool clearpilot_disable_gps = true;
+
   bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
   bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
   bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
-  if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
+  if (clearpilot_disable_gps || !log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
     //this->gps_valid = false;
     this->determine_gps_mode(current_time);
     return;

selfdrive/manager/manager.py

@@ -89,7 +89,7 @@ def manager_init(frogpilot_functions) -> None:
   params_memory.put("VpnEnabled", "1")
   params_memory.put("DashcamFrames", "0")
   params_memory.put("DashcamState", "stopped")
-  params_memory.put("LatRequested", "0")
+  params_memory.put("DashcamShutdown", "0")
   params_memory.put("ModelFps", "20")
   params_memory.put("ModelStandby", "0")
   params_memory.put("ShutdownTouchReset", "0")
@@ -178,7 +178,6 @@ def manager_init(frogpilot_functions) -> None:
     ("DisableOpenpilotLongitudinal", "0"),
     ("DisableVTSCSmoothing", "0"),
     ("DisengageVolume", "100"),
-    ("DashcamDebug", "1"),
     ("TelemetryEnabled", "0"),
     ("DragonPilotTune", "0"),
     ("DriverCamera", "0"),

selfdrive/modeld/dmonitoringmodeld.py

@@ -7,7 +7,7 @@ import ctypes
 import numpy as np
 from pathlib import Path
 
-from cereal import messaging
+from cereal import car, messaging
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -128,10 +128,15 @@ def main():
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
-  sm = SubMaster(["liveCalibration"])
+  sm = SubMaster(["liveCalibration", "carState"])
   pm = PubMaster(["driverStateV2"])
 
   calib = np.zeros(CALIB_LEN, dtype=np.float32)
+  # CLEARPILOT: cache last model output to serve while gear is in park —
+  # mirrors the same trick modeld uses. Skips DSP inference on the driver
+  # camera when the car is stationary; downstream dmonitoringd still gets
+  # a fresh publish each frame.
+  last_model_output = None
   # last = 0
 
   while True:
@@ -143,8 +148,13 @@ def main():
     if sm.updated["liveCalibration"]:
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
+    parked = sm["carState"].gearShifter == car.CarState.GearShifter.park
     t1 = time.perf_counter()
-    model_output, dsp_execution_time = model.run(buf, calib)
+    if parked and last_model_output is not None:
+      model_output, dsp_execution_time = last_model_output
+    else:
+      model_output, dsp_execution_time = model.run(buf, calib)
+      last_model_output = (model_output, dsp_execution_time)
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))

selfdrive/modeld/modeld.py

@@ -183,9 +183,10 @@ def main(demo=False):
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
-  model_standby = False
-  last_standby_ts_write = 0
-  params_memory = Params("/dev/shm/params")
+  # CLEARPILOT: cache last model output to serve while gear is in park — saves
+  # GPU inference cost while still giving downstream a constant publish rate so
+  # freq_ok / valid checks don't cascade.
+  last_model_output = None
   nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
   nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
@@ -241,59 +242,10 @@ def main(demo=False):
 
     sm.update(0)
 
