modelrevert: boot fixes + strip remaining variable-rate cruft

controlsd:
- stop writing the removed 'no_lat_lane_change' persistent param
  (key isn't in the whitelist anymore). Write to
  frogpilot_variables.no_lat_lane_change instead so the carcontroller
  read still works and the lane-change-disengage feature is preserved.
- initialize self.driving_gear = False in __init__; it's set at the
  end of step() in update_frogpilot_variables but clearpilot_state_control
  reads it on the first iteration before that's run.

modeld:
- remove the remaining CLEARPILOT variable-rate / standby code path
  that was baked into the initial-import commit (the one our first
  commit captured). Constant 20fps, no ModelStandby/ModelStandbyTs
  writes, no params_memory reads for 'no_lat_lane_change' (which
  isn't registered anymore).
- drop now-unused locals (model_standby, last_standby_ts_write,
  params_memory).

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

selfdrive/clearpilot/dashcamd.cc

@@ -12,19 +12,19 @@
  * Trip lifecycle state machine:
  *
  *   WAITING:
- *     - Process starts in this state. Idle.
+ *     - Process starts in this state
  *     - Waits for valid system time (year >= 2024) AND car in drive gear
  *     - Transitions to RECORDING when both conditions met
  *
  *   RECORDING:
  *     - Actively encoding frames, car is in drive
- *     - Gear shift into PARK → close trip immediately → WAITING (idle)
- *     - Ignition off → close trip → WAITING
+ *     - Car leaves drive → start 10-min idle timer → IDLE_TIMEOUT
  *
- *   IDLE_TIMEOUT (deprecated, retained for safety):
- *     - Was used to keep recording across brief drive-thru / fuel stops.
- *     - Now unreachable: drive→park transitions close the trip immediately
- *       and a fresh trip starts on the next drive engagement.
+ *   IDLE_TIMEOUT:
+ *     - Car left drive, still recording with timer running
+ *     - Car re-enters drive → cancel timer → RECORDING
+ *     - Timer expires → close trip → WAITING
+ *     - Ignition off → close trip → WAITING
  *
  *   Graceful shutdown (DashcamShutdown param):
  *     - thermald sets DashcamShutdown="1" before device power-off
@@ -301,11 +301,10 @@ int main(int argc, char *argv[]) {
       }
 
       case RECORDING:
-        // CLEARPILOT: close trip immediately on park (no idle timer). User wants
-        // dashcam idle in park, fresh trip on each drive engagement.
-        if (gear == cereal::CarState::GearShifter::PARK) {
-          LOGW("dashcamd: gear in park, closing trip");
-          close_trip();
+        if (!in_drive) {
+          idle_timer_start = now;
+          state = IDLE_TIMEOUT;
+          LOGW("dashcamd: car left drive, starting 10-min idle timer");
         }
         break;
 

selfdrive/controls/controlsd.py

@@ -485,16 +485,13 @@ 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)
-    # 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_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
-      else:
-        self.events.add(EventName.commIssue)  # can_rcv_timeout path
+      elif not self.sm.all_freq_ok():
+        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],
@@ -665,30 +662,6 @@ 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)
@@ -729,10 +702,8 @@ class Controls:
     if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
       CC.latActive = False
       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

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
-      # 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.update(sm)
       longitudinal_planner.publish(sm, pm)
-      # publish_ui_plan reads longitudinal_planner.a_desired_trajectory_full
-      # 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)
+      publish_ui_plan(sm, pm, longitudinal_planner)
 
 def main():
   plannerd_thread()

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'],
-                                    sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
+        frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
+                                  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().
-      # 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)
+      calibrator.send_data(pm, sm.all_checks())
 
 
 if __name__ == "__main__":

selfdrive/locationd/locationd.cc

@@ -308,18 +308,12 @@ 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 (clearpilot_disable_gps || !log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
+  if (!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/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 = last_model_output
-    else:
-      model_output, dsp_execution_time = model.run(buf, calib)
-      last_model_output = (model_output, dsp_execution_time)
+    model_output, dsp_execution_time = model.run(buf, calib)
     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

@@ -183,10 +183,6 @@ 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
@@ -318,21 +314,12 @@ def main(demo=False):
       **({'radar_tracks': radar_tracks,} if DISABLE_RADAR else {}),
     }
 
-    # CLEARPILOT: in park, serve the cached last model output instead of running
-    # 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
+    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,