parked-controlsd: tester-present heartbeat; cruise-set keeps full stack; dashcam idle on park

Three independent changes for the parked-controlsd architecture.

controlsd_parked: send the Hyundai HDA2 tester-present heartbeat
("\x02\x3E\x80\x00\x00\x00\x00\x00") at 1 Hz to 0x730 on E-CAN while we're
the active controlsd variant. The full carcontroller normally sends this
to keep the ADAS ECU held in its disabled diagnostic session — when full
controlsd hands off to parked-controlsd, the heartbeat used to stop, the
ECU would time out (~5 s default-session timeout) and snap back to stock,
lighting up the LKAS / blind-spot warning icons on the cluster. Continuing
the heartbeat from the parked variant keeps the ECU disabled across the
swap. The panda safety filter only allows tester-present on 0x730 so this
is the only "graceful release" mechanism available to us.

thermald: cruise-set override on the parked check. If carState.cruiseState
.speed > 0 (engaged OR paused-with-speed-set), stay in not_parked even if
gear is in P. The user can shift to park at a stop, glance at the cluster
to verify cruise is still set, and roll forward without waiting for full
controlsd to spin up. PARKED_HYSTERESIS_S still applies for the
gear-in-park-no-cruise → parked transition.

dashcamd: close the trip immediately on gear shift to PARK (was: 10-min
idle timer before close). User wants the dashcam idle in park and a fresh
trip on every drive engagement; brief drive-thru / fuel-stop across-trip
continuity isn't valued.

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

cereal/services.py

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

common/params.cc

@@ -138,6 +138,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GsmRoaming", PERSISTENT},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
+    {"IgnitionOn", CLEAR_ON_MANAGER_START},
     {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},

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 = 0.25  # thermald and manager — 4 Hz
+DT_TRML = 0.5  # thermald and manager
 DT_DMON = 0.05  # driver monitoring
 
 

selfdrive/boardd/boardd.cc

@@ -415,6 +415,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   Panda *peripheral_panda = pandas[0];
   bool is_onroad = false;
   bool is_onroad_last = false;
+  bool ignition_last = false;
   std::future<bool> safety_future;
 
   std::vector<std::string> connected_serials;
@@ -472,8 +473,14 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
     is_onroad = params.getBool("IsOnroad");
 
-    // set new safety on onroad transition, after params are cleared
+    // CLEARPILOT: trigger on ignition rising edge instead of IsOnroad rising edge.
-    if (is_onroad && !is_onroad_last) {
+    // ClearPilot's parked-mode split breaks the stock assumption that IsOnroad
+    // rises with ignition: IsOnroad now requires `started`, which requires
+    // thermald to see carState != park, which requires controlsd_parked to
+    // finish CarD init, which requires this thread to ack OBD multiplexing.
+    // Firing on ignition restores the original "set safety as soon as the bus
+    // is alive" timing for both controlsd variants.
+    if (ignition && !ignition_last) {
       if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
         safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
       } else {
@@ -482,6 +489,7 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
     }
 
     is_onroad_last = is_onroad;
+    ignition_last = ignition;
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();

selfdrive/car/hyundai/carstate.py

@@ -13,7 +13,6 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
                                                    CANFD_CAR, Buttons, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarStateBase
-from openpilot.selfdrive.clearpilot.telemetry import tlog
 
 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames
@@ -48,10 +47,6 @@ class CarState(CarStateBase):
     self.is_metric = False
     self.buttons_counter = 0
 
-    # CLEARPILOT: cache to avoid per-cycle atomic writes to /dev/shm (eats CPU via fsync/flock)
-    self._prev_car_speed_limit = None
-    self._prev_car_is_metric = None
-
     self.cruise_info = {}
 
     # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
@@ -214,15 +209,10 @@ class CarState(CarStateBase):
       self.lkas_previously_enabled = self.lkas_enabled
       self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
 
-    # CLEARPILOT: gate on change — see same fix in update_canfd
+    # self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
-    car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
+    self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
-    if car_speed_limit != self._prev_car_speed_limit:
+    self.params_memory.put_float("CarCruiseDisplayActual", cp_cruise.vl["SCC11"]["VSetDis"])
-      self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
+    
-      self._prev_car_speed_limit = car_speed_limit
-    if self.is_metric != self._prev_car_is_metric:
-      self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
-      self._prev_car_is_metric = self.is_metric
-
 
     return ret
 
@@ -425,23 +415,63 @@ class CarState(CarStateBase):
     #   nonAdaptive = false,
     #   speedCluster = 0 )
 
-    # CLEARPILOT: gate on change — these writes run 100Hz, each is an atomic fsync/flock transaction
+    # print("Set limit")
-    car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
+    # print(self.calculate_speed_limit(cp, cp_cam))
-    if car_speed_limit != self._prev_car_speed_limit:
+    # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
-      self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
+    self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
-      self._prev_car_speed_limit = car_speed_limit
-    if self.is_metric != self._prev_car_is_metric:
-      self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
-      self._prev_car_is_metric = self.is_metric
 
-    # CLEARPILOT: telemetry logging — disabled, re-enable when needed
+    # CLEARPILOT: CAN-FD telemetry — preserved but disabled. Re-enable by uncommenting (also restore the import).
+    # from openpilot.selfdrive.clearpilot.telemetry import tlog
+    #
     # speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
     # scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
     # cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
-    # tlog("car", { ... })
+    #
-    # tlog("cruise", { ... })
+    # tlog("car", {
-    # tlog("speed_limit", { ... })
+    #   "vEgo": round(ret.vEgo, 3),
-    # tlog("buttons", { ... })
+    #   "vEgoRaw": round(ret.vEgoRaw, 3),
+    #   "aEgo": round(ret.aEgo, 3),
+    #   "steeringAngleDeg": round(ret.steeringAngleDeg, 1),
+    #   "gear": str(ret.gearShifter),
+    #   "brakePressed": ret.brakePressed,
+    #   "gasPressed": ret.gasPressed,
+    #   "standstill": ret.standstill,
+    #   "leftBlinker": ret.leftBlinker,
+    #   "rightBlinker": ret.rightBlinker,
+    # })
+    #
+    # tlog("cruise", {
+    #   "enabled": ret.cruiseState.enabled,
+    #   "available": ret.cruiseState.available,
+    #   "speed": round(ret.cruiseState.speed, 3),
+    #   "standstill": ret.cruiseState.standstill,
+    #   "accFaulted": ret.accFaulted,
+    #   "ACCMode": scc.get("ACCMode", 0),
+    #   "VSetDis": scc.get("VSetDis", 0),
+    #   "aReqRaw": round(scc.get("aReqRaw", 0), 3),
+    #   "aReqValue": round(scc.get("aReqValue", 0), 3),
+    #   "DISTANCE_SETTING": scc.get("DISTANCE_SETTING", 0),
+    #   "ACC_ObjDist": round(scc.get("ACC_ObjDist", 0), 1),
+    # })
+    #
+    # tlog("speed_limit", {
+    #   "SPEED_LIMIT_1": cluster.get("SPEED_LIMIT_1", 0),
+    #   "SPEED_LIMIT_2": cluster.get("SPEED_LIMIT_2", 0),
+    #   "SPEED_LIMIT_3": cluster.get("SPEED_LIMIT_3", 0),
+    #   "SCHOOL_ZONE": cluster.get("SCHOOL_ZONE", 0),
+    #   "CHIME_1": cluster.get("CHIME_1", 0),
+    #   "CHIME_2": cluster.get("CHIME_2", 0),
+    #   "SPEED_CHANGE_BLINKING": cluster.get("SPEED_CHANGE_BLINKING", 0),
+    #   "calculated": self.calculate_speed_limit(cp, cp_cam),
+    #   "is_metric": self.is_metric,
+    # })
+    #
+    # tlog("buttons", {
+    #   "cruise_button": self.cruise_buttons[-1],
+    #   "main_button": self.main_buttons[-1],
+    #   "lkas_enabled": self.lkas_enabled,
+    #   "main_enabled": self.main_enabled,
+    # })
 
