controlsd: re-apply QoL hooks on top of reverted baseline

Re-adds the non-self-drive controlsd integrations that the UI and memory-param pipeline need: - import SpeedState from clearpilot.speed_logic - self.speed_state, speed_state_frame, was_driving_gear init - subscribe to gpsLocation (ignored in alive/freq_ok/valid gates — OK if the GPS daemon isn't publishing) - clearpilot_state_control: - auto-reset ScreenDisplayMode 3→0 on park→drive transition - ~2Hz speed-state update driving the speed-limit sign and cruise over/under warning sign via ClearpilotCruiseWarning / ClearpilotSpeedLimitDisplay memory params The debug-button (LFA) ScreenDisplayMode cycling already lived in the reverted baseline (it was in the first commit), so it's preserved. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
revert modeld/controlsd/plannerd/locationd to first-commit baseline
2026-04-19 13:31:51 -05:00 · 2026-04-19 13:26:36 -05:00
7 changed files with 98 additions and 266 deletions
@@ -81,9 +81,10 @@ class Controls:
    self.params_memory.put_bool("CPTLkasButtonAction", False)
    self.params_memory.put_int("ScreenDisplayMode", 0)

-    # ClearPilot speed processing
+    # CLEARPILOT: speed-limit/cruise-warning state machine + park→drive auto-reset
    self.speed_state = SpeedState()
    self.speed_state_frame = 0
+    self.was_driving_gear = False

    self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS

@@ -114,8 +115,7 @@ class Controls:
                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                   'testJoystick', 'frogpilotPlan', 'gpsLocation'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore+['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'],
-                                  ignore_valid=['testJoystick', 'gpsLocation'],
+                                  ignore_alive=ignore + ['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'], ignore_valid=['testJoystick', 'gpsLocation'],
                                  frequency=int(1/DT_CTRL))

    self.joystick_mode = self.params.get_bool("JoystickDebugMode")
@@ -170,26 +170,6 @@ class Controls:
    self.current_alert_types = [ET.PERMANENT]
    self.logged_comm_issue = None
    self.not_running_prev = None
-    self.lat_requested_ts = 0  # CLEARPILOT: timestamp when lat was first requested (ramp-up delay + comm issue suppression)
-    self.prev_lat_requested = False
-    # CLEARPILOT: gate frogpilotCarControl send on change (3 static bools, was publishing 100Hz)
-    self._prev_fpcc = (None, None, None, None, None)
-    self._last_fpcc_send_frame = 0
-    # CLEARPILOT: hysteresis counters for transient-filter on cascade alerts. A blip
-    # under 50ms (5 cycles at 100Hz) is typical of MSGQ conflate + slow-polling-consumer
-    # freq-measurement artifacts — not a real comm issue. Persistent failure still
-    # alerts after 50ms, well inside a driver's reaction window.
-    self._hyst_commissue = 0
-    self._hyst_locationd_tmp = 0
-    self._hyst_paramsd_tmp = 0
-    self._hyst_posenet = 0
-    self.HYST_CYCLES = 5
-    # CLEARPILOT: parked-cycle skip — in park+ignition-on, run the full step() only
-    # every 10th cycle. CAN parse + CAN TX still happen every cycle; outer logic
-    # (events, state machine, PID/MPC, publishing) runs at 10Hz. Cached message
-    # bytes are re-published on skipped cycles so downstream freq_ok stays OK.
-    self._cached_controlsState_bytes = None
-    self._cached_carControl_bytes = None
    self.steer_limited = False
    self.desired_curvature = 0.0
    self.experimental_mode = False
@@ -224,8 +204,6 @@ class Controls:
    self.always_on_lateral_main = self.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain")

    self.drive_added = False
-    self.driving_gear = False
-    self.was_driving_gear = False
    self.fcw_random_event_triggered = False
    self.holiday_theme_alerted = False
    self.onroad_distance_pressed = False
@@ -264,21 +242,6 @@ class Controls:
    CS = self.data_sample()
    cloudlog.timestamp("Data sampled")

-    # CLEARPILOT: handle debug-button press + display-mode transitions on every
-    # cycle — button edge events only live in the cycle's CS.buttonEvents and
-    # would otherwise be dropped on skipped cycles.
-    self.handle_screen_mode(CS)
-
-    # CLEARPILOT: in park, only run the full step() every 10th cycle. data_sample
-    # above still runs (CAN parse, button detection). Below, card.controls_update
-    # still runs (CAN TX heartbeat, counters increment). The skipped outer logic
-    # (events, state machine, PID/MPC, publishing) causes at most ~100ms lag on
-    # button→state transitions, which is fine in park. Cached message bytes are
-    # re-sent so downstream consumers see steady 100Hz.
-    parked = CS.gearShifter == car.CarState.GearShifter.park
-    full_cycle = (not parked) or (self.sm.frame % 10 == 0) or (self._cached_controlsState_bytes is None)
-
-    if full_cycle:
    self.update_events(CS)
    self.update_frogpilot_events(CS)
    self.update_clearpilot_events(CS)
@@ -293,22 +256,13 @@ class Controls:
    CC, lac_log = self.state_control(CS)
    CC = self.clearpilot_state_control(CC, CS)

-      # Publish data (also sends CAN TX via card.controls_update inside)
+    # Publish data
    self.publish_logs(CS, start_time, CC, lac_log)

    self.CS_prev = CS

    # Update FrogPilot variables
    self.update_frogpilot_variables(CS)
-    else:
-      # CAN TX heartbeat: keep counters incrementing and CAN frames flowing to the car
-      if not self.CP.passive and self.initialized:
-        self.card.controls_update(self.CC, self.frogpilot_variables)
-      # Re-publish cached messages so downstream freq_ok checks don't trip
-      self.pm.send('controlsState', self._cached_controlsState_bytes)
-      self.pm.send('carControl', self._cached_carControl_bytes)
-      self.CS_prev = CS
-

  def data_sample(self):
    """Receive data from sockets and update carState"""
@@ -499,18 +453,7 @@ class Controls:
      standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
    except (ValueError, TypeError):
      standby_ts = 0
-    now = time.monotonic()
-    model_suppress = (now - standby_ts) < 2.0
-
-    # CLEARPILOT: suppress commIssue/location/params errors for 2s after lat was requested
-    # Model FPS jumps from 4 to 20 on engage, causing transient freq check failures
-    # lat_requested_ts is set in state_control on the False->True transition of LatRequested
-    # CLEARPILOT: 2s window — long enough to cover the modeld rate transition burst
-    # without hiding real comms issues. Extending this further risks masking a genuine
-    # fault that demands immediate driver takeover.
-    lat_engage_suppress = (now - self.lat_requested_ts) < 2.0
-
-    # CLEARPILOT: expose suppress flags + standby_ts for the debug dumper in step()
+    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):
@@ -524,14 +467,9 @@ class Controls:
          self.events.add(EventName.cameraMalfunction)
        elif not self.sm.all_freq_ok(self.camera_packets):
          self.events.add(EventName.cameraFrameRate)
-    # CLEARPILOT: alert only when avg cycle time exceeds 20ms (≈50Hz effective).
-    # Stock rk.lagging fires at 11.1ms (90% of 10ms) which the Hyundai CAN load
-    # routinely crosses while driving — that's normal, not a fault. 50Hz control is
-    # still plenty responsive. `rk.lagging` is still used defensively elsewhere
-    # (lines ~479, 492) to skip secondary checks when slightly overloaded.
-    avg_dt = sum(self.rk._dts) / len(self.rk._dts)
-    alert_lagging = avg_dt > 0.020
-    if not REPLAY and alert_lagging and not model_suppress and not lat_engage_suppress:
+    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']))):
@@ -546,60 +484,34 @@ 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: commIssue fires ONLY when messages actually aren't flowing. If all
-    # subscribers are alive and CAN isn't timing out, comms are fine — any `valid=False`
-    # is an upstream self-declaration that cascades from the MSGQ conflate +
-    # slow-polling-consumer freq_ok measurement artifact. The car drives correctly
-    # during these cascades (content is still usable), so we stop raising the banner.
-    # Genuine comms failures — missing messages or CAN RX timeout — still fire.
-    comms_really_broken = (not self.sm.all_alive()) or self.card.can_rcv_timeout
-    commissue_cond = comms_really_broken and no_system_errors and not model_suppress and not lat_engage_suppress
-    if commissue_cond:
-      self._hyst_commissue += 1
-    else:
-      self._hyst_commissue = 0
-    if self._hyst_commissue >= self.HYST_CYCLES:
+    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)
-    if commissue_cond:
-      # Log ONCE per entry into comms-really-broken state — no hyst counter so it doesn't
-      # spam every cycle (hyst changes every cycle and would make logs dict always differ).
+      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],
        'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
+        'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
        'can_rcv_timeout': self.card.can_rcv_timeout,
      }
      if logs != self.logged_comm_issue:
-        import sys, json
-        print("CLP commIssue " + json.dumps(logs), file=sys.stderr, flush=True)
+        cloudlog.event("commIssue", error=True, **logs)
        self.logged_comm_issue = logs
    else:
      self.logged_comm_issue = None

    if not (self.CP.notCar and self.joystick_mode):
-      # CLEARPILOT: suppress locationd/paramsd "temporary error" when we're in the
-      # freq-only cascade (same root as the commIssue suppression above). These events
-      # cascade from upstream freq_ok artifacts — locationd's filterInitialized latches
-      # False if calibrationd tips invalid due to freq, which cascades here.
-      # Real failures still fire commIssue above via alive/valid/can_rcv_timeout gate.
-      freq_only_cascade = (not self.sm.all_checks()) and not comms_really_broken
-
-      # deviceFalling is real-physics (shock sensor), no hysteresis, no cascade suppression.
+      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)
-
-      posenet_bad = not self.sm['liveLocationKalman'].posenetOK and not model_suppress and not lat_engage_suppress and not freq_only_cascade
-      self._hyst_posenet = self._hyst_posenet + 1 if posenet_bad else 0
-      if self._hyst_posenet >= self.HYST_CYCLES:
-        self.events.add(EventName.posenetInvalid)
-
-      locd_bad = not self.sm['liveLocationKalman'].inputsOK and not model_suppress and not lat_engage_suppress and not freq_only_cascade
-      self._hyst_locationd_tmp = self._hyst_locationd_tmp + 1 if locd_bad else 0
-      if self._hyst_locationd_tmp >= self.HYST_CYCLES:
+      if not self.sm['liveLocationKalman'].inputsOK and not model_suppress:
        self.events.add(EventName.locationdTemporaryError)
-
-      paramsd_bad = not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress and not lat_engage_suppress and not freq_only_cascade
-      self._hyst_paramsd_tmp = self._hyst_paramsd_tmp + 1 if paramsd_bad else 0
-      if self._hyst_paramsd_tmp >= self.HYST_CYCLES:
+      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
@@ -613,8 +525,16 @@ class Controls:
      if self.cruise_mismatch_counter > int(6. / DT_CTRL):
        self.events.add(EventName.cruiseMismatch)

-    # CLEARPILOT: FCW disabled — car's own radar AEB works better and triggers reliably.
-    # The comma FCW was producing false positives and adds nothing over the stock system.
+    # Check for FCW
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
+    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
+    if planner_fcw or model_fcw:
+      self.events.add(EventName.fcw)
+      # self.fcw_random_event_triggered = True
+    # elif self.fcw_random_event_triggered and self.random_events:
+      # self.events.add(EventName.yourFrogTriedToKillMe)
+      # self.fcw_random_event_triggered = False

    for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
      try:
@@ -762,19 +682,8 @@ class Controls:

    # Check which actuators can be enabled
    standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
-    # CLEARPILOT: lat_requested ignores momentary MDPS faults so modeld doesn't drop rate during
-    # brief steerFaultTemporary blips (stale predictions on recovery caused a fault feedback loop).
-    # lat_engaged gates the actual steering command and still respects the fault.
-    lat_requested = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and \
+    CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                   (not standstill or self.joystick_mode)
-    lat_engaged = lat_requested and not CS.steerFaultTemporary and not CS.steerFaultPermanent
-
-    now_ts = time.monotonic()
-    if lat_requested and not self.prev_lat_requested:
-      self.lat_requested_ts = now_ts
-    self.prev_lat_requested = lat_requested
-    self.FPCC.latRequested = lat_requested
-    CC.latActive = lat_engaged and (now_ts - self.lat_requested_ts) >= 0.25
    CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl

    actuators = CC.actuators
@@ -789,13 +698,11 @@ class Controls:
      CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
      CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right

-    no_lat_lane_change = model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change
-    if no_lat_lane_change:
+    if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
      CC.latActive = False
-    # CLEARPILOT: noLatLaneChange now lives on frogpilotCarControl (see update_frogpilot_variables).
-    # Also mirrored to frogpilot_variables so in-process carcontroller reads it without IPC.
-    self.FPCC.noLatLaneChange = no_lat_lane_change
-    self.frogpilot_variables.no_lat_lane_change = no_lat_lane_change
+      self.params_memory.put_bool("no_lat_lane_change", True)
+    else:
+      self.params_memory.put_bool("no_lat_lane_change", False)

    if CS.leftBlinker or CS.rightBlinker:
      self.last_blinker_frame = self.sm.frame
@@ -1031,8 +938,6 @@ class Controls:
      controlsState.lateralControlState.torqueState = lac_log

    self.pm.send('controlsState', dat)
-    # CLEARPILOT: cache for re-publication on parked-skip cycles
-    self._cached_controlsState_bytes = dat.to_bytes()

    # onroadEvents - logged every second or on change
    if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
@@ -1047,7 +952,6 @@ class Controls:
    cc_send.valid = CS.canValid
    cc_send.carControl = CC
    self.pm.send('carControl', cc_send)
-    self._cached_carControl_bytes = cc_send.to_bytes()

    # copy CarControl to pass to CarInterface on the next iteration
    self.CC = CC
@@ -1078,11 +982,6 @@ class Controls:
      while True:
        self.step()
        self.rk.monitor_time()
-        # CLEARPILOT: accumulated debt from startup/blocking calls never recovers.
-        # Reset the rate keeper when catastrophically behind — prevents a one-time
-        # ~8s fingerprinting stall from poisoning the lag metric for the whole session.
-        if self.rk.remaining < -1.0:
-          self.rk._next_frame_time = time.monotonic() + self.rk._interval
    except SystemExit:
      e.set()
      t.join()
@@ -1153,11 +1052,13 @@ class Controls:
      elif self.sm['modelV2'].meta.turnDirection == Desire.turnRight:
        self.events.add(EventName.turningRight)

-    # CLEARPILOT: check crash file once per second, not every cycle (stat syscall at 100Hz hurts)
-    if self.sm.frame % 100 == 0:
-      self._crashed_file_exists = os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
-    if getattr(self, '_crashed_file_exists', False) and self.crashed_timer < 10:
+    if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')) and self.crashed_timer < 10:
      self.events.add(EventName.openpilotCrashed)
+
+      # if self.random_events and not self.openpilot_crashed_triggered:
+      #   self.events.add(EventName.openpilotCrashedRandomEvents)
+      #   self.openpilot_crashed_triggered = True
+
      self.crashed_timer += DT_CTRL

    # if self.speed_limit_alert or self.speed_limit_confirmation:
@@ -1280,18 +1181,10 @@ class Controls:

    self.FPCC.trafficModeActive = self.frogpilot_variables.traffic_mode and self.params_memory.get_bool("TrafficModeActive")

-    # CLEARPILOT: send only when any field changes, with 1Hz keepalive
-    # Saves ~7ms/sec of capnp+zmq work (was sending 100Hz despite static contents)
-    # latRequested and noLatLaneChange are edge-triggered too (rare flips)
-    fpcc_tuple = (self.FPCC.alwaysOnLateral, self.FPCC.speedLimitChanged, self.FPCC.trafficModeActive,
-                  self.FPCC.latRequested, self.FPCC.noLatLaneChange)
-    if fpcc_tuple != self._prev_fpcc or (self.sm.frame - self._last_fpcc_send_frame) >= 100:
    fpcc_send = messaging.new_message('frogpilotCarControl')
    fpcc_send.valid = CS.canValid
    fpcc_send.frogpilotCarControl = self.FPCC
    self.pm.send('frogpilotCarControl', fpcc_send)
-      self._prev_fpcc = fpcc_tuple
-      self._last_fpcc_send_frame = self.sm.frame

    if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
      self.update_frogpilot_params()
@@ -1369,14 +1262,8 @@ class Controls:
    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
      self.events.add(EventName.clpDebug)

-  def handle_screen_mode(self, CS):
-    """CLEARPILOT: tracks driving_gear, auto-resets display, and cycles
-    ScreenDisplayMode on debug-button presses. Must run every cycle so button
-    edge events aren't lost during parked-skip mode (edges happen in carstate
-    edge detection and only appear in that one cycle's CS.buttonEvents)."""
-    self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
-
-    # auto-reset display when shifting into drive from screen-off
+  def clearpilot_state_control(self, CC, CS):
+    # CLEARPILOT: auto-reset display when shifting into drive from screen-off
    if self.driving_gear and not self.was_driving_gear:
      if self.params_memory.get_int("ScreenDisplayMode") == 3:
        self.params_memory.put_int("ScreenDisplayMode", 0)
@@ -1395,9 +1282,8 @@ class Controls:

      self.params_memory.put_int("ScreenDisplayMode", new_mode)

-  def clearpilot_state_control(self, CC, CS):
-
-    # ClearPilot speed processing (~2 Hz at 100 Hz loop)
+    # ClearPilot speed processing (~2 Hz at 100 Hz loop) — drives speed-limit sign
+    # and cruise over/under warning sign via memory params read by the UI.
    self.speed_state_frame += 1
    if self.speed_state_frame % 50 == 0:
      gps = self.sm['gpsLocation']
@@ -1410,7 +1296,6 @@ class Controls:
      cruise_standstill = CS.cruiseState.standstill
      self.speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
                              cruise_speed_ms, cruise_active, cruise_standstill)
-
    return CC

 def main():
@@ -143,10 +143,6 @@ class LongitudinalPlanner:
    self.params = Params()
    self.params_memory = Params("/dev/shm/params")

-    # CLEARPILOT: track model FPS for dynamic dt adjustment
-    self.model_fps = 20
-    self._dbg_prev_valid = True  # CLEARPILOT: diagnostic logging on valid transitions
-
    self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS

    self.release = get_short_branch() == "clearpilot"
@@ -177,19 +173,6 @@ class LongitudinalPlanner:
    return x, v, a, j

  def update(self, sm):
-    # CLEARPILOT: read actual model FPS and adjust dt accordingly
-    model_fps_raw = self.params_memory.get("ModelFps")
-    if model_fps_raw is not None:
-      try:
-        fps = int(model_fps_raw)
-        if fps > 0 and fps != self.model_fps:
-          self.model_fps = fps
-          self.dt = 1.0 / fps
-          self.v_desired_filter.dt = self.dt
-          self.v_desired_filter.update_alpha(2.0)  # rc=2.0, same as __init__
-      except (ValueError, ZeroDivisionError):
-        pass
-
    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'

    v_ego = sm['carState'].vEgo
@@ -256,10 +239,7 @@ class LongitudinalPlanner:
    self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)

    # TODO counter is only needed because radar is glitchy, remove once radar is gone
-    # CLEARPILOT: scale crash_cnt threshold by FPS — at 20fps need 3 frames (0.15s),
-    # at 4fps need 1 frame (0.25s already exceeds 0.15s window)
-    fcw_threshold = max(0, int(0.15 * self.model_fps) - 1)  # 20fps->2, 4fps->0
-    self.fcw = self.mpc.crash_cnt > fcw_threshold and not sm['carState'].standstill
+    self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
    if self.fcw:
      cloudlog.info("FCW triggered")

@@ -278,18 +258,7 @@ class LongitudinalPlanner:
  def publish(self, sm, pm):
    plan_send = messaging.new_message('longitudinalPlan')

-    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 longitudinalPlan 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
-    plan_send.valid = valid
+    plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])

    longitudinalPlan = plan_send.longitudinalPlan
    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
@@ -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().
-      # Original openpilot gated valid on fresh inputs, but that caused a cascade:
-      # upstream freq glitches → liveCalibration.valid=False → locationd stays
-      # uninitialized → paramsd fed garbage → bogus steerRatio/stiffnessFactor → erratic
-      # steering. "valid" semantically means "calibration data is trustworthy"; that's a
-      # question about calibration 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__":
@@ -187,7 +187,6 @@ def main():
  avg_offset_valid = True
  total_offset_valid = True
  roll_valid = True
-  dbg_prev_valid = True  # CLEARPILOT: track valid transitions

  while True:
    sm.update()
@@ -257,15 +256,7 @@ def main():
        liveParameters.filterState.std = P.tolist()
        liveParameters.filterState.valid = True

-      lp_valid = sm.all_checks()
-      # CLEARPILOT: on transition to invalid, log per-subscriber state to paramsd.log
-      if lp_valid != dbg_prev_valid and not lp_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 liveParameters valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
-      dbg_prev_valid = lp_valid
-      msg.valid = lp_valid
+      msg.valid = sm.all_checks()

      if sm.frame % 1200 == 0:  # once a minute
        params = {
@@ -226,8 +226,6 @@ def main(demo=False):
  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
    estimator = TorqueEstimator(CP)

-  dbg_prev_valid = True  # CLEARPILOT: track valid transitions
-
  while True:
    sm.update()
    if sm.all_checks():
@@ -238,15 +236,7 @@ def main(demo=False):

    # 4Hz driven by liveLocationKalman
    if sm.frame % 5 == 0:
-      tq_valid = sm.all_checks()
-      # CLEARPILOT: log per-sub detail on transition to invalid — goes to torqued.log
-      if tq_valid != dbg_prev_valid and not tq_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 liveTorqueParameters valid=False: {' '.join(details)}", file=sys.stderr, flush=True)
-      dbg_prev_valid = tq_valid
-      pm.send('liveTorqueParameters', estimator.get_msg(valid=tq_valid))
+      pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))

    # Cache points every 60 seconds while onroad
    if sm.frame % 240 == 0:
@@ -128,14 +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 so we can republish (not re-infer) at standstill.
-  # Saves ~7% CPU; downstream dmonitoringd sees a steady 10Hz stream with known-good
-  # last readings (driver can't become distracted relative to a stopped car).
-  last_model_output = None
  # last = 0

  while True:
@@ -147,16 +143,8 @@ def main():
    if sm.updated["liveCalibration"]:
      calib[:] = np.array(sm["liveCalibration"].rpyCalib)

-    standstill = sm["carState"].standstill
-
    t1 = time.perf_counter()
-    if standstill and last_model_output is not None:
-      # CLEARPILOT: reuse last inference at standstill
-      model_output = last_model_output
-      dsp_execution_time = 0.0
-    else:
    model_output, dsp_execution_time = model.run(buf, calib)
-      last_model_output = model_output
    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))
@@ -241,20 +241,23 @@ def main(demo=False):

    sm.update(0)

-    # CLEARPILOT: two-state modeld — 0fps only when parked (ignition-on means
-    # engine running in park; ignition-off stops modeld at the manager level).
-    # Standstill in drive (red light) keeps running so lateral stays responsive
-    # and liveCalibration/paramsd observations continue.
-    parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
-    should_standby = parked
+    # 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)
-      params_memory.put("ModelFps", "0")
      model_standby = True
-      cloudlog.warning("modeld: standby ON")
+      cloudlog.warning("modeld: standby ON (standstill)")
    elif not should_standby and model_standby:
      params_memory.put_bool("ModelStandby", False)
-      params_memory.put("ModelFps", "20")
      model_standby = False
      run_count = 0
      frame_dropped_filter.x = 0.
@@ -267,6 +270,19 @@ def main(demo=False):
      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