-    # CLEARPILOT: power saving — three modes based on driving state
-    #   Full 20fps: lat requested or lane changing
-    #   Reduced 4fps: not lat requested, not standstill (driving without cruise)
-    #   Standby 0fps: standstill
-    # Uses LatRequested (not carControl.latActive) so modeld ramps to 20fps BEFORE
-    # controlsd actually engages steering — gives downstream services time to stabilize.
-    lat_active = params_memory.get_bool("LatRequested")
-    lane_changing = params_memory.get_bool("no_lat_lane_change")
-    standstill = sm['carState'].standstill
-    calibrating = sm['liveCalibration'].calStatus != log.LiveCalibrationData.Status.calibrated
-    full_rate = lat_active or lane_changing or calibrating
-
-    # Standby transitions (standstill only)
-    should_standby = standstill and not full_rate
-    if should_standby and not model_standby:
-      params_memory.put_bool("ModelStandby", True)
-      model_standby = True
-      cloudlog.warning("modeld: standby ON (standstill)")
-    elif not should_standby and model_standby:
-      params_memory.put_bool("ModelStandby", False)
-      model_standby = False
-      run_count = 0
-      frame_dropped_filter.x = 0.
-      cloudlog.warning("modeld: standby OFF")
-    if model_standby:
-      now = _time.monotonic()
-      if now - last_standby_ts_write > 1.0:
-        params_memory.put("ModelStandbyTs", str(now))
-        last_standby_ts_write = now
-      last_vipc_frame_id = meta_main.frame_id
-      continue
-
-    # Reduced framerate: daylight 10fps (skip 1/2), night 4fps (skip 4/5)
-    # Daytime runs twice as fast — better model responsiveness when lighting is good
-    # and the neural net has more signal. Night stays conservative for power.
-    # Write standby timestamp so controlsd suppresses transient errors
-    if not full_rate:
-      is_daylight = params_memory.get_bool("IsDaylight")
-      skip_interval = 2 if is_daylight else 5
-      target_fps = b"10" if is_daylight else b"4"
-      if params_memory.get("ModelFps") != target_fps:
-        params_memory.put("ModelFps", target_fps.decode())
-      now = _time.monotonic()
-      if now - last_standby_ts_write > 1.0:
-        params_memory.put("ModelStandbyTs", str(now))
-        last_standby_ts_write = now
-      if run_count % skip_interval != 0:
-        last_vipc_frame_id = meta_main.frame_id
-        run_count += 1
-        continue
-    else:
-      if params_memory.get("ModelFps") != b"20":
-        params_memory.put("ModelFps", "20")
+    # CLEARPILOT: constant 20fps. Variable-rate + standby logic removed — the
+    # variable-rate path caused freq_ok cascades in downstream consumers
+    # (calibrationd/locationd/paramsd). Running at the camera's native rate is
+    # simpler and keeps the full-stack localization chain happy.
 
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
@@ -366,12 +318,21 @@ def main(demo=False):
       **({'radar_tracks': radar_tracks,} if DISABLE_RADAR else {}),
     }
 
-    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
+    # CLEARPILOT: in park, serve the cached last model output instead of running
+    # GPU inference. First cycle (no cache yet) still runs once so we have
+    # something to serve. Out-of-park resumes fresh inference every frame.
+    parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
+    if parked and last_model_output is not None:
+      model_output = last_model_output
+      model_execution_time = 0.0
+    else:
+      mt1 = time.perf_counter()
+      model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+      mt2 = time.perf_counter()
+      model_execution_time = mt2 - mt1
 
     if model_output is not None:
+      last_model_output = model_output
       modelv2_send = messaging.new_message('modelV2')
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,

selfdrive/monitoring/dmonitoringd.py

@@ -21,6 +21,7 @@ def dmonitoringd_thread():
 
   v_cruise_last = 0
   driver_engaged = False
+  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
 
   # 10Hz <- dmonitoringmodeld
   while True:
@@ -43,7 +44,18 @@ def dmonitoringd_thread():
     # Get data from dmonitoringmodeld
     events = Events()
 
-    if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
+    # CLEARPILOT: narrow update_states gate. The original sm.all_checks() also
+    # required modelV2 fresh (stops at standstill in two-state modeld) and
+    # liveCalibration.valid (calibrationd cascades its own freq_ok to valid, which
+    # flaps). Both made DM freeze pose → face_detected stuck False → awareness
+    # decayed to 0 within 6s of engagement. Narrow the gate to the subs
+    # update_states actually reads, and only to alive+valid (skip freq_ok and
+    # skip liveCalibration.valid). rpyCalib presence is sufficient to know
+    # calibration has produced output.
+    if (sm.alive['driverStateV2'] and sm.valid['driverStateV2'] and
+        sm.alive['carState'] and sm.valid['carState'] and
+        sm.alive['controlsState'] and sm.valid['controlsState'] and
+        sm.alive['liveCalibration'] and len(sm['liveCalibration'].rpyCalib) > 0):
       driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations
@@ -54,8 +66,16 @@ def dmonitoringd_thread():
     # Update events from driver state
     driver_status.update_events(events, driver_engaged, sm['controlsState'].enabled, sm['carState'].standstill)
 
