ready screen: hide READY! text after first drive, reset on ignition cycle

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

CANBUS_ISSUE_INVESTIGATE.md

@@ -0,0 +1,29 @@
+# CAN-FD Issues to Investigate
+
+## Cruise Control Desync on Hot Start
+
+### Problem
+When the car is already in cruise control mode before openpilot starts (or before controlsd initializes), pressing the cruise control button causes a desync:
+
+1. Car has active cruise control when openpilot comes online
+2. Driver presses cruise button — car interprets as "toggle off" (cruise was already on)
+3. openpilot interprets it as "engage" (from its perspective, it hasn't seen a cruise enable transition)
+4. Result: car disengages cruise, but openpilot thinks it just engaged lateral mode
+
+### Proposed Fix
+When controlsd first reads carState and discovers `cruiseState.enabled` is already true:
+
+1. Set a flag `cruise_was_active_at_start = True`
+2. While this flag is set, do NOT allow openpilot to transition to engaged state on button press
+3. Only clear the flag after seeing `cruiseState.enabled` go to `False` at least once (a full stop of cruise, not just standstill/pause)
+4. After the first full off cycle, normal engagement logic resumes
+
+### Status
+- Could not reproduce on 2026-04-14 — may require specific timing (openpilot restart while driving with cruise active)
+- Need to capture telemetry data during reproduction to see exact signal sequence
+- Key telemetry groups to watch: `cruise` (enabled, available, ACCMode, VSetDis), `buttons` (cruise_button)
+
+### Relevant Code
+- `selfdrive/controls/controlsd.py` — engagement state machine
+- `selfdrive/car/hyundai/carstate.py` — CAN-FD cruise state parsing
+- `selfdrive/car/interfaces.py` — pcm_enable / cruise state transitions

CLAUDE.md

@@ -92,6 +92,18 @@ The params system uses a C++ whitelist. Adding a new param name in `manager.py`
 2. Add the default value in `selfdrive/manager/manager.py` in `manager_init()`
 3. Remove `prebuilt`, `common/params.o`, and `common/libcommon.a` to force rebuild
 
+### Memory Params (paramsMemory)
+
+ClearPilot uses memory params (`/dev/shm/params/d/`) for UI toggles that should reset on boot. Key rules:
+
+- **Registration**: Register the key in `common/params.cc` as `PERSISTENT` (same as FrogPilot pattern — the registration flag does NOT control which path the param lives at)
+- **C++ access**: Use `Params{"/dev/shm/params"}` — stored as a class member `paramsMemory` in onroad.h. Do NOT use `Params("/dev/shm/params/d")` — the Params class appends `/d/` internally, so that would resolve to `/dev/shm/params/d/d/`
+- **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`
+- **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
 
 - SCons is the build system. Static libraries (`common`, `messaging`, `cereal`, `visionipc`) must be imported as SCons objects, not `-l` flags
@@ -482,10 +494,13 @@ Power On
 
 - **Client**: `selfdrive/clearpilot/telemetry.py` — `tlog(group, data)` sends JSON over ZMQ PUSH
 - **Collector**: `selfdrive/clearpilot/telemetryd.py` — diffs against previous state, writes changed values to CSV
-- **Toggle**: `TelemetryEnabled` param, controlled from Debug panel in ClearPilot menu
+- **Toggle**: `TelemetryEnabled` memory param, controlled from Debug panel in ClearPilot menu
 - **Auto-disable**: disabled on every manager start; disabled if `/data` free < 5GB
 - **Hyundai CAN-FD data**: logged from `selfdrive/car/hyundai/carstate.py` `update_canfd()` — groups: `car`, `cruise`, `speed_limit`, `buttons`
+- **GPS data**: logged directly by telemetryd via cereal `gpsLocation` subscription at 1Hz — group: `gps` (latitude, longitude, speed, altitude, bearing, accuracy)
 - **CSV location**: `/data/log2/current/telemetry.csv` (or session directory)
+- **Onroad overlay**: when telemetry enabled, status bar shows temp, fan %, model FPS, and STANDSTILL indicator
+- **Speed limit**: `speed_limit.calculated` is the final computed speed limit value (in vehicle units, MPH when `is_metric=False`). This is the value that will be used for the future speed limit warning chime feature
 