     return ret
 

selfdrive/car/interfaces.py

@@ -484,19 +484,10 @@ class CarInterfaceBase(ABC):
           self.silent_steer_warning = True
           events.add(EventName.steerTempUnavailableSilent)
         else:
-          # CLEARPILOT: log once per instance of this warning
-          if not getattr(self, '_steer_fault_logged', False):
-            import sys
-            print(f"CLP steerTempUnavailable: steerFaultTemporary={cs_out.steerFaultTemporary} "
-                  f"steeringPressed={cs_out.steeringPressed} standstill={cs_out.standstill} "
-                  f"steering_unpressed={self.steering_unpressed} steeringAngleDeg={cs_out.steeringAngleDeg:.1f} "
-                  f"steeringTorque={cs_out.steeringTorque:.1f} vEgo={cs_out.vEgo:.2f}", file=sys.stderr)
-            self._steer_fault_logged = True
           events.add(EventName.steerTempUnavailable)
     else:
       self.no_steer_warning = False
       self.silent_steer_warning = False
-      self._steer_fault_logged = False
     if cs_out.steerFaultPermanent:
       events.add(EventName.steerUnavailable)
 

selfdrive/controls/controlsd.py

@@ -37,10 +37,11 @@ from openpilot.system.version import get_short_branch
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CRUISING_SPEED, PROBABILITY, MovingAverageCalculator
 
 from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
-from openpilot.selfdrive.clearpilot.telemetry import tlog
-from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
 from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
 
+# CLEARPILOT: UI plumbing for ScreenDisplayMode and the speed/cruise-warning overlay
+from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
+
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
 LANE_DEPARTURE_THRESHOLD = 0.1
@@ -49,7 +50,7 @@ CAMERA_OFFSET = 0.04
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 TESTING_CLOSET = "TESTING_CLOSET" in os.environ
-IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "telemetryd", "dashcamd"}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -79,13 +80,14 @@ class Controls:
     self.params_storage = Params("/persist/params")
 
     self.params_memory.put_bool("CPTLkasButtonAction", False)
+    # CLEARPILOT: ScreenDisplayMode is an int (5-state machine: 0..4); UI reads it via getInt
     self.params_memory.put_int("ScreenDisplayMode", 0)
 
-    # CLEARPILOT: speed-limit/cruise-warning state machine + park→drive auto-reset
+    # CLEARPILOT: speed/cruise-warning overlay state, ticked at ~2Hz from clearpilot_state_control
     self.speed_state = SpeedState()
     self.speed_state_frame = 0
+    # CLEARPILOT: edge tracking for park->drive auto-wake of screen
     self.was_driving_gear = False
-    self.driving_gear = False
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
@@ -449,13 +451,6 @@ class Controls:
     # All events here should at least have NO_ENTRY and SOFT_DISABLE.
     num_events = len(self.events)
 
-    # CLEARPILOT: compute model standby suppression early — used by multiple checks below
-    try:
-      standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
-    except (ValueError, TypeError):
-      standby_ts = 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):
       self.events.add(EventName.processNotRunning)
@@ -469,11 +464,9 @@ class Controls:
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
     if not REPLAY and self.rk.lagging:
-      import sys
-      print(f"CLP controlsdLagging: remaining={self.rk.remaining:.4f} standstill={CS.standstill} vEgo={CS.vEgo:.2f}", file=sys.stderr)
       self.events.add(EventName.controlsdLagging)
     if not self.radarless_model:
-      if not model_suppress and (len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState']))):
+      if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
         self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
@@ -485,16 +478,13 @@ 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)
-    # CLEARPILOT: fire commIssue ONLY when messages actually aren't flowing (not_alive)
+    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
-    # 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)
-      else:
+      elif not self.sm.all_freq_ok():
-        self.events.add(EventName.commIssue)  # can_rcv_timeout path
+        self.events.add(EventName.commIssueAvgFreq)
+      else:  # invalid or can_rcv_timeout.
+        self.events.add(EventName.commIssue)
 
       logs = {
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
@@ -509,13 +499,13 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['liveLocationKalman'].posenetOK and not model_suppress:
+      if not self.sm['liveLocationKalman'].posenetOK:
         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:
+      if not self.sm['liveLocationKalman'].inputsOK:
         self.events.add(EventName.locationdTemporaryError)
-      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress:
+      if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
         self.events.add(EventName.paramsdTemporaryError)
 
     # conservative HW alert. if the data or frequency are off, locationd will throw an error
@@ -561,7 +551,7 @@ class Controls:
         self.distance_traveled = 0
       self.distance_traveled += CS.vEgo * DT_CTRL
 
-      if self.sm['modelV2'].frameDropPerc > 20 and not model_suppress:
+      if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
 
 
@@ -648,14 +638,6 @@ class Controls:
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
     self.active = self.state in ACTIVE_STATES
-
-    # CLEARPILOT: engagement telemetry disabled — was running at 100Hz, causing CPU load
-    # tlog("engage", {
-    #   "state": self.state.name if hasattr(self.state, 'name') else str(self.state),
-    #   "enabled": self.enabled, "active": self.active,
-    #   "cruise_enabled": CS.cruiseState.enabled, "cruise_available": CS.cruiseState.available,
-    #   "brakePressed": CS.brakePressed,
-    # })
     if self.active:
       self.current_alert_types.append(ET.WARNING)
 
@@ -665,30 +647,6 @@ 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
-      # Call LaC.update with active=False so we get the right lac_log subtype
-      # for this car's lateralTuning (torque vs pid vs angle). Internally it
-      # early-returns when active is False — cheap.
-      lp = self.sm['liveParameters']
-      _, _, lac_log = self.LaC.update(False, CS, self.VM, lp, self.steer_limited, 0.0,
-                                       self.sm['liveLocationKalman'], model_data=self.sm['modelV2'])
-      return CC, lac_log
-
     # Update VehicleModel
     lp = self.sm['liveParameters']
     x = max(lp.stiffnessFactor, 0.1)
@@ -1287,40 +1245,47 @@ class Controls:
     self.frogpilot_variables.use_ev_tables = self.params.get_bool("EVTable")
 
   def update_clearpilot_events(self, CS):
-    if (len(CS.buttonEvents) > 0):
+    if (len(CS.buttonEvents) > 0): 
       print (CS.buttonEvents)
-    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
+
-      self.events.add(EventName.clpDebug)
+    # Uncomment to alert when lkas button pressed
+    # if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
+      # self.events.add(EventName.clpDebug)
 
   def clearpilot_state_control(self, CC, CS):
-    # CLEARPILOT: auto-reset display when shifting into drive from screen-off
+    # CLEARPILOT: pure UI plumbing — does not modify CC/actuators. Maintains
-    if self.driving_gear and not self.was_driving_gear:
+    # ScreenDisplayMode (5-state machine driven by the LFA/debug button + gear
+    # edges) and ticks the speed/cruise-warning overlay at ~2Hz.
+    driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park,
+                                          GearShifter.reverse, GearShifter.unknown)
+
+    # Auto-wake screen when shifting into drive from screen-off
+    if driving_gear and not self.was_driving_gear:
       if self.params_memory.get_int("ScreenDisplayMode") == 3:
         self.params_memory.put_int("ScreenDisplayMode", 0)
-    self.was_driving_gear = self.driving_gear
+    self.was_driving_gear = driving_gear
 
+    # LFA/debug button cycles ScreenDisplayMode. Onroad and offroad use
+    # different transition tables.
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
       current = self.params_memory.get_int("ScreenDisplayMode")
-
+      if driving_gear:
-      if self.driving_gear:
         # Onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto via button)
         transitions = {0: 4, 1: 2, 2: 3, 3: 4, 4: 2}
         new_mode = transitions.get(current, 0)
       else:
-        # Not in drive: any except 3 → 3, state 3 → 0
+        # Not in drive: anything except 3 → 3 (screen off), state 3 → 0 (auto)
         new_mode = 0 if current == 3 else 3
-
       self.params_memory.put_int("ScreenDisplayMode", new_mode)
 