+    # CLEARPILOT: log on transition to invalid so we can see which sub caused the cascade
+    dm_valid = sm.all_checks()
+    if dm_valid != dbg_prev_valid and not dm_valid:
+      import sys
+      bad = [s for s in sm.alive if not (sm.alive[s] and sm.valid[s] and sm.freq_ok.get(s, True))]
+      details = [f"{s}(a={sm.alive[s]},v={sm.valid[s]},f={sm.freq_ok[s]})" for s in bad]
+      print(f"CLP driverMonitoringState valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
+    dbg_prev_valid = dm_valid
     # build driverMonitoringState packet
-    dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
+    dat = messaging.new_message('driverMonitoringState', valid=dm_valid)
     dat.driverMonitoringState = {
       "events": events.to_msg(),
       "faceDetected": driver_status.face_detected,

selfdrive/thermald/fan_controller.py

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import os
 from abc import ABC, abstractmethod
 
 from openpilot.common.realtime import DT_TRML
@@ -7,11 +6,11 @@ from openpilot.common.numpy_fast import interp
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.controls.lib.pid import PIDController
 
-BENCH_MODE = os.environ.get("BENCH_MODE") == "1"
 
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
+             is_parked: bool = True, cruise_engaged: bool = False) -> int:
     pass
 
 
@@ -23,29 +22,27 @@ class TiciFanController(BaseFanController):
     self.last_ignition = False
     self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
 
-  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
-    # CLEARPILOT: bench mode always uses normal onroad fan range (30-100%)
-    if BENCH_MODE and ignition:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False,
+             is_parked: bool = True, cruise_engaged: bool = False) -> int:
+    # CLEARPILOT fan range rules:
+    #   parked                                              → 0-100% (full, no floor)
+    #   in drive + cruise engaged (any speed, inc standstill) → 30-100%
+    #   in drive + cruise off + standstill                  → 10-100%
+    #   in drive + cruise off + moving                      → 30-100%
+    # In the PID output, neg_limit is how negative it can go (= max fan as %),
+    # pos_limit is how positive (= negative of min fan %).
+    if is_parked:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = 0
+    elif cruise_engaged:
       self.controller.neg_limit = -100
       self.controller.pos_limit = -30
-    # CLEARPILOT: at standstill below 74°C, clamp to 0-30% (quiet)
-    # at standstill above 74°C, allow full 0-100% range
-    elif ignition and standstill and cur_temp < 74:
-      self.controller.neg_limit = -30
-      self.controller.pos_limit = 0
-    elif ignition and standstill:
+    elif standstill:
       self.controller.neg_limit = -100
-      self.controller.pos_limit = 0
-    elif ignition:
-      self.controller.neg_limit = -100
-      self.controller.pos_limit = -15
-    # CLEARPILOT: offroad but overheating (startup cooling) — full fan range
-    elif cur_temp >= 75:
-      self.controller.neg_limit = -100
-      self.controller.pos_limit = 0
+      self.controller.pos_limit = -10
     else:
-      self.controller.neg_limit = -30
-      self.controller.pos_limit = 0
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -30
 
     if ignition != self.last_ignition:
       self.controller.reset()

selfdrive/thermald/power_monitoring.py

@@ -36,8 +36,8 @@ class PowerMonitoring:
     # Reset capacity if it's low
     self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh))
 
-    # CLEARPILOT: hardcoded 10 minute shutdown timer (not user-configurable)
-    self.device_shutdown_time = 600
+    # CLEARPILOT: hardcoded 30 minute shutdown timer (not user-configurable)
+    self.device_shutdown_time = 1800
     self.low_voltage_shutdown = VBATT_PAUSE_CHARGING
 
   # Calculation tick
@@ -122,7 +122,13 @@ class PowerMonitoring:
                             offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
     should_shutdown |= offroad_time > self.device_shutdown_time
     should_shutdown |= low_voltage_shutdown
-    should_shutdown |= (self.car_battery_capacity_uWh <= 0)
+    # CLEARPILOT: removed `car_battery_capacity_uWh <= 0` trigger. That's a virtual
+    # capacity counter floor-limited to 3e6 µWh on boot which drains in ~12 min at
+    # typical device power. With a short drive that doesn't fully recharge (charges
+    # at 45W, cap 30e6 µWh = 36 min to full), a quick store stop could trip shutdown
+    # well before the intended 30-min idle timer. The real protection we want here
+    # is the car battery voltage check (kept above) — the virtual counter is now
+    # retained only for telemetry.
     should_shutdown &= not ignition
     should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
     should_shutdown &= in_car