 ### Key Dependencies
 

common/params.cc

@@ -198,8 +198,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"TelemetryEnabled", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
+    {"ModelStandby", PERSISTENT},
+    {"ModelStandbyTs", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"VpnEnabled", CLEAR_ON_MANAGER_START},
+    {"VpnEnabled", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
     {"UpdaterAvailableBranches", PERSISTENT},

launch_openpilot.sh

@@ -20,6 +20,9 @@ bash /data/openpilot/system/clearpilot/on_start.sh
 # CLEARPILOT: start VPN monitor (kills previous instances, runs as root)
 sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'
 
+# CLEARPILOT: start nice monitor (keeps claude at nice 19)
+sudo bash -c 'nohup /data/openpilot/system/clearpilot/nice-monitor.sh > /dev/null 2>&1 &'
+
 # CLEARPILOT: pass --bench flag through to manager via env var
 if [ "$1" = "--bench" ]; then
   export BENCH_MODE=1

selfdrive/car/hyundai/carstate.py

@@ -421,59 +421,14 @@ class CarState(CarStateBase):
     # self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
     self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
 
-    # CLEARPILOT: telemetry logging
-    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", {
-      "vEgo": round(ret.vEgo, 3),
-      "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,
-      "brakePressed": ret.brakePressed,
-      "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],
-      "prev_cruise_button": self.prev_cruise_buttons,
-      "main_button": self.main_buttons[-1],
-      "prev_main_button": self.prev_main_buttons,
-      "lkas_enabled": self.lkas_enabled,
-      "main_enabled": self.main_enabled,
-    })
+    # CLEARPILOT: telemetry logging — disabled, re-enable when needed
+    # 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("speed_limit", { ... })
+    # tlog("buttons", { ... })
 
     return ret
 

selfdrive/car/interfaces.py

@@ -484,10 +484,19 @@ 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/clearpilot/dashcamd.cc

@@ -64,7 +64,8 @@
 
 const std::string VIDEOS_BASE = "/data/media/0/videos";
 const int SEGMENT_SECONDS = 180;  // 3 minutes
-const int CAMERA_FPS = 20;
+const int SOURCE_FPS = 20;
+const int CAMERA_FPS = 10;
 const int FRAMES_PER_SEGMENT = SEGMENT_SECONDS * CAMERA_FPS;
 const int BITRATE = 2500 * 1024;  // 2500 kbps
 const double IDLE_TIMEOUT_SECONDS = 600.0;  // 10 minutes
@@ -129,18 +130,28 @@ int main(int argc, char *argv[]) {
   if (do_exit) return 0;
   LOGW("dashcamd: system time valid");
 
-  LOGW("dashcamd: connecting to camerad road stream");
+  LOGW("dashcamd: started, connecting to camerad road stream");
   VisionIpcClient vipc("camerad", VISION_STREAM_ROAD, false);
   while (!do_exit && !vipc.connect(false)) {
     usleep(100000);
   }
   if (do_exit) return 0;
+  LOGW("dashcamd: vipc connected, waiting for valid frame");
 
-  int width = vipc.buffers[0].width;
-  int height = vipc.buffers[0].height;
-  int y_stride = vipc.buffers[0].stride;
+  // Wait for a frame with valid dimensions (camerad may still be initializing)
+  VisionBuf *init_buf = nullptr;
+  while (!do_exit) {
+    init_buf = vipc.recv();
+    if (init_buf != nullptr && init_buf->width > 0 && init_buf->height > 0) break;
+    usleep(100000);
+  }
+  if (do_exit) return 0;
+
+  int width = init_buf->width;
+  int height = init_buf->height;
+  int y_stride = init_buf->stride;
   int uv_stride = y_stride;
-  LOGW("dashcamd: connected %dx%d, stride=%d", width, height, y_stride);
+  LOGW("dashcamd: first valid frame %dx%d stride=%d", width, height, y_stride);
 
   // Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
   SubMaster sm({"carState", "deviceState", "gpsLocation"});
@@ -151,6 +162,7 @@ int main(int argc, char *argv[]) {
   OmxEncoder *encoder = nullptr;
   std::string trip_dir;
   int frame_count = 0;
+  int recv_count = 0;
   uint64_t segment_start_ts = 0;
   double idle_timer_start = 0.0;
 
@@ -227,6 +239,10 @@ int main(int argc, char *argv[]) {
     VisionBuf *buf = vipc.recv();
     if (buf == nullptr) continue;
 
+    // CLEARPILOT: skip frames to match target FPS (SOURCE_FPS -> CAMERA_FPS)
+    recv_count++;
+    if (SOURCE_FPS > CAMERA_FPS && (recv_count % (SOURCE_FPS / CAMERA_FPS)) != 0) continue;
+
     sm.update(0);
     double now = nanos_since_boot() / 1e9;
 

selfdrive/clearpilot/telemetry.py

@@ -6,20 +6,39 @@ Usage from any process:
   tlog("canbus", {"speed": 45.2, "speed_limit": 60})
 
 Sends JSON packets over ZMQ PUSH to telemetryd, which diffs and writes CSV.
+Only sends when TelemetryEnabled memory param is set — zero cost when disabled.
 """
 import json
+import os
 import time
 import zmq
 
 TELEMETRY_SOCK = "ipc:///tmp/clearpilot_telemetry"
+_PARAM_PATH = "/dev/shm/params/d/TelemetryEnabled"
 
 _ctx = None
 _sock = None
+_last_check = 0
+_enabled = False
 
 
 def tlog(group: str, data: dict):
   """Log a telemetry packet. Only changed values will be written to CSV by telemetryd."""
-  global _ctx, _sock
+  global _ctx, _sock, _last_check, _enabled
+
+  # Check param at most once per second to avoid filesystem overhead
+  now = time.monotonic()
+  if now - _last_check > 1.0:
+    _last_check = now
+    try:
+      with open(_PARAM_PATH, 'r') as f:
+        _enabled = f.read().strip() == "1"
+    except (FileNotFoundError, IOError):
+      _enabled = False
+
+  if not _enabled:
+    return
+
   if _sock is None:
     _ctx = zmq.Context.instance()
     _sock = _ctx.socket(zmq.PUSH)

selfdrive/clearpilot/telemetryd.py

@@ -17,6 +17,7 @@ import shutil
 import time
 import zmq
 
+import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.selfdrive.clearpilot.telemetry import TELEMETRY_SOCK
 from openpilot.selfdrive.manager.process import _log_dir, session_log
@@ -26,12 +27,16 @@ DISK_CHECK_INTERVAL = 10  # seconds
 
 
 def main():
-  params = Params()
+  params = Params("/dev/shm/params")
   ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
   sock.setsockopt(zmq.RCVHWM, 1000)
   sock.bind(TELEMETRY_SOCK)
 
+  # GPS subscriber for location telemetry
+  sm = messaging.SubMaster(['gpsLocation'])
+  last_gps_log = 0
+
   csv_path = os.path.join(_log_dir, "telemetry.csv")
   state: dict[str, dict] = {}  # group -> {key: last_value}
   was_enabled = False
@@ -71,6 +76,34 @@ def main():
 