-    # ClearPilot speed processing (~2 Hz at 100 Hz loop) — drives speed-limit sign
+    # Speed/cruise-warning overlay tick (~2Hz at 100Hz loop)
-    # 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']
       has_gps = self.sm.valid['gpsLocation'] and gps.hasFix
       speed_ms = gps.speed if has_gps else 0.0
-      speed_limit_ms = self.params_memory.get_float("CarSpeedLimit")
+      speed_limit_ms = self.params_memory.get_float("CarSpeedLimit") or 0.0
-      is_metric = (self.params_memory.get("CarIsMetric", encoding="utf-8") or "0") == "1"
+      is_metric = self.is_metric
       cruise_speed_ms = CS.cruiseState.speed
       cruise_active = CS.cruiseState.enabled
       cruise_standstill = CS.cruiseState.standstill

selfdrive/controls/controlsd_parked.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+"""
+CLEARPILOT: minimal controlsd variant that runs while ignition is on but the
+car is in Park. Keeps CAN parsing and carState publishing alive (so thermald
+can see gearShifter and decide when to swap us out for the full controlsd),
+but skips all of the heavy onroad work — no model, no planner, no lateral or
+longitudinal control, no actuator commands.
+
+Manager swaps between this and the full controlsd via predicate flips:
+  - this runs when:  ignition AND not started
+  - full runs when:  started   (which requires ignition AND not_parked)
+
+The two are mutually exclusive — only one publishes carState at a time.
+
+We also keep the Hyundai HDA2 tester-present heartbeat alive while parked
+so the ADAS ECU doesn't snap back to default-session and light up LKAS /
+blind-spot warning icons on the cluster during the swap.
+"""
+from types import SimpleNamespace
+
+from openpilot.common.realtime import Priority, config_realtime_process
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car.card import CarD
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus as HyundaiCanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
+
+# UDS Tester Present, suppressPositiveResponse — same bytes the full
+# carcontroller sends every 100 frames to 0x730 on E-CAN to keep the ADAS
+# ECU held in its disabled diagnostic session.
+TESTER_PRESENT = b"\x02\x3E\x80\x00\x00\x00\x00\x00"
+TESTER_PRESENT_PERIOD_FRAMES = 100  # ~1 Hz at the CAN-paced loop rate
+
+
+def _make_default_frogpilot_variables() -> SimpleNamespace:
+  """Safe defaults for fields read inside CarInterface.update / CarState.update.
+
+  We're not actuating anything here; these only need to keep the update path
+  from raising AttributeError. False/0 across the board is the safe baseline."""
+  fv = SimpleNamespace()
+  fv.conditional_experimental_mode = False
+  fv.experimental_mode_via_distance = False
+  fv.traffic_mode = False
+  fv.sport_plus = False
+  fv.long_pitch = False
+  fv.no_lat_lane_change = False
+  return fv
+
+
+def main():
+  config_realtime_process(4, Priority.CTRL_HIGH)
+
+  # CarD's __init__ blocks until it sees CAN + a pandaState, then calls get_car
+  # to fingerprint and write CarParams. Same path the full controlsd takes.
+  card = CarD()
+  card.initialize()
+
+  fv = _make_default_frogpilot_variables()
+
+  # Determine if this car wants the Hyundai HDA2 tester-present heartbeat,
+  # and which bus E-CAN is on for this panda configuration.
+  is_hda2 = card.CP.carName == "hyundai" and bool(card.CP.flags & HyundaiFlags.CANFD_HDA2.value)
+  ecan = HyundaiCanBus(card.CP).ECAN if is_hda2 else None
+
+  # state_update drains CAN, parses carState, publishes carState/carOutput/carParams.
+  # Internally blocks via drain_sock_raw(wait_for_one=True), so the loop is
+  # naturally paced by CAN traffic — no extra sleep needed.
+  frame = 0
+  while True:
+    card.state_update(fv)
+
+    if is_hda2 and frame % TESTER_PRESENT_PERIOD_FRAMES == 0:
+      can_sends = [[0x730, 0, TESTER_PRESENT, ecan]]
+      card.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=True))
+    frame += 1
+
+
+if __name__ == "__main__":
+  main()

selfdrive/controls/lib/events.py

@@ -778,8 +778,8 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
   },
 
-  # CLEARPILOT: alert suppressed — event still fires for screen toggle and future actions
   EventName.clpDebug: {
+    ET.PERMANENT: clp_debug_notice,
   },
 
   EventName.noGps: {

selfdrive/controls/plannerd.py

@@ -34,21 +34,9 @@ def plannerd_thread():
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      # CLEARPILOT: skip the planning compute while parked, but KEEP publishing
+      longitudinal_planner.update(sm)
-      # at the normal cadence so consumers' alive flags stay healthy. Skipping
-      # publishes entirely caused longitudinalPlan to go alive=False at
-      # controlsd, which fires a real commIssue the moment we shift out of park.
-      # Stale published values are fine — controlsd's own park short-circuit
-      # ignores the longitudinalPlan content while parked anyway.
-      parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
-      if not parked:
-        longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-      # publish_ui_plan reads longitudinal_planner.a_desired_trajectory_full
+      publish_ui_plan(sm, pm, longitudinal_planner)
-      # which is only set inside update(). Skip it while parked — uiPlan is
-      # UI-only, not on controlsd's commIssue check list, so going silent is fine.
-      if not parked:
-        publish_ui_plan(sm, pm, longitudinal_planner)
 
 def main():
   plannerd_thread()

selfdrive/frogpilot/controls/frogpilot_planner.py

@@ -58,9 +58,6 @@ 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()
@@ -245,18 +242,7 @@ class FrogPilotPlanner:
 
   def publish(self, sm, pm):
     frogpilot_plan_send = messaging.new_message('frogpilotPlan')
-    valid = sm.all_checks(service_list=['carState', 'controlsState'])
+    frogpilot_plan_send.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

@@ -85,15 +85,9 @@ def frogpilot_thread():
           frogpilot_planner = FrogPilotPlanner(CP)
           frogpilot_planner.update_frogpilot_params()
 
-      # CLEARPILOT: skip planner compute while parked, but KEEP publishing at
-      # the normal cadence so frogpilotPlan stays alive at consumers. Skipping
-      # publishes entirely caused commIssue ("not_alive: frogpilotPlan") at
-      # controlsd the moment we shifted out of park.
-      parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
       if sm.updated['modelV2']:
-        if not parked:
+        frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
-          frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
+                                  sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
-                                    sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
         frogpilot_planner.publish(sm, pm)
 
     if not time_validated:

selfdrive/locationd/calibrationd.py

@@ -284,14 +284,7 @@ def main() -> NoReturn:
 
     # 4Hz driven by cameraOdometry
     if sm.frame % 5 == 0:
-      # CLEARPILOT: publish valid based on calibration status, not upstream sm.all_checks().
+      calibrator.send_data(pm, 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/manager/manager.py

@@ -363,6 +363,9 @@ def manager_init(frogpilot_functions) -> None:
   params.put("GitRemote", get_origin())
   params.put_bool("IsTestedBranch", is_tested_branch())
   params.put_bool("IsReleaseBranch", is_release_branch())
+  # CLEARPILOT: thermald is the source of truth for IgnitionOn; seed False so
+  # the parked-controlsd predicate evaluates to False before thermald's first tick.
+  params.put_bool("IgnitionOn", False)
 
   # set dongle id
   reg_res = register(show_spinner=True)

selfdrive/manager/process_config.py

@@ -43,6 +43,12 @@ def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
 def only_offroad(started, params, CP: car.CarParams) -> bool:
   return not started
 
+# CLEARPILOT: predicate for the parked controlsd variant. Runs while ignition
+# is on but the car is in Park (so started=False because thermald has gated it
+# off). Mutually exclusive with the full controlsd, which uses only_onroad.
+def parked_only(started, params, CP: car.CarParams) -> bool:
+  return params.get_bool("IgnitionOn") and not started
+
 # FrogPilot functions
 def allow_logging(started, params, CP: car.CarParams) -> bool:
   allow_logging = not (params.get_bool("DeviceManagement") and params.get_bool("NoLogging"))
@@ -82,6 +88,11 @@ procs = [
   PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
   PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
   PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  # CLEARPILOT: lightweight CAN listener that runs while ignition is on and the
+  # car is parked. Publishes carState (so thermald can see gear); does no model,
+  # planner, or actuator work. Manager swaps it out for the full controlsd as
+  # soon as gear leaves Park.
+  PythonProcess("controlsd_parked", "selfdrive.controls.controlsd_parked", parked_only),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   # PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),

selfdrive/modeld/dmonitoringmodeld.py

@@ -7,7 +7,7 @@ import ctypes
 import numpy as np
 from pathlib import Path
 
-from cereal import car, messaging
+from cereal import messaging
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -128,15 +128,10 @@ def main():
   assert vipc_client.is_connected()
   cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
 