selfdrive/thermald/thermald.py

@@ -10,7 +10,7 @@ from pathlib import Path
 import psutil
 
 import cereal.messaging as messaging
-from cereal import log
+from cereal import car, log
 from cereal.services import SERVICE_LIST
 from openpilot.common.dict_helpers import strip_deprecated_keys
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -292,8 +292,18 @@ def thermald_thread(end_event, hw_queue) -> None:
     msg.deviceState.maxTempC = all_comp_temp
 
     if fan_controller is not None:
-      standstill = sm['carState'].standstill if sm.seen['carState'] else False
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], standstill)
+      # CLEARPILOT: fan rules based on gear (parked vs drive) and cruise-engaged state
+      if sm.seen['carState']:
+        cs = sm['carState']
+        standstill = cs.standstill
+        is_parked = cs.gearShifter == car.CarState.GearShifter.park
+      else:
+        standstill = False
+        is_parked = True  # default safe: assume parked, no fan floor
+      cruise_engaged = sm['controlsState'].enabled if sm.seen['controlsState'] else False
+      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(
+        all_comp_temp, onroad_conditions["ignition"], standstill,
+        is_parked=is_parked, cruise_engaged=cruise_engaged)
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
@@ -422,10 +432,10 @@ def thermald_thread(end_event, hw_queue) -> None:
     if power_monitor.should_shutdown(onroad_conditions["ignition"], in_car, off_ts, started_seen):
       cloudlog.warning(f"shutting device down, offroad since {off_ts}")
       # CLEARPILOT: signal dashcamd to close recording gracefully before power-off
-      params.put_bool("DashcamShutdown", True)
+      params_memory.put_bool("DashcamShutdown", True)
       deadline = time.monotonic() + 15.0
       while time.monotonic() < deadline:
-        if not params.get_bool("DashcamShutdown"):
+        if not params_memory.get_bool("DashcamShutdown"):
           cloudlog.info("dashcamd shutdown ack received")
           break
         time.sleep(0.5)

selfdrive/ui/qt/home.cc

@@ -122,9 +122,11 @@ void HomeWindow::offroadTransition(bool offroad) {
     slayout->setCurrentWidget(ready);
   } else {
     // CLEARPILOT: start onroad in splash — updateState will switch to
-    // camera view once the car shifts out of park
+    // camera view once the car shifts out of park. Reset has_driven so
+    // fresh ignition shows the READY text (not the post-drive textless splash).
     LOGW("CLP UI: onroad transition -> showing splash (parked)");
     was_parked_onroad = true;
+    ready->has_driven = false;
     slayout->setCurrentWidget(ready);
   }
 }

selfdrive/ui/qt/onroad.cc

@@ -79,9 +79,10 @@ void OnroadWindow::updateState(const UIState &s) {
   nvg->update();  // CLEARPILOT: force repaint every frame for HUD elements
 
   QColor bgColor = bg_colors[s.status];
-  if (paramsMemory.getBool("no_lat_lane_change") == 1) {
+  // CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
+  if ((*s.sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange()) {
     bgColor = bg_colors[STATUS_DISENGAGED];
-  } 
+  }
 
   if (bg != bgColor) {
     bg = bgColor;
@@ -606,9 +607,9 @@ void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
     p.setFont(InterFont(30, QFont::Bold));
     p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
 
-    // Speed limit number
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
   } else {
     // Normal: white background, black border and text
     QColor borderColor(0, 0, 0);
@@ -634,9 +635,9 @@ void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
     p.setFont(InterFont(30, QFont::Bold));
     p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
 
-    // Speed limit number
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
   }
 
   p.restore();
@@ -690,7 +691,7 @@ void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
 
     // Cruise speed number
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
   } else {
     // Normal: colored background with white border/text
     QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
@@ -716,7 +717,7 @@ void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
 
     // Cruise speed number
     p.setFont(InterFont(90, QFont::Bold));
-    p.drawText(innerRect.adjusted(0, 42, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
   }
 
   p.restore();
@@ -732,12 +733,14 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
 
 // CLEARPILOT: System health overlay — shows metrics that indicate the system
 // is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
-// Metrics (top→bottom): LAG, DROP, TEMP, CPU, MEM
-//   LAG (ms): controlsd cumLagMs — most direct "is the loop keeping up" indicator
+// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
+//   FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
+//        param which modeld writes only on transition.
 //   DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
 //   TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
 //   CPU (%): max core from deviceState.cpuUsagePercent
 //   MEM (%): deviceState.memoryUsagePercent
+//   FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
 // Each value color-codes green/yellow/red by severity.
 void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
   static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
@@ -750,16 +753,18 @@ void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
   if (!enabled) return;
 