     was_enabled = enabled
 
+    # GPS telemetry at most 1Hz — fed through the same diff logic
+    if enabled and writer is not None:
+      sm.update(0)
+      now = time.monotonic()
+      if sm.updated['gpsLocation'] and (now - last_gps_log) >= 1.0:
+        gps = sm['gpsLocation']
+        gps_data = {
+          "latitude": f"{gps.latitude:.7f}",
+          "longitude": f"{gps.longitude:.7f}",
+          "speed": f"{gps.speed:.2f}",
+          "altitude": f"{gps.altitude:.1f}",
+          "bearing": f"{gps.bearingDeg:.1f}",
+          "accuracy": f"{gps.accuracy:.1f}",
+        }
+        ts = time.time()
+        if "gps" not in state:
+          state["gps"] = {}
+        prev_gps = state["gps"]
+        gps_changed = False
+        for key, value in gps_data.items():
+          if key not in prev_gps or prev_gps[key] != value:
+            writer.writerow([f"{ts:.6f}", "gps", key, value])
+            prev_gps[key] = value
+            gps_changed = True
+        if gps_changed:
+          f.flush()
+        last_gps_log = now
+
     # Always drain the socket (even when disabled) to avoid backpressure
     try:
       raw = sock.recv_string(zmq.NOBLOCK)

selfdrive/controls/controlsd.py

@@ -48,7 +48,7 @@ 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"}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd", "telemetryd", "dashcamd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -442,6 +442,13 @@ 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)
@@ -455,9 +462,11 @@ 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 len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
+      if not model_suppress and (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)
@@ -469,7 +478,7 @@ 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:
+    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)
       elif not self.sm.all_freq_ok():
@@ -490,13 +499,13 @@ class Controls:
       self.logged_comm_issue = None
 
     if not (self.CP.notCar and self.joystick_mode):
-      if not self.sm['liveLocationKalman'].posenetOK:
+      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:
+      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):
+      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
@@ -542,7 +551,7 @@ class Controls:
         self.distance_traveled = 0
       self.distance_traveled += CS.vEgo * DT_CTRL
 
-      if self.sm['modelV2'].frameDropPerc > 20:
+      if self.sm['modelV2'].frameDropPerc > 20 and not model_suppress:
         self.events.add(EventName.modeldLagging)
 
 
@@ -630,15 +639,13 @@ class Controls:
     self.enabled = self.state in ENABLED_STATES
     self.active = self.state in ACTIVE_STATES
 
-    # CLEARPILOT: log engagement state for debugging cruise desync issues
-    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,
-    })
+    # 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)
 

selfdrive/manager/manager.py

@@ -83,9 +83,12 @@ def manager_init(frogpilot_functions) -> None:
   params_storage = Params("/persist/params")
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
 
-  # CLEARPILOT: always start with telemetry disabled, VPN enabled
-  params.put("TelemetryEnabled", "0")
-  params.put("VpnEnabled", "1")
+  # CLEARPILOT: always start with telemetry disabled, VPN enabled (memory params)
+  params_memory = Params("/dev/shm/params")
+  params_memory.put("TelemetryEnabled", "0")
+  params_memory.put("VpnEnabled", "1")
+  params_memory.put("ModelStandby", "0")
+  params_memory.put("ModelStandbyTs", "0")
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
   params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
   if is_release_branch():

selfdrive/manager/process_config.py

@@ -54,7 +54,7 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool:
 
 # ClearPilot functions
 def dashcam_should_run(started, params, CP: car.CarParams) -> bool:
-  return started or params.get_bool("DashcamDebug")
+  return True  # CLEARPILOT: dashcamd manages its own trip lifecycle
 
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
@@ -85,7 +85,7 @@ procs = [
   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),
-  # PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),  # DISABLED: testing perf
+  PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
   # PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
@@ -110,7 +110,7 @@ procs = [
   PythonProcess("frogpilot_process", "selfdrive.frogpilot.frogpilot_process", always_run),
 
   # ClearPilot processes
-  # NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),  # DISABLED: testing perf
+  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], dashcam_should_run),
   PythonProcess("telemetryd", "selfdrive.clearpilot.telemetryd", always_run),
   PythonProcess("bench_onroad", "selfdrive.clearpilot.bench_onroad", always_run, enabled=BENCH_MODE),
 ]

selfdrive/modeld/modeld.py

@@ -134,11 +134,15 @@ 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()
-  cloudlog.warning("CL context ready; loading model")
+  _t1 = _time.monotonic()
+  cloudlog.warning("CL context ready in %.3fs; loading model", _t1 - _t0)
   model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
+  _t2 = _time.monotonic()
+  cloudlog.warning("model loaded in %.3fs (total init %.3fs), modeld starting", _t2 - _t1, _t2 - _t0)
 
   # visionipc clients
   while True:
@@ -179,6 +183,9 @@ 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")
   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
@@ -233,6 +240,49 @@ def main(demo=False):
       meta_extra = meta_main
 
     sm.update(0)
+
+    # CLEARPILOT: power saving — three modes based on driving state
+    #   Full 20fps: lat active or lane changing
+    #   Reduced 4fps: not lat active, not standstill (driving without cruise)
+    #   Standby 0fps: standstill
+    lat_active = sm['carControl'].latActive
+    lane_changing = params_memory.get_bool("no_lat_lane_change")
+    standstill = sm['carState'].standstill
+    full_rate = lat_active or lane_changing
+
+    # 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: 4fps when not lat active and not standstill
+    # Skip 4 out of every 5 frames (20fps -> 4fps)
+    # Write standby timestamp so controlsd suppresses transient errors
+    if not full_rate:
+      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 % 5 != 0:
+        last_vipc_frame_id = meta_main.frame_id
+        run_count += 1
+        continue
+
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId

selfdrive/thermald/fan_controller.py

@@ -8,7 +8,7 @@ from openpilot.selfdrive.controls.lib.pid import PIDController
 
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, cur_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
     pass
 
 
@@ -20,9 +20,21 @@ 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) -> int:
-    self.controller.neg_limit = -(100 if ignition else 30)
-    self.controller.pos_limit = -(30 if ignition else 0)
+  def update(self, cur_temp: float, ignition: bool, standstill: bool = False) -> int:
+    # CLEARPILOT: at standstill below 74°C, clamp to 0-10% (near silent)
+    # at standstill above 74°C, allow full 0-100% range
+    if ignition and standstill and cur_temp < 74:
+      self.controller.neg_limit = -10
+      self.controller.pos_limit = 0
+    elif ignition and standstill:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = 0
+    elif ignition:
+      self.controller.neg_limit = -100
+      self.controller.pos_limit = -15
+    else:
+      self.controller.neg_limit = -30
+      self.controller.pos_limit = 0
 
     if ignition != self.last_ignition:
       self.controller.reset()

selfdrive/thermald/thermald.py

@@ -164,7 +164,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def thermald_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates", "carState"], poll="pandaStates")
 
   count = 0
 
@@ -290,7 +290,8 @@ def thermald_thread(end_event, hw_queue) -> None:
     msg.deviceState.maxTempC = all_comp_temp
 
     if fan_controller is not None:
-      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
+      standstill = sm['carState'].standstill if sm.seen['carState'] else False
+      msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], standstill)
 
     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:

selfdrive/ui/qt/home.cc

@@ -85,19 +85,25 @@ void HomeWindow::updateState(const UIState &s) {
     showDriverView(s.scene.driver_camera_timer >= 10, true);
 
     // CLEARPILOT: show splash screen when onroad but in park
+    // In nightrider mode (states 1,4), stay on onroad view in park — only offroad transition shows splash
     bool parked = s.scene.parked;
+    int screenMode = paramsMemory.getInt("ScreenDisplayMode");
+    bool nightrider = (screenMode == 1 || screenMode == 4);
+
     if (parked && !was_parked_onroad) {
+      if (!nightrider) {
         LOGW("CLP UI: park transition -> showing splash");
         slayout->setCurrentWidget(ready);
+      }
     } else if (!parked && was_parked_onroad) {
       LOGW("CLP UI: drive transition -> showing onroad");
       slayout->setCurrentWidget(onroad);
+      ready->has_driven = true;
     }
     was_parked_onroad = parked;
 
-    // CLEARPILOT: honor display on/off while showing splash in park
+    // CLEARPILOT: honor display on/off while showing splash in park (normal mode only)
     if (parked && ready->isVisible()) {
-      int screenMode = paramsMemory.getInt("ScreenDisplayMode");
       if (screenMode == 3) {
         Hardware::set_display_power(false);
       } else {
@@ -350,15 +356,21 @@ ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
   ListWidget *debug_panel = new ListWidget(this);
   debug_panel->setContentsMargins(50, 25, 50, 25);
 
-  auto *telemetry_toggle = new ParamControl("TelemetryEnabled", "Telemetry Logging",
+  auto *telemetry_toggle = new ToggleControl("Telemetry Logging",
     "Record telemetry data to CSV in the session log directory. "
-    "Captures only changed values for efficiency.", "", this);
+    "Captures only changed values for efficiency.", "",
+    Params("/dev/shm/params").getBool("TelemetryEnabled"), this);
+  QObject::connect(telemetry_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("TelemetryEnabled", on);
+  });
   debug_panel->addItem(telemetry_toggle);
 
-  auto *vpn_toggle = new ParamControl("VpnEnabled", "VPN",
+  auto *vpn_toggle = new ToggleControl("VPN",
     "Connect to vpn.hanson.xyz for remote SSH access. "
-    "Disabling kills the active tunnel and stops reconnection attempts.", "", this);
+    "Disabling kills the active tunnel and stops reconnection attempts.", "",
+    Params("/dev/shm/params").getBool("VpnEnabled"), this);
   QObject::connect(vpn_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params("/dev/shm/params").putBool("VpnEnabled", on);
     if (on) {
       std::system("sudo bash -c 'nohup /data/openpilot/system/clearpilot/vpn-monitor.sh >> /tmp/vpn-monitor.log 2>&1 &'");
     } else {

selfdrive/ui/qt/onroad.cc

@@ -177,7 +177,14 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
+  // CLEARPILOT: hide engagement border in nightrider mode
+  int dm = paramsMemory.getInt("ScreenDisplayMode");
+  bool nightrider = (dm == 1 || dm == 4);
+  if (nightrider) {
+    p.fillRect(rect(), Qt::black);
+  } else {
     p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+  }
 
   QString logicsDisplayString = QString();
   if (scene.show_jerk) {
@@ -404,7 +411,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   }
 
   // CLEARPILOT: blinking blue circle when telemetry is recording
-  if (Params().getBool("TelemetryEnabled")) {
+  if (paramsMemory.getBool("TelemetryEnabled")) {
     // Blink: visible for 500ms, hidden for 500ms
     int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
     if (phase == 0) {
@@ -596,11 +603,20 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   // CLEARPILOT: nightrider mode — outline only, no fill
   bool outlineOnly = nightriderMode;
 
+  // CLEARPILOT: in nightrider mode, hide all lines when not engaged
+  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED]) {
+    painter.restore();
+    return;
+  }
+
+  // CLEARPILOT: nightrider lines are 1px wider (3 instead of 2)
+  int outlineWidth = outlineOnly ? 3 : 2;
+
   // 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, 2));
+      painter.setPen(QPen(lineColor, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -614,7 +630,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     QColor edgeCol = QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0));
     if (outlineOnly) {
-      painter.setPen(QPen(edgeCol, 2));
+      painter.setPen(QPen(edgeCol, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -689,7 +705,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     if (outlineOnly) {
       painter.setPen(QPen(QColor(center_lane_color.red(), center_lane_color.green(),
-                                 center_lane_color.blue(), 180), 2));
+                                 center_lane_color.blue(), 180), outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       painter.setPen(Qt::NoPen);
@@ -718,7 +734,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   if (scene.blind_spot_path) {
     QColor bsColor = QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6);
     if (outlineOnly) {
-      painter.setPen(QPen(bsColor, 2));
+      painter.setPen(QPen(bsColor, outlineWidth));
       painter.setBrush(Qt::NoBrush);
     } else {
       QLinearGradient bs(0, height(), 0, 0);
@@ -888,6 +904,10 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
     } else {
       CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
     }
+    // CLEARPILOT: force CameraWidget bg to black in nightrider to prevent color bleed
+    if (nightriderMode) {
+      CameraWidget::setBackgroundColor(Qt::black);
+    }
     painter.beginNativePainting();
     if (nightriderMode) {
       // CLEARPILOT: black background, no camera feed
@@ -1059,7 +1079,8 @@ void AnnotatedCameraWidget::updateFrogPilotWidgets() {
 }
 
 void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
-  if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI)) {
+  // CLEARPILOT: only show status bar when telemetry is enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
     drawStatusBar(p);
   }
 
@@ -1260,7 +1281,30 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
 
   QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
 
-  if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
+  // CLEARPILOT: telemetry status bar — show live stats when telemetry enabled
+  if (paramsMemory.getBool("TelemetryEnabled")) {
+    SubMaster &sm = *(uiState()->sm);
+    auto deviceState = sm["deviceState"].getDeviceState();
+    int maxTempC = deviceState.getMaxTempC();
+    int fanPct = deviceState.getFanSpeedPercentDesired();
+    bool standstill = sm["carState"].getCarState().getStandstill();
+
+    static double last_model_status_t = 0;
+    static float model_status_fps = 0;
+    if (sm.updated("modelV2")) {
+      double now = millis_since_boot();
+      if (last_model_status_t > 0) {
+        double dt = now - last_model_status_t;
+        if (dt > 0) model_status_fps = model_status_fps * 0.8 + (1000.0 / dt) * 0.2;
+      }
+      last_model_status_t = now;
+    }
+
+    newStatus = QString("%1\u00B0C  FAN %2%  MDL %3")
+      .arg(maxTempC).arg(fanPct).arg(model_status_fps, 0, 'f', 0);
+    if (standstill) newStatus += "  STANDSTILL";
+  // CLEARPILOT: suppress "Always On Lateral active" status bar message
+  } else if (false && alwaysOnLateralActive && showAlwaysOnLateralStatusBar) {
     newStatus = tr("Always On Lateral active") + (tr(". Press the \"Cruise Control\" button to disable"));
   } else if (showConditionalExperimentalStatusBar) {
     newStatus = conditionalStatusMap[status != STATUS_DISENGAGED ? conditionalStatus : 0];

selfdrive/ui/qt/ready.cc

@@ -70,14 +70,13 @@ void ReadyWindow::paintEvent(QPaintEvent *event) {
             painter.drawPixmap(x, y, scaled);
         }
 
-        if (error_msg.isEmpty()) {
-            // "READY!" 8-bit text sprite, 2x size, 15% below center
+        if (error_msg.isEmpty() && !has_driven) {
+            // "READY!" 8-bit text sprite, 15% below center — only before first drive
             static QPixmap ready_text("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png");
             if (!ready_text.isNull()) {
-                QPixmap scaled = ready_text.scaled(ready_text.width() * 3 / 2, ready_text.height() * 3 / 2, Qt::KeepAspectRatio, Qt::FastTransformation);
-                int tx = (width() - scaled.width()) / 2;
+                int tx = (width() - ready_text.width()) / 2;
                 int ty = height() / 2 + height() * 15 / 100;
-                painter.drawPixmap(tx, ty, scaled);
+                painter.drawPixmap(tx, ty, ready_text);
             }
         } else {
             // Error state: red text at 25% below center
@@ -126,5 +125,13 @@ void ReadyWindow::refresh() {
         if (error_msg != prev_error) changed = true;
     }
 