-  sm = SubMaster(["liveCalibration", "carState"])
+  sm = SubMaster(["liveCalibration"])
   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:
@@ -148,13 +143,8 @@ def main():
     if sm.updated["liveCalibration"]:
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
-    parked = sm["carState"].gearShifter == car.CarState.GearShifter.park
     t1 = time.perf_counter()
-    if parked and last_model_output is not None:
+    model_output, dsp_execution_time = model.run(buf, calib)
-      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

@@ -134,15 +134,11 @@ def main(demo=False):
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
-  import time as _time
   cloudlog.warning("setting up CL context")
-  _t0 = _time.monotonic()
   cl_context = CLContext()
-  _t1 = _time.monotonic()
+  cloudlog.warning("CL context ready; loading model")
-  cloudlog.warning("CL context ready in %.3fs; loading model", _t1 - _t0)
   model = ModelState(cl_context)
-  _t2 = _time.monotonic()
+  cloudlog.warning("models loaded, modeld starting")
-  cloudlog.warning("model loaded in %.3fs (total init %.3fs), modeld starting", _t2 - _t1, _t2 - _t0)
 
   # visionipc clients
   while True:
@@ -183,10 +179,6 @@ 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
-  # 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
@@ -241,12 +233,6 @@ def main(demo=False):
       meta_extra = meta_main
 
     sm.update(0)
-
-    # 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
     frame_id = sm["roadCameraState"].frameId
@@ -318,21 +304,12 @@ def main(demo=False):
       **({'radar_tracks': radar_tracks,} if DISABLE_RADAR else {}),
     }
 
-    # CLEARPILOT: in park, serve the cached last model output instead of running
+    mt1 = time.perf_counter()
-    # GPU inference. First cycle (no cache yet) still runs once so we have
+    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    # something to serve. Out-of-park resumes fresh inference every frame.
+    mt2 = time.perf_counter()
-    parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
+    model_execution_time = mt2 - mt1
-    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

@@ -21,7 +21,6 @@ def dmonitoringd_thread():
 
   v_cruise_last = 0
   driver_engaged = False
-  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
 
   # 10Hz <- dmonitoringmodeld
   while True:
@@ -44,18 +43,7 @@ def dmonitoringd_thread():
     # Get data from dmonitoringmodeld
     events = Events()
 
-    # CLEARPILOT: narrow update_states gate. The original sm.all_checks() also
+    if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
-    # 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
@@ -66,16 +54,8 @@ 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=dm_valid)
+    dat = messaging.new_message('driverMonitoringState', valid=sm.all_checks())
     dat.driverMonitoringState = {
       "events": events.to_msg(),
       "faceDetected": driver_status.face_detected,

selfdrive/thermald/thermald.py

@@ -170,7 +170,17 @@ def thermald_thread(end_event, hw_queue) -> None:
 
   onroad_conditions: dict[str, bool] = {
     "ignition": False,
+    # CLEARPILOT: park-aware gating. When False, manager runs controlsd_parked
+    # (CAN listener only) instead of the full onroad stack. Latched + hysteresis
+    # on going-into-parked to avoid R↔P↔D thrash; flips out of parked instantly.
+    # Initialized False (assume parked) so the full stack waits for carState
+    # to confirm gear has actually left Park before spinning up.
+    "not_parked": False,
   }
+  is_parked = True
+  parked_since: float | None = None  # monotonic ts when gear first read as Park
+  PARKED_HYSTERESIS_S = 1.5
+  ignition_param_prev: bool | None = None
   startup_conditions: dict[str, bool] = {}
   startup_conditions_prev: dict[str, bool] = {}
 
@@ -247,6 +257,39 @@ def thermald_thread(end_event, hw_queue) -> None:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
+    # CLEARPILOT: derive is_parked from carState gearShifter. Whichever controlsd
+    # variant is currently running publishes carState; we just read the gear.
+    # Going INTO parked has hysteresis (PARKED_HYSTERESIS_S) so brief P touches
+    # during low-speed parking don't kick the heavy stack off. Going OUT of
+    # parked is instant so the full stack starts spinning up the moment the
+    # driver shifts to D/R/N.
+    #
+    # Cruise override: if cruise control has any speed set (engaged OR
+    # paused-with-speed-set), keep the full stack running even in park. This
+    # means the user can shift to park at a stop, glance at the cluster to
+    # verify cruise is still set, and roll forward without waiting for full
+    # controlsd to spin back up.
+    if sm.updated['carState']:
+      cs = sm['carState']
+      gear_is_park = cs.gearShifter == car.CarState.GearShifter.park
+      cruise_set = cs.cruiseState.speed > 0
+      now_mono = time.monotonic()
+      if gear_is_park and not cruise_set:
+        if parked_since is None:
+          parked_since = now_mono
+        if (not is_parked) and (now_mono - parked_since) >= PARKED_HYSTERESIS_S:
+          is_parked = True
+      else:
+        parked_since = None
+        is_parked = False
+    onroad_conditions["not_parked"] = not is_parked
+
+    # CLEARPILOT: expose ignition as a Param so manager predicates (which only
+    # see persistent Params, not pandaStates) can gate controlsd_parked.
+    if ignition_param_prev != onroad_conditions["ignition"]:
+      params.put_bool("IgnitionOn", onroad_conditions["ignition"])
+      ignition_param_prev = onroad_conditions["ignition"]
+
     try:
       last_hw_state = hw_queue.get_nowait()
     except queue.Empty:

sessions/2026-04-26-0914-baseline-revert-and-parked-mode/README.md

@@ -0,0 +1,355 @@
+# Session: 2026-04-26 — Baseline Revert + Parked-Controlsd Mode
+
+## Context
+
+This session was driven by a regression: the steering wheel "feels like
+it pulls right" during normal driving, with no clear smoking gun. The
+suspicion was that one of the variable-FPS / standstill-throttling
+changes (added to reduce parked-state fan noise and CPU load) bled into
+on-road driving behavior in a hard-to-isolate way.
+
+Strategy: revert all driving-relevant logic to a known-good baseline
+captured in `/projects/openpilot/archive/clearpilot` (HEAD `980f0aa`,
+July 2024), keep all of the ClearPilot UI/dashcam/telemetry/bench-mode
+infrastructure intact on top, then attack the parked-fan-noise problem
+fresh from a different angle that doesn't touch driving logic at all.
+
+Three commits landed in this order on branch `clearpilot`:
+
+| SHA | Title |
+|---|---|
+| `47321e3` | restore driving logic to pre-variable-fps baseline |
+| `f7e602c` | controlsd: re-wire UI hooks on top of restored baseline |
+| `887b9c9` | parked-controlsd mode: shut down heavy stack while ignition+park |
+
+Pre-revert tip was `62a403d`. The on-device agent should treat
+**`62a403d` as "the broken version"** when looking at history.
+
+---
+
+## Commit 1: `47321e3` — Baseline restore
+
+Reverted the following files wholesale to their `980f0aa` archive copy:
+
+- `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 at the bottom of `update_canfd` — re-enable by
+  uncommenting; the `tlog` import is also commented out).
+- `selfdrive/monitoring/dmonitoringd.py`
+- `selfdrive/frogpilot/controls/frogpilot_planner.py`
+- `common/realtime.py`
+
+### Intentionally NOT restored (kept as the post-`62a403d` version)
+
+- `selfdrive/thermald/*` — fan/power tuning kept as-is.
+- `selfdrive/car/hyundai/carcontroller.py` and `hyundaicanfd.py` —
+  reviewed; the only delta vs baseline is hoisting the
+  `no_lat_lane_change` Params read out of the 100Hz hot path
+  (~5% carcontroller CPU) by passing the bit as an argument. This is
+  a perf-only change with no behavioral effect outside lane changes.
+- `cereal/services.py`, `cereal/custom.capnp` — additive only.
+  `custom.capnp` adds `latRequested @3` and `noLatLaneChange @4` fields
+  to `FrogPilotCarControl`; capnp tag numbers are append-only so this is
+  safe to leave in even though baseline code doesn't write to them.
+- `selfdrive/manager/*`, `common/params.cc` — heavy ClearPilot
+  infrastructure (bench mode, log dir, dashcamd, gpsd, ClearPilot params).
+- All `selfdrive/ui/`, `selfdrive/clearpilot/`, `system/clearpilot/`.
+
+### Things removed by the restore (no longer in the tree)
+
+- Standstill frame skipping in modeld (was: skip GPU inference 19/20
+  frames at standstill, report 0 dropped frames to fool controlsd).
+- Standstill frame skipping in dmonitoringmodeld.
+- Model standby logic + `ModelStandby`/`ModelStandbyTs` reads in
+  controlsd's comm-issue suppression path.
+- Parked-cycle skip in `state_control()` (10Hz vs 100Hz when in Park).
+- Calibrationd validity decoupling from `sm.all_checks()`.
+- Post-engage 2s commIssue/location/params suppression window.
+- Per-cycle carstate write-gating for `CarSpeedLimit`/`CarIsMetric` in
+  carstate.py.
+- The diff-based carstate telemetry calls (preserved commented out).
+
+These were the candidates for the steering-pull regression. The on-device
+agent should **not re-introduce any of these** without a deliberate plan
+and a test session. The user's intent is to get baseline driving feel
+confirmed first, then re-introduce optimizations one at a time and drive
+each.
+
+---
+
+## Commit 2: `f7e602c` — UI hooks on top of baseline
+
+Baseline `controlsd.py` doesn't have the UI plumbing the ClearPilot UI
+expects. This commit re-adds only the things needed for the existing UI
+to keep working — pure params-write plumbing, no actuator effect.
+
+### Changes (all in `selfdrive/controls/controlsd.py`)
+
+1. **Import `SpeedState`** from `openpilot.selfdrive.clearpilot.speed_logic`.
+2. **`Controls.__init__`**:
+   - `params_memory.put_bool("ScreenDisplayMode", 0)` →
+     `params_memory.put_int("ScreenDisplayMode", 0)` (UI reads it as int).
+   - Added `self.speed_state = SpeedState()`, `self.speed_state_frame = 0`,
+     `self.was_driving_gear = False`.
+3. **SubMaster** — added `gpsLocation` to the subscriber list, with
+   `ignore_alive` / `ignore_avg_freq` / `ignore_valid` so missing GPS
+   doesn't trigger commIssue.
+4. **`clearpilot_state_control(...)`** rewritten from a simple 3-state
+   cycle into the documented 5-state ScreenDisplayMode machine:
+   - Auto-wake on park→drive edge if currently in screen-off (state 3).
+   - LFA button transitions in drive: `0→4, 1→2, 2→3, 3→4, 4→2`.
+   - LFA button transitions outside drive: any except 3 → 3, state 3 → 0.
+   - Speed/cruise-warning overlay tick at ~2Hz (`speed_state.update(...)`)
+     reading `gpsLocation`, `CarSpeedLimit` param, `self.is_metric`,
+     `CS.cruiseState`. This is what writes
+     `ClearpilotSpeedDisplay`/`ClearpilotSpeedLimitDisplay`/
+     `ClearpilotCruiseWarning` for the UI overlay.
+5. **Lane-change suppression sync** — at the existing baseline
+   `clearpilot_disable_lat_on_lane_change` block (around line 687), in
+   addition to the existing `params_memory.put_bool("no_lat_lane_change", ...)`,
+   also set `self.frogpilot_variables.no_lat_lane_change = True/False`.
+   This is required because the kept (post-`62a403d`) carcontroller
+   reads off `frogpilot_variables`, not Params.
+
+### What does NOT change
+
+No edits to lateral or longitudinal control paths. No new actuator-side
+behavior. The UI features (nightrider/screen-off/auto day-night, speed
+overlay, cruise warning chime) get wired back up purely through param
+writes.
+
+---
+
+## Commit 3: `887b9c9` — Parked-controlsd mode
+
+Architectural fix for the original problem this whole session was
+chasing: while ignition is on but the car is in Park, the entire onroad
+stack (modeld, planner, control, locationd, calibrationd, paramsd,
+torqued, dmonitoring*, soundd, loggerd) is running and burning CPU/fan
+even though none of it is needed.
+
+Solution: redefine "onroad" as **ignition AND not parked** instead of
+just **ignition**. Reuse the existing `started`-based process gating in
+manager. Add a tiny second controlsd variant that runs while parked,
+just to keep CAN flowing so thermald can see when gear leaves Park.
+
+### Files
+
+#### NEW: `selfdrive/controls/controlsd_parked.py`
+
+Minimal entry point. Roughly:
+
+```python
+def main():
+    config_realtime_process(4, Priority.CTRL_HIGH)
+    card = CarD()                  # blocks until first CAN, fingerprints car
+    card.initialize()
+    fv = _make_default_frogpilot_variables()  # safe False/0 SimpleNamespace
+    while True:
+        card.state_update(fv)      # publishes carState/carOutput/carParams
+```
+
+`CarD.state_update` blocks via `drain_sock_raw(wait_for_one=True)`, so
+the loop is paced by CAN traffic — no extra sleep, no CPU spin.
+
+The default `frogpilot_variables` sets these to safe values so
+`CarInterfaceBase.update` doesn't `AttributeError`:
+`conditional_experimental_mode`, `experimental_mode_via_distance`,
+`traffic_mode`, `sport_plus`, `long_pitch`, `no_lat_lane_change` — all
+False.
+
+#### `selfdrive/thermald/thermald.py`
+
+- `onroad_conditions` now also has `"not_parked"`. Initialized to
+  `False` (assume parked at boot) so the heavy stack waits for carState
+  to confirm gear has left Park before spinning up.
+- New module-level loop variables: `is_parked = True`,
+  `parked_since: float | None = None`, `PARKED_HYSTERESIS_S = 1.5`,
+  `ignition_param_prev: bool | None = None`.
+- New block right after the panda-disconnect check (around line 258 in
+  current state) reads `sm['carState'].gearShifter`:
+  - Gear == Park: latch `parked_since`, flip `is_parked = True` after
+    1.5s of continuous Park (hysteresis).
+  - Gear != Park: clear `parked_since`, `is_parked = False` immediately
+    (no hysteresis going out).
+  - Reverse is treated as **not parked** — driver is moving.
+- `onroad_conditions["not_parked"] = not is_parked` every tick.
+- New `IgnitionOn` Params write, edge-driven (only on change of
+  `onroad_conditions["ignition"]`) so we don't hammer the persistent
+  filesystem 2x/sec.
+
+#### `selfdrive/manager/process_config.py`
+
+- New predicate:
+  ```python
+  def parked_only(started, params, CP):
+      return params.get_bool("IgnitionOn") and not started
+  ```
+- New process entry directly after the existing `controlsd` entry:
+  ```python
+  PythonProcess("controlsd_parked", "selfdrive.controls.controlsd_parked", parked_only),
+  ```
+- `controlsd` is unchanged (still `only_onroad`). Mutually exclusive
+  with `parked_only` because `started` is the negation of the relevant
+  condition.
+
+#### `selfdrive/manager/manager.py`
+
+- Single line in `manager_init()` seeding `IgnitionOn=False` so the
+  predicate evaluates correctly before thermald's first tick.
+
+#### `common/params.cc`
+
+- New entry in the alphabetical I-block:
+  ```cpp
+  {"IgnitionOn", CLEAR_ON_MANAGER_START},
+  ```
+- Manager predicates can only see persistent Params (not pandaStates
+  or `/dev/shm/params`), which is why thermald has to expose ignition
+  this way.
+
+### State machine summary
+
+| Ignition | Gear        | Predicates true             | What runs                     |
+|----------|-------------|-----------------------------|-------------------------------|
+| off      | any         | none                        | always_run only (ui, thermald, pandad, deleter, …) |
+| on       | Park (>1.5s)| parked_only                 | always_run + controlsd_parked |
+| on       | not Park    | only_onroad (=> all `started`) | full onroad stack             |
+
+The transition between rows 2 and 3 is purely manager process
+swapping driven by predicate flips — no IPC handshake, no
+self-termination. Thermald sees gear change, flips `not_parked`,
+`should_start = all(onroad_conditions.values())` flips, manager kills
+the wrong variant and spawns the right one on its next tick.
+
+---
+
+## What the on-device agent needs to know / debug
+
+### Build prerequisites
+
+A new param key was added (`IgnitionOn`), so the C++ params whitelist
+needs a fresh build. Per `CLAUDE.md` "Adding New Params":
+
+```bash
+chown -R comma:comma /data/openpilot
+rm -f /data/openpilot/prebuilt /data/openpilot/common/params.o /data/openpilot/common/libcommon.a
+su - comma -c "bash /data/openpilot/build_only.sh"
+```
+
+`build_only.sh` already deletes `prebuilt` but **does not** delete
+`params.o` / `libcommon.a` — verify those are gone before building or
+the new key won't be picked up and `Params().put_bool("IgnitionOn", …)`
+will throw `UnknownKeyName` in manager_init or thermald.
+
+### How to verify the swap is working
+
+```bash
+# 1. Watch which controlsd variant is running
+watch -n 1 'ps -ef | grep -E "controlsd(_parked)?" | grep -v grep'
+
+# 2. Watch the gating signals
+watch -n 1 'echo "IgnitionOn:"; cat /data/params/d/IgnitionOn 2>/dev/null; \
+            echo; echo "deviceState.started:" ; \
+            python3 -c "import cereal.messaging as m; \
+              s=m.sub_sock(\"deviceState\", timeout=1000); \
+              print(m.recv_one(s).deviceState.started)"'
+
+# 3. Watch gear via carState
+python3 -c "
+import cereal.messaging as m
+s = m.sub_sock('carState', timeout=2000)
+while True:
+    msg = m.recv_one(s)
+    if msg: print(msg.carState.gearShifter)
+"
+```
+
+Expected behavior:
+- Ignition off: neither variant in `ps`. `IgnitionOn` is `0`/missing.
+- Ignition on, in Park: `controlsd_parked` in `ps`, `controlsd` is not.
+  `started` is False. After ~1.5s of confirmed Park, modeld and friends
+  should have stopped.
+- Shift to Drive: `controlsd_parked` disappears within ~500ms, full
+  `controlsd` appears, all the onroad processes spin up. There will be
+  a brief carState gap during the swap (~0.5–2s).
+
+### What to suspect first if something breaks
+
+1. **Manager crash on startup** with `UnknownKeyName: IgnitionOn`. Means
+   `params.o`/`libcommon.a` weren't rebuilt. Delete them and rebuild.
+2. **`controlsd_parked` keeps respawning / dying.** Check
+   `/data/log2/current/controlsd_parked.log`. Most likely either:
+   - `CarD.__init__` is hanging on `get_one_can` because pandad isn't
+     up yet — should only matter on the very first boot.
+   - A `frogpilot_variables` attribute we missed defaulting; add it to
+     `_make_default_frogpilot_variables` in `controlsd_parked.py`.
+3. **Full controlsd never spawns after shift to Drive.** Check
+   `IgnitionOn` (should be `1`), check carState.gearShifter (should not
+   be `park`/`unknown`), check thermald.log for `should_start` logic.
+   Also check that `carState` is actually being published by
+   `controlsd_parked`.
+4. **Steering still pulls right.** The whole point of commit 1 is to
+   rule out the variable-FPS work as the cause. If the symptom persists
+   on baseline-restored driving logic, the suspect list shifts to:
+   - Anything still on the kept side (carcontroller's
+     `no_lat_lane_change` plumbing, thermald-related changes,
+     custom.capnp additions).
+   - Hardware: a calibration that drifted, an alignment issue, panda
+     CAN bus issue, or torque tuning that was modified outside of these
+     files.
+   - The custom driving model selected (`Params("Model")`). Confirm
+     which `.thneed`/`.onnx` is loaded — none of the model files
+     themselves were changed in this session.
+5. **Panda safety alerts during park transition.** If panda logs a
+   "lost heartbeat" or drops to NOOUTPUT mode in the swap window, we
+   need controlsd_parked to issue a no-op carcontrol heartbeat to keep
+   panda happy. Not implemented in this session — flag for follow-up.
+
+### Open follow-up items (NOT done in this session)
+
+- **Cold-start latency on shift-from-Park.** Modeld load + calibration
+  warmup may produce a noticeable gap before lateral/long are ready.
+  Anticipatory wake on `CS.brakePressed && in_park` is the planned
+  mitigation if needed.
+- **Methodically reintroduce optimizations.** Once baseline driving
+  feels right, the standstill optimizations (modeld 1fps, fan clamps,
+  etc.) can come back one at a time, each with a drive test.
+- **The CAN-FD telemetry block in `selfdrive/car/hyundai/carstate.py`**
+  is preserved as a commented block at the bottom of `update_canfd()`.
+  Re-enabling requires uncommenting + restoring the `tlog` import at
+  the top of the file.
+
+---
+
+## Key file index for fast navigation
+
+```
+selfdrive/controls/controlsd.py                        # full controlsd, restored to baseline + UI hooks re-added
+selfdrive/controls/controlsd_parked.py                 # NEW: parked-only CAN listener
+selfdrive/controls/clearpilot_state_control            # in controlsd.py, ~line 1255 — 5-state ScreenDisplayMode + speed_state tick
+selfdrive/thermald/thermald.py                         # gear-aware not_parked + IgnitionOn writer (~line 258)
+selfdrive/manager/process_config.py                    # parked_only predicate + new entry
+selfdrive/manager/manager.py                           # IgnitionOn seed in manager_init
+common/params.cc                                       # IgnitionOn registered (CLEAR_ON_MANAGER_START)
+selfdrive/car/card.py                                  # CarD class — used by both controlsd variants, unchanged
+selfdrive/clearpilot/speed_logic.py                    # SpeedState class — unchanged, called from controlsd.clearpilot_state_control
+selfdrive/car/hyundai/carstate.py                      # restored baseline + commented telemetry block at end of update_canfd
+```
+
+## Reproducing the diff per commit
+
+```bash
+git show 47321e3            # baseline restore
+git show f7e602c            # UI hooks
+git show 887b9c9            # parked mode
+git diff 62a403d..887b9c9   # full session delta
+```