   SubMaster &sm = *(uiState()->sm);
-  auto cs = sm["controlsState"].getControlsState();
   auto ds = sm["deviceState"].getDeviceState();
   auto mv = sm["modelV2"].getModelV2();
+  auto ps = sm["peripheralState"].getPeripheralState();
 
-  float lag_ms = cs.getCumLagMs();
+  int model_fps = paramsMemory.getInt("ModelFps");
   float drop_pct = mv.getFrameDropPerc();
   float temp_c = ds.getMaxTempC();
   int mem_pct = ds.getMemoryUsagePercent();
   int cpu_pct = 0;
   for (auto v : ds.getCpuUsagePercent()) cpu_pct = std::max(cpu_pct, (int)v);
+  // Actual fan (not commanded): scale RPM to 0-100 using 6500 RPM as full scale
+  int fan_pct = std::min(100, (int)(ps.getFanSpeedRpm() * 100 / 6500));
 
   auto color_for = [](float v, float warn, float crit) {
     if (v >= crit) return QColor(0xff, 0x50, 0x50);   // red
@@ -769,11 +774,12 @@ void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
 
   struct Row { QString label; QString value; QColor color; };
   Row rows[] = {
-    {"LAG",  QString::number((int)lag_ms),  color_for(lag_ms,  50.f,  200.f)},
+    {"FPS",  QString::number(model_fps),    QColor(0xff, 0xff, 0xff)},
     {"DROP", QString::number((int)drop_pct),color_for(drop_pct, 5.f,  15.f)},
     {"TEMP", QString::number((int)temp_c),  color_for(temp_c,  75.f,  88.f)},
     {"CPU",  QString::number(cpu_pct),      color_for((float)cpu_pct, 75.f, 90.f)},
     {"MEM",  QString::number(mem_pct),      color_for((float)mem_pct, 70.f, 85.f)},
+    {"FAN",  QString::number(fan_pct),      QColor(0xff, 0xff, 0xff)},
   };
 
   p.save();
@@ -797,8 +803,8 @@ void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
   int text_y = y + margin + fm.ascent();
   for (int i = 0; i < n; i++) {
     p.setPen(rows[i].color);
-    // label left, value right
-    p.drawText(x + margin, text_y, rows[i].label);
+    // label left (shifted -50px per user request), value right
+    p.drawText(x + margin - 50, text_y, rows[i].label);
     QRect vrect = fm.boundingRect(rows[i].value);
     p.drawText(x + panel_w - margin - vrect.width(), text_y, rows[i].value);
     text_y += row_h + gap;
@@ -853,12 +859,14 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // CLEARPILOT: nightrider lines are 1px wider (3 instead of 2)
   int outlineWidth = outlineOnly ? 3 : 2;
+  // CLEARPILOT: lane lines 5% thinner than the generic outline (QPen accepts float width)
+  float laneLineWidth = outlineOnly ? (float)outlineWidth * 0.95f : (float)outlineWidth;
 
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     QColor lineColor = QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7));
     if (outlineOnly) {
-      painter.setPen(QPen(lineColor, outlineWidth));
+      painter.setPen(QPen(lineColor, laneLineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -885,7 +893,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // paint center lane path
   // QColor bg_colors[CHANGE_LANE_PATH_COLOR];
 
-  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+  // CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
+  bool is_no_lat_lane_change = sm["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
 
   QColor center_lane_color;
   
@@ -946,9 +955,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
     }
 
     if (outlineOnly) {
-      // CLEARPILOT: center path (tire track) is 2x wider than other lines in nightrider
-      painter.setPen(QPen(QColor(center_lane_color.red(), center_lane_color.green(),
-                                 center_lane_color.blue(), 180), outlineWidth * 2));
+      // CLEARPILOT: in nightrider, the tire path outline is light blue at 3px.
+      // Uses a fixed light-blue instead of center_lane_color (which is status-tinted) so
+      // the path reads as a neutral guide, not as engagement/status feedback.
+      QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
+      painter.setPen(QPen(lightBlue, 3));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);