+    // Reset has_driven on ignition off→on (power cycle)
+    bool started = uiState()->scene.started;
+    if (!last_started && started) {
+      has_driven = false;
+      changed = true;
+    }
+    last_started = started;
+
     if (changed) update();
 }

selfdrive/ui/qt/ready.h

@@ -18,6 +18,7 @@ class ReadyWindow : public QWidget {
     Q_OBJECT
 public:
     ReadyWindow(QWidget* parent = nullptr);
+    bool has_driven = false;
 private:
     void showEvent(QShowEvent *event) override;
     void hideEvent(QHideEvent *event) override;
@@ -29,6 +30,7 @@ private:
     QString cur_temp;
     QString error_msg;  // non-empty = show red error instead of READY!
     QElapsedTimer uptime;
+    bool last_started = false;
     QPixmap img_bg;
     QPixmap img_hot;
 };

system/clearpilot/nice-monitor.sh

@@ -0,0 +1,19 @@
+#!/usr/bin/bash
+
+# Nice monitor — ensures claude processes run at lowest CPU priority.
+# Checks every 30 seconds and renices any claude process not already at nice 19.
+
+# Kill other instances of this script
+for pid in $(pgrep -f 'nice-monitor.sh' | grep -v $$); do
+  kill "$pid" 2>/dev/null
+done
+
+while true; do
+  for pid in $(pgrep -f 'claude' 2>/dev/null); do
+    cur=$(awk '{print $19}' /proc/$pid/stat 2>/dev/null)
+    if [ -n "$cur" ] && [ "$cur" != "19" ]; then
+      renice 19 -p "$pid" > /dev/null 2>&1
+    fi
+  done
+  sleep 30
+done

system/clearpilot/on_start.sh

@@ -3,5 +3,5 @@
 # Install logo
 bash /data/openpilot/system/clearpilot/startup_logo/set_logo.sh
 
-# Reverse ssh if brianbot dongle id
-bash /data/openpilot/system/clearpilot/dev/on_start.sh
+# Reverse ssh disabled — using VPN for remote access instead
+# bash /data/openpilot/system/clearpilot/dev/on_start.sh

system/loggerd/deleter.py

@@ -101,6 +101,39 @@ def delete_oldest_video():
     return False
 
 
+# CLEARPILOT: max total size for /data/log2 session logs
+LOG2_MAX_BYTES = 4 * 1024 * 1024 * 1024
+
+def cleanup_log2():
+  """Delete oldest session log directories until /data/log2 is under LOG2_MAX_BYTES."""
+  log_base = "/data/log2"
+  if not os.path.isdir(log_base):
+    return
+  # Get all session dirs sorted oldest first (by name = timestamp)
+  dirs = []
+  for entry in sorted(os.listdir(log_base)):
+    if entry == "current":
+      continue
+    path = os.path.join(log_base, entry)
+    if os.path.isdir(path) and not os.path.islink(path):
+      size = sum(f.stat().st_size for f in os.scandir(path) if f.is_file())
+      dirs.append((entry, path, size))
+  total = sum(s for _, _, s in dirs)
+  # Also count current session
+  current = os.path.join(log_base, "current")
+  if os.path.isdir(current):
+    total += sum(f.stat().st_size for f in os.scandir(current) if f.is_file())
+  # Delete oldest until under quota
+  while total > LOG2_MAX_BYTES and dirs:
+    entry, path, size = dirs.pop(0)
+    try:
+      cloudlog.info(f"deleting log session {path} ({size // 1024 // 1024} MB)")
+      shutil.rmtree(path)
+      total -= size
+    except OSError:
+      cloudlog.exception(f"issue deleting log {path}")
+
+
 def deleter_thread(exit_event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
@@ -135,6 +168,8 @@ def deleter_thread(exit_event):
           cloudlog.exception(f"issue deleting {delete_path}")
       exit_event.wait(.1)
     else:
+      # CLEARPILOT: enforce log2 size quota even when disk space is fine
+      cleanup_log2()
       exit_event.wait(30)