sessions/2026-04-26-1143-gps-disable-and-calibrationd-stale/README.md

@@ -0,0 +1,358 @@
+# Session: 2026-04-26 — GPS disabled in locationd; calibrationd-still-stale notes
+
+## Context
+
+Followup session to `2026-04-26-0914-baseline-revert-and-parked-mode`.
+After the baseline restore, the manager wouldn't start cleanly and the car
+exhibited a "drifting right on straight roads, model rescues us mid-curve"
+symptom. This session unblocked the startup chain end-to-end so the car can
+boot and run, disabled GPS as an input to locationd (the actual fix that
+made the drift go away), and pinned down — but did **not** solve — why
+`liveCalibration.valid` is still stuck at `False` and what that latently
+breaks downstream.
+
+Pre-session tip: `27cad05`. Single combined commit covering four code
+changes plus this README:
+
+- `selfdrive/boardd/boardd.cc` — `safety_setter_thread` on ignition edge
+- `selfdrive/controls/controlsd.py` — drop unregistered
+  `no_lat_lane_change` Params write, wire `FPCC.noLatLaneChange` for UI
+- `cereal/services.py` — deviceState/managerState back to 2Hz to match
+  restored `DT_TRML`
+- `selfdrive/locationd/locationd.cc` — ignore GPS as Kalman input
+  (reversible flag)
+
+---
+
+## Commit 1: boardd — safety_setter_thread on ignition edge
+
+### Symptom
+
+Manager started fine but `controlsd_parked` blocked indefinitely at:
+
+```
+set_obd_multiplexing (selfdrive/car/fw_versions.py:236)
+  fingerprint (selfdrive/car/car_helpers.py:149)
+    get_car (selfdrive/car/car_helpers.py:210)
+      __init__ (selfdrive/car/card.py:60)
+        main (selfdrive/controls/controlsd_parked.py:41)
+```
+
+`set_obd_multiplexing` does `params.get_bool("ObdMultiplexingChanged", block=True)` —
+it waits for **boardd's `safety_setter_thread`** to ack. That thread spawns
+only on the **rising edge of `IsOnroad`** (`boardd.cc:476`). `IsOnroad` is set
+by manager from the `started` flag (`helpers.py:49`). With the parked-mode split
+from the prior session, `started` requires `not_parked`, which requires thermald
+to see `carState.gearShifter != park`, which requires `controlsd_parked` to
+publish carState — which it can't do until OBD multiplexing is acked.
+
+Classic deadlock: ignition rising no longer implies IsOnroad rising.
+
+### Fix
+
+`selfdrive/boardd/boardd.cc:476` — change the trigger from IsOnroad rising
+edge to **ignition rising edge**. Adds `bool ignition_last = false;` next to
+`is_onroad_last`, swaps the gate variable, sets `ignition_last = ignition;`
+after. Restores stock openpilot's intent: set safety as soon as the bus is
+alive. Both controlsd variants need it; the thread's phase 2 (waiting on
+`ControlsReady`) is harmless in parked mode — it just sits.
+
+`is_onroad`/`is_onroad_last` left in place; they're now unused beyond this
+gate but the read of `params.getBool("IsOnroad")` still happens, in case any
+future logic wants it.
+
+---
+
+## Commit 2: controlsd — drop unregistered Params write
+
+### Symptom
+
+After the boardd fix, controlsd_parked progressed but full controlsd
+crashed at first `state_control` cycle:
+
+```
+File "selfdrive/controls/controlsd.py", line 693, in state_control
+    self.params_memory.put_bool("no_lat_lane_change", False)
+common.params_pyx.UnknownKeyName: b'no_lat_lane_change'
+```
+
+The baseline-restored controlsd unconditionally writes `no_lat_lane_change`
+to memory params on every state_control cycle. That key was never
+registered in `common/params.cc`. Pre-revert (`62a403d`) controlsd didn't
+write the param at all — it set `self.FPCC.noLatLaneChange` (capnp field).
+The baseline brought back a code path the fork's params.cc never matched.
+
+### Fix
+
+In `selfdrive/controls/controlsd.py:687-694`, remove the two
+`params_memory.put_bool("no_lat_lane_change", ...)` calls and replace with
+`self.FPCC.noLatLaneChange = True/False` (matches what the kept UI code in
+`onroad.cc:897` and `ui.cc:122` is reading from cereal). The
+`frogpilot_variables.no_lat_lane_change` writes were already there — those
+are what the kept Hyundai carcontroller actually reads at 100Hz.
+
+No actuator change. Pure plumbing.
+
+---
+
+## Commit 3: services.py — restore deviceState/managerState rates
+
+### Symptom
+
+After fixing the controlsd crash, controlsd booted but immediately fired
+**continuous `commIssue`** with:
+
+```
+"not_freq_ok": ["deviceState", "managerState"]
+```
+
+### Diagnosis
+
+`common/realtime.py` was reverted to `DT_TRML = 0.5` (thermald → 2Hz) in
+the baseline restore. But `cereal/services.py` still declared `deviceState`
+and `managerState` at 5Hz from earlier 4Hz-fan-control work. The freq window
+is `[0.8 × min, 1.2 × max]` — declared 5Hz means [4.0, 6.0]Hz. Thermald
+publishing at 2Hz fell well below 4.0 → freq_ok=False every cycle →
+commIssue every cycle.
+
+Already documented as a known footgun in `CLAUDE.md` ("Changing a Service's
+Publish Rate").
+
+### Fix
+
+`cereal/services.py:33,73` — set both back to 2Hz with a comment pointing
+at `DT_TRML`. After this, `not_freq_ok=[]` and the continuous commIssue
+stopped — only one transient commIssue at startup remained (warmup).
+
+---
+
+## Commit 4: locationd — ignore GPS as Kalman input (reversible)
+
+### Why
+
+The car was drifting right on straight roads. Pre-revert, the user
+reported this had been working for years; the only practically-new thing
+is that `system/clearpilot/gpsd.py` (AT-command-based GPS) had recently
+**started actually getting fixes**, where for a long time it wasn't.
+
+Two concrete data problems with the GPS feed for selfdrive purposes:
+
+- `gpsd.py:221` hard-codes `gps.vNED = [0.0, 0.0, 0.0]` while the user is
+  moving 28 m/s. locationd's `handle_gps` derives `OBSERVATION_ECEF_VEL`
+  from this; the Kalman gets "GPS says you're stopped" while accelerometer
+  says otherwise.
+- `gpsd.py:216,222` populate horizontalAccuracy/verticalAccuracy from
+  `hdop * 5` (a rough conversion); `bearingAccuracyDeg = 10.0` and
+  `speedAccuracy = 1.0` are constants. None of these match what a real
+  GNSS chip reports.
+
+These flow into the latcontrol_torque pipeline indirectly through
+`liveLocationKalman.angularVelocityCalibrated` (used as
+`actual_curvature_llk = ... / CS.vEgo` blended with steering-angle-derived
+curvature) and through `liveLocationKalman.calibratedOrientationNED`
+(pitch). When the Kalman has wrong velocity observations, those derived
+fields go wrong — and on a straight crowned road, the controller's
+"actual_curvature" picture is off-center, biasing torque output.
+
+### What the user does NOT want disabled
+
+gpsd publishes are still consumed by:
+- UI speed indicator and the ClearPilot status overlay
+- `dashcamd` for `.srt` subtitle sidecars (lat/lon per segment)
+- `timed.py` for system-clock setting via `unixTimestampMillis`
+- `gpsd.py` itself for sunset/sunrise → `IsDaylight` (auto night mode)
+- `telemetryd.py` for the `gps` group in the CSV
+
+So we cannot just stop publishing — only locationd should ignore.
+
+### Fix
+
+`selfdrive/locationd/locationd.cc:310-323` — add a `clearpilot_disable_gps`
+const at the top of `Localizer::handle_gps` and OR it into the existing
+reject condition. With it true, every gpsLocation message falls through to
+`determine_gps_mode(current_time)` (openpilot's stock no-GPS path:
+`input_fake_gps_observations` once position uncertainty grows past
+`SANE_GPS_UNCERTAINTY`, otherwise nothing). `last_gps_msg` never updates,
+`is_gps_ok()` returns False, `liveLocationKalman.gpsOK = false`.
+
+Effect verified by user: drift improved noticeably. The torque controller
+is no longer fed contradictory GPS-vs-IMU velocity observations through
+the Kalman.
+
+To re-enable GPS as a Kalman input: flip the `clearpilot_disable_gps`
+constant to `false` and rebuild. Self-contained edit.
+
+---
+
+## Calibrationd: still stale, root-cause partially understood
+
+### What is happening
+
+`calibrationd` publishes `liveCalibration.valid = sm.all_checks()` on every
+cycle, where `sm` polls `cameraOdometry` and non-polls `carState` and
+`carParams`. We measured: **120 publishes in 30 seconds, every single one
+`valid=False`** with `calStatus=calibrated, calPerc=100, validBlocks=50`.
+The body of the calibration is converged — the validity flag is stuck off.
+
+### Why this matters