selfdrive/ui/ui.cc

@@ -118,8 +118,10 @@ void update_model(UIState *s,
   }
 
   // update path
+  // CLEARPILOT: read from frogpilotCarControl cereal message (was paramsMemory)
+  bool no_lat_lane_change = (*s->sm)["frogpilotCarControl"].getFrogpilotCarControl().getNoLatLaneChange();
   float path;
-  if (paramsMemory.getBool("no_lat_lane_change")) {
+  if (no_lat_lane_change) {
     path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20;  // Release: better calc for EU users
   } else {
     path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
@@ -439,7 +441,7 @@ void UIState::updateStatus() {
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
+    "pandaStates", "peripheralState", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
     "wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
     "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
     "gpsLocation",
@@ -556,7 +558,10 @@ void Device::updateWakefulness(const UIState &s) {
   }
 
   if (ignition_state_changed) {
-    if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
+    if (!ignition_on) {
+      // CLEARPILOT: ignition on→off blanks the screen immediately (tap still wakes).
+      resetInteractiveTimeout(0, 0);
+    } else if (s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
       resetInteractiveTimeout(0, 0);
     } else {
       resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);

system/clearpilot/gpsd.py

@@ -20,17 +20,16 @@ from openpilot.common.time import system_time_valid
 from openpilot.system.hardware.tici.pins import GPIO
 
 
-def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
-  """Return True if it's between sunrise and sunset at the given location.
-  Uses NOAA simplified solar position equations. Pure math, no external libs."""
+def _sunrise_sunset_min(lat: float, lon: float, utc_dt: datetime.datetime):
+  """Compute (sunrise_min, sunset_min) in UTC minutes since midnight of utc_dt's day.
+  Values can be negative or >1440 for western/eastern longitudes. Returns
+  (None, None) for polar night, ('always', 'always') for midnight sun."""
   n = utc_dt.timetuple().tm_yday
   gamma = 2 * math.pi / 365 * (n - 1 + (utc_dt.hour - 12) / 24)
-  # Equation of time (minutes)
   eqtime = 229.18 * (0.000075 + 0.001868 * math.cos(gamma)
            - 0.032077 * math.sin(gamma)
            - 0.014615 * math.cos(2 * gamma)
            - 0.040849 * math.sin(2 * gamma))
-  # Solar declination (radians)
   decl = (0.006918 - 0.399912 * math.cos(gamma)
           + 0.070257 * math.sin(gamma)
           - 0.006758 * math.cos(2 * gamma)
@@ -42,14 +41,41 @@ def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
   cos_ha = (math.cos(zenith) / (math.cos(lat_rad) * math.cos(decl))
             - math.tan(lat_rad) * math.tan(decl))
   if cos_ha < -1:
-    return True   # midnight sun
+    return ('always', 'always')   # midnight sun
   if cos_ha > 1:
-    return False  # polar night
+    return (None, None)           # polar night
   ha = math.degrees(math.acos(cos_ha))
   sunrise_min = 720 - 4 * (lon + ha) - eqtime
   sunset_min = 720 - 4 * (lon - ha) - eqtime
+  return (sunrise_min, sunset_min)
+
+
+def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
+  """Return True if the sun is currently above the horizon at (lat, lon).
+
+  Handles west-of-Greenwich correctly: at UTC midnight it may still be
+  evening local time, and the relevant sunset is the PREVIOUS UTC day's
+  value (which is >1440 min if we re-ref to that day, i.e. it's past
+  midnight UTC). Symmetric case for east-of-Greenwich at the other end.
+
+  Strategy: compute sunrise/sunset for yesterday, today, and tomorrow (each
+  relative to its own UTC midnight), shift them all onto today's clock
+  (yesterday = -1440, tomorrow = +1440), and check if now_min falls inside
+  any of the three [sunrise, sunset] intervals.
+  """
   now_min = utc_dt.hour * 60 + utc_dt.minute + utc_dt.second / 60
-  return sunrise_min <= now_min <= sunset_min
+  for day_offset in (-1, 0, 1):
+    d = utc_dt + datetime.timedelta(days=day_offset)
+    sr, ss = _sunrise_sunset_min(lat, lon, d)
+    if sr == 'always':
+      return True
+    if sr is None:
+      continue  # polar night this day
+    sr += day_offset * 1440
+    ss += day_offset * 1440
+    if sr <= now_min <= ss:
+      return True
+  return False
 
 
 def at_cmd(cmd: str) -> str: