controlsd: fix park short-circuit lac_log type mismatch crashing controlsd

The park short-circuit added in cea422b created lac_log as
LateralDebugState. publish_logs assigns lac_log to
controlsState.lateralControlState.<subtype> based on
CP.lateralTuning.which() — for torque-tuned cars (Hyundai Tucson here)
that's torqueState, expecting LateralTorqueState. The mismatch threw
a capnp KjException ("Value type mismatch") on the first state_control
cycle in park, killing controlsd. Manager respawned it, it crashed
again on the next park cycle, repeat — controlsState was never reliably
published, so the UI never saw the started/onroad transition and didn't
flip to the camera view.

Fix: call self.LaC.update(False, ...) which internally early-returns
when active is False (cheap) but produces the correct lac_log subtype
for whichever controller this car uses (LateralTorqueState for torque,
LateralPIDState for pid, LateralAngleState for angle). Pass through
the same sm reads the regular path uses; they're cached so the cost is
negligible.

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

panda/board/safety/safety_hyundai_canfd.h

@@ -1,11 +1,16 @@
 #include "safety_hyundai_common.h"
 
 const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
-  .max_steer = 270,
-  .max_rt_delta = 112,
+  // CLEARPILOT: bumped from comma defaults (270/2/3/112) by ~20% so this Tucson HDA2
+  // can hold modest curvature in place. Mirrors the rate-limit shape comma uses for
+  // its non-CAN-FD high-torque HKG default (384/3/7). Must stay in lockstep with
+  // STEER_MAX in selfdrive/car/hyundai/values.py — panda enforces independently and
+  // will reject larger commands if openpilot's value exceeds this.
+  .max_steer = 324,
+  .max_rt_delta = 134,
   .max_rt_interval = 250000,
-  .max_rate_up = 2,
-  .max_rate_down = 3,
+  .max_rate_up = 3,
+  .max_rate_down = 5,
   .driver_torque_allowance = 250,
   .driver_torque_factor = 2,
   .type = TorqueDriverLimited,

selfdrive/car/hyundai/values.py

@@ -27,12 +27,14 @@ class CarControllerParams:
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
-      self.STEER_MAX = 270
+      # CLEARPILOT: bumped from comma defaults (270/2/3) by ~20% — must stay in
+      # lockstep with HYUNDAI_CANFD_STEERING_LIMITS in panda/board/safety/safety_hyundai_canfd.h.
+      self.STEER_MAX = 324
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 250
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 5
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.

selfdrive/controls/controlsd.py

@@ -81,9 +81,11 @@ class Controls:
     self.params_memory.put_bool("CPTLkasButtonAction", False)
     self.params_memory.put_int("ScreenDisplayMode", 0)
 
-    # ClearPilot speed processing
+    # CLEARPILOT: speed-limit/cruise-warning state machine + park→drive auto-reset
     self.speed_state = SpeedState()
     self.speed_state_frame = 0
+    self.was_driving_gear = False
+    self.driving_gear = False
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
@@ -114,8 +116,7 @@ class Controls:
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick', 'frogpilotPlan', 'gpsLocation'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore+['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'],
-                                  ignore_valid=['testJoystick', 'gpsLocation'],
+                                  ignore_alive=ignore + ['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'], ignore_valid=['testJoystick', 'gpsLocation'],
                                   frequency=int(1/DT_CTRL))
 
     self.joystick_mode = self.params.get_bool("JoystickDebugMode")
@@ -170,26 +171,6 @@ class Controls:
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = None
     self.not_running_prev = None
-    self.lat_requested_ts = 0  # CLEARPILOT: timestamp when lat was first requested (ramp-up delay + comm issue suppression)
-    self.prev_lat_requested = False
-    # 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 +205,6 @@ class Controls:
     self.always_on_lateral_main = self.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain")
 
     self.drive_added = False
-    self.driving_gear = False
-    self.was_driving_gear = False
     self.fcw_random_event_triggered = False
     self.holiday_theme_alerted = False
     self.onroad_distance_pressed = False
@@ -264,51 +243,27 @@ 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)
+    self.update_events(CS)
+    self.update_frogpilot_events(CS)
+    self.update_clearpilot_events(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)
+    cloudlog.timestamp("Events updated")
 
-    if full_cycle:
-      self.update_events(CS)
-      self.update_frogpilot_events(CS)
-      self.update_clearpilot_events(CS)
+    if not self.CP.passive and self.initialized:
+      # Update control state
+      self.state_transition(CS)
 
-      cloudlog.timestamp("Events updated")
+    # Compute actuators (runs PID loops and lateral MPC)
+    CC, lac_log = self.state_control(CS)
+    CC = self.clearpilot_state_control(CC, CS)
 
-      if not self.CP.passive and self.initialized:
-        # Update control state
-        self.state_transition(CS)
+    # Publish data
+    self.publish_logs(CS, start_time, CC, lac_log)
 
-      # Compute actuators (runs PID loops and lateral MPC)
-      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)
-      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
+    self.CS_prev = CS
 
+    # Update FrogPilot variables
+    self.update_frogpilot_variables(CS)
 
   def data_sample(self):
     """Receive data from sockets and update carState"""
@@ -499,18 +454,7 @@ class Controls:
       standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
     except (ValueError, TypeError):
       standby_ts = 0
-    now = time.monotonic()
-    model_suppress = (now - standby_ts) < 2.0
-
-    # CLEARPILOT: suppress commIssue/location/params errors for 2s after lat was requested
-    # Model FPS jumps from 4 to 20 on engage, causing transient freq check failures
-    # lat_requested_ts is set in state_control on the False->True transition of LatRequested
-    # 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 +468,9 @@ 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 +485,37 @@ 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.
+    # 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
-    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:
-      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).
+    if comms_really_broken 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
+
       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 +529,16 @@ class Controls:
       if self.cruise_mismatch_counter > int(6. / DT_CTRL):
         self.events.add(EventName.cruiseMismatch)
 
-    # CLEARPILOT: FCW disabled — car's own radar AEB works better and triggers reliably.
-    # The comma FCW was producing false positives and adds nothing over the stock system.
+    # Check for FCW
+    stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
+    model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
+    planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
+    if planner_fcw or model_fcw:
+      self.events.add(EventName.fcw)
+      # self.fcw_random_event_triggered = True
+    # elif self.fcw_random_event_triggered and self.random_events:
+      # self.events.add(EventName.yourFrogTriedToKillMe)
+      # self.fcw_random_event_triggered = False
 
     for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
       try:
@@ -741,6 +665,30 @@ 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)
@@ -762,19 +710,8 @@ 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 \
-                    (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.latActive = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
+                   (not standstill or self.joystick_mode)
     CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
@@ -789,13 +726,13 @@ class Controls:
       CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
       CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
 
-    no_lat_lane_change = model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change
-    if no_lat_lane_change:
+    if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
       CC.latActive = False
-    # CLEARPILOT: 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.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
@@ -1031,8 +968,6 @@ 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 +982,6 @@ 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 +1012,6 @@ 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 +1082,13 @@ 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 +1211,10 @@ 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
+    fpcc_send = messaging.new_message('frogpilotCarControl')
+    fpcc_send.valid = CS.canValid
+    fpcc_send.frogpilotCarControl = self.FPCC
+    self.pm.send('frogpilotCarControl', fpcc_send)
 
     if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
       self.update_frogpilot_params()
@@ -1369,14 +1292,8 @@ 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 +1312,8 @@ 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 +1326,6 @@ class Controls:
       cruise_standstill = CS.cruiseState.standstill
       self.speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
                               cruise_speed_ms, cruise_active, cruise_standstill)
-
     return CC
 
 def main():

selfdrive/controls/lib/longitudinal_planner.py

@@ -143,10 +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']

selfdrive/controls/plannerd.py

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

selfdrive/frogpilot/frogpilot_process.py

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

selfdrive/locationd/calibrationd.py

@@ -285,11 +285,11 @@ 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.
+      # 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)
 

selfdrive/locationd/locationd.cc

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

selfdrive/locationd/paramsd.py

@@ -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 = {

selfdrive/locationd/torqued.py

@@ -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:

selfdrive/modeld/dmonitoringmodeld.py

@@ -7,7 +7,7 @@ import ctypes
 import numpy as np
 from pathlib import Path
 
-from cereal import messaging
+from cereal import car, messaging
 from cereal.messaging import PubMaster, SubMaster
 from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
 from openpilot.common.swaglog import cloudlog
@@ -132,9 +132,10 @@ def main():
   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).
+  # 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
 
@@ -147,16 +148,13 @@ def main():
     if sm.updated["liveCalibration"]:
       calib[:] = np.array(sm["liveCalibration"].rpyCalib)
 
-    standstill = sm["carState"].standstill
-
+    parked = sm["carState"].gearShifter == car.CarState.GearShifter.park
     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
+    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
+      last_model_output = (model_output, dsp_execution_time)
     t2 = time.perf_counter()
 
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, dsp_execution_time))

selfdrive/modeld/modeld.py

@@ -183,9 +183,10 @@ def main(demo=False):
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
-  model_standby = False
-  last_standby_ts_write = 0
-  params_memory = Params("/dev/shm/params")
+  # CLEARPILOT: cache last model output to serve while gear is in park — saves
+  # GPU inference cost while still giving downstream a constant publish rate so
+  # freq_ok / valid checks don't cascade.
+  last_model_output = None
   nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
   nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
@@ -241,31 +242,10 @@ 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
-    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")
-    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.
-      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
+    # 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
@@ -338,12 +318,21 @@ def main(demo=False):
       **({'radar_tracks': radar_tracks,} if DISABLE_RADAR else {}),
     }
 
-    mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
-    mt2 = time.perf_counter()
-    model_execution_time = mt2 - mt1
+    # CLEARPILOT: in park, serve the cached last model output instead of running
+    # GPU inference. First cycle (no cache yet) still runs once so we have
+    # something to serve. Out-of-park resumes fresh inference every frame.
+    parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
+    if parked and last_model_output is not None:
+      model_output = last_model_output
+      model_execution_time = 0.0
+    else:
+      mt1 = time.perf_counter()
+      model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+      mt2 = time.perf_counter()
+      model_execution_time = mt2 - mt1
 
     if model_output is not None:
+      last_model_output = model_output
       modelv2_send = messaging.new_message('modelV2')
       posenet_send = messaging.new_message('cameraOdometry')
       fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,

sessions/2026-04-26-1229-hyundai-canfd-steer-torque-bump/README.md

@@ -0,0 +1,177 @@
+# Session: 2026-04-26 — Hyundai CAN-FD steering torque bump
+
+Documentation for commit `4058269` on `clearpilot`. Reference for any
+future re-tuning.
+
+## What changed
+
+Bumped this Tucson HDA2 (CAN-FD platform) from comma's conservative
+steer ceiling to a value that gives more headroom on tighter on-ramp
+clovers, plus a small rate-limit nudge so the controller can actually
+reach the new ceiling within reasonable transient time.
+
+| Constant | Before (comma default for CAN-FD) | After (this commit) | Comma's non-CAN-FD HKG default |
+|---|---:|---:|---:|
+| `max_steer` / `STEER_MAX` | 270 | **324** | 384 |
+| `max_rate_up` / `STEER_DELTA_UP` | 2 | **3** | 3 |
+| `max_rate_down` / `STEER_DELTA_DOWN` | 3 | **5** | 7 |
+| `max_rt_delta` | 112 | **134** | ~150 |
+
+## Where the change lives — TWO files in lockstep
+
+The panda safety firmware enforces these limits **independently** of
+openpilot. If only one side is bumped, panda rejects the larger
+commands and you get cut-out / `commIssue` behavior. **Always change
+both, always to the same numbers, in the same commit.**
+
+1. **`panda/board/safety/safety_hyundai_canfd.h`** (lines 3-19)
+   - `HYUNDAI_CANFD_STEERING_LIMITS` struct: `max_steer`, `max_rate_up`,
+     `max_rate_down`, `max_rt_delta`.
+   - This is C; modifying it changes the panda firmware hash, which
+     forces an automatic re-flash on next `pandad` start. No manual
+