+
+`liveCalibration.valid=False` cascades:
+
+1. `locationd.cc:715` — `filterInitialized = sm.allAliveAndValid()`.
+   liveCalibration is in the sub list and not in `ignore_alive` /
+   `ignore_valid`. So filterInitialized stays False forever.
+2. With Kalman uninitialized, `liveLocationKalman` still publishes but the
+   body fields are empty/default. `liveLocationKalman.status = uninitialized`.
+3. `paramsd.py` subscribes to `liveLocationKalman` with `poll='liveLocationKalman'`
+   and gates its update logic on `sm.all_checks()`. When liveLocationKalman
+   itself isn't in a sane state, paramsd's `roll`, `angleOffsetDeg`,
+   `steerRatio`, `stiffnessFactor` either never converge or converge to bad
+   values.
+4. `latcontrol_torque.py:135-136` uses `params.angleOffsetDeg` to compute
+   `actual_curvature_vm` and `params.roll` for `roll_compensation`. With
+   `roll=0`, no compensation for a crowned/banked road. With wrong
+   `angleOffsetDeg`, the closed-loop "actual curvature" measurement is
+   biased.
+
+So the latent risk is: even with our GPS fix, the controller is running
+**without learned roll compensation and without a learned steering-angle
+offset**. Symptom-free on straight, level pavement; biased on banked roads.
+
+### Why `valid=False`
+
+Inside calibrationd's SubMaster, `sm.all_checks() = all_alive AND all_freq_ok
+AND all_valid`. We measured each:
+
+- `cameraOdometry`: alive=True, valid=True, freq_ok=True ✓
+- `carState`: alive flickers True/False, valid=True, **freq_ok=False (every cycle)**
+- `carParams`: alive=True after first arrival, valid=True, freq_ok=False
+  but excluded from `all_freq_ok` because `_check_avg_freq` skips services
+  with `frequency < 0.99` Hz (carParams is 0.02 Hz declared) — so it doesn't
+  fail the gate.
+
+The smoking gun is **`carState.freq_ok = False` from inside calibrationd's
+`poll='cameraOdometry'` SubMaster**.
+
+Direct measurement (`/tmp/test_subs.py`):
+
+| poll arg | carState observed rate | freq_ok |
+|---|---:|:-:|
+| `None` (all polled) | 97.40 Hz | True |
+| `'cameraOdometry'` | **2.24 Hz** | **False** |
+| `'carState'` | 98.58 Hz | True |
+
+carState is published at 100 Hz to a 10MB shared-memory MSGQ queue. From
+inside `poll='cameraOdometry'`, our non-blocking `recv_one_or_none(carState)`
+returns None ~88% of the time. `/tmp/diag_recv.py`:
+
+```
+cameraOdometry msgs received: 121
+carState recv calls: 121, hits: 14 (11.6% hit rate)
+avg cycle duration: 50.0ms
+```
+
+So we're calling `recv` 20× per second on carState's queue, and finding
+the queue empty 9 out of 10 times — even though carState is being published
+at 100 Hz to that same queue with a `conflate=True` socket option.
+
+### The MSGQ NUM_READERS = 12 hypothesis
+
+`cereal/messaging/msgq.h:9` defines `#define NUM_READERS 12`. When a 13th
+subscriber tries to subscribe to a queue, `msgq.cc:182-197` **invalidates
+ALL readers simultaneously** (`*q->read_valids[i] = false` for all i)
+to "reset and re-register". On the next read, an invalidated reader's
+`msgq_msg_recv` jumps to `msgq_reset_reader` (line 347) and ends up with
+`read_pointer == write_pointer` (caught up to current), returning size 0.
+
+Subscribers to `carState` in our running system include: controlsd,
+plannerd, locationd, calibrationd, paramsd, dmonitoringd, frogpilot_process,
+telemetryd, statsd. That's already nine. The introspection scripts
+(`/tmp/check_*.py`, `/tmp/measure_freq.py`, `/tmp/diag_recv.py`,
+`/tmp/cal_view.py`) and any UI-side subscribers add more, can easily
+push past 12 and trigger global eviction. Once evicted, a long-running
+subscriber stays in the "find empty queue / reset / try again" loop, which
+is what we measured.
+
+This is **partially confirmed** but not proven definitively. The
+investigation was paused before instrumenting the queue header to count
+slot churn. The smoking-gun would be: print `q->num_readers` from inside
+calibrationd at boot vs. during steady state and watch it tick up to 12+.
+
+### Things to consider for the actual fix
+
+1. **`7ee923b` already solved this exact problem.** It changed
+   calibrationd's publish to:
+   ```python
+   # was: calibrator.send_data(pm, sm.all_checks())
+   # to:  calibrator.send_data(pm, calibrator.cal_status == log.LiveCalibrationData.Status.calibrated)
+   ```
+   The commit message documented the exact failure mode (cascade through
+   locationd uninitialized → paramsd steerRatio≈0 / stiffnessFactor≈0 →
+   nonsense curvature commands). It was reverted by `47321e3` as part of
+   "restore driving logic to pre-variable-fps baseline" — but that revert
+   was about isolating the drift cause, and the calibrationd change here
+   is *not* in the variable-FPS family. **Re-applying `7ee923b` is
+   probably the right next move**, narrowly scoped to calibrationd.py.
+2. Less attractive alternatives: bump `NUM_READERS`; switch
+   carState to `poll=None` in calibrationd (more cycles per update,
+   higher CPU); add `ignore_average_freq=['carState']` to calibrationd's
+   SubMaster (treats freq glitches as benign, but keeps the cascade for
+   alive/valid).
+
+---
+
+## Steer-fault alert investigation (separate symptom)
+
+User saw "Steering Temporarily Unavailable" alerts during a test drive
+even though we hadn't touched lateral-control code. Captured in
+`realdata/00000081--528e2aa03a--0/rlog`:
+
+- Faults occur in **brief 50–100 ms pulses** clustered while moving slowly
+  (`vEgo` 2.7–5.2 m/s ≈ 6–12 mph).
+- Each pulse correlates with **large driver wheel torque** (-250, +273,
+  -187, +119 Nm) — i.e. the user actively turning the wheel during a
+  parking-lot maneuver.
+- `cruise.enabled = False` throughout — openpilot was not engaged.
+- The car's MDPS sets `LKA_FAULT` at low speeds when torque is high; that
+  bit maps directly to `cs_out.steerFaultTemporary` (`carstate.py:259`),
+  which fires `steerTempUnavailableSilent` regardless of engagement
+  (`ET.WARNING` displays unconditionally).
+
+User reports they've "never had this issue before" — implying earlier
+ClearPilot revisions either gated the fault on speed or used a different
+no-lateral path. **Not confirmed which.** Open follow-up.
+
+---
+
+## Open follow-ups (ordered by likely return)
+
+1. **Re-apply `7ee923b`** — gate `liveCalibration.valid` on `calStatus`,
+   not `sm.all_checks()`. Unblocks locationd init → paramsd convergence →
+   real `params.roll` and `params.angleOffsetDeg` for the torque
+   controller. Latent benefit beyond what GPS-disable alone gave us.
+2. **Investigate the persistent low-speed `steerTempUnavailable` alert.**
+   Either (a) gate `steerFaultTemporary` on `vEgo > ~8 m/s` in
+   `carstate.py:259`, or (b) find what the previous fork did — possibly
+   stopped sending tester CAN messages on park, possibly suppressed the
+   alert specifically during a park transition window.
+3. **Suppress LKAS fault display when shifting drive → park.** The user
+   reports the car shows an LKAS-fault icon when openpilot keeps publishing
+   tester-present CAN messages after entering park. Investigation needed
+   in `selfdrive/car/hyundai/carcontroller.py` and `hyundaicanfd.py` to
+   gate tester messages on gear ≠ park.
+4. **Wheel-torque headroom edit.** User mentioned a community-known edit
+   that allows slightly higher steering torque on the Hyundai panda safety
+   model. Research target: panda safety code for HYUNDAI_CANFD safety
+   model and the `MAX_TORQUE` / per-cycle delta limits.
+5. **Single startup `commIssue` event.** Even with all our fixes, controlsd
+   logs one transient commIssue right after `controlsd.initialized`
+   (timeout=true after 6s). The `invalid` set at that moment is
+   downstream services still warming up (liveCalibration, liveLocationKalman,
+   liveParameters, liveTorqueParameters, frogpilotPlan, longitudinalPlan,
+   driverMonitoringState). Most should clear once the calibrationd issue
+   is fixed; remaining ones are normal warmup.
+6. **gpsd.py vNED / accuracy fields.** Out of scope for this session
+   (we disabled GPS in locationd instead), but if GPS is ever re-enabled,
+   `gpsd.py:216,221-224` need real values: vNED from
+   `speed × {cos(bearing), sin(bearing), 0}`, and accuracy fields from
+   actual modem reports rather than hard-coded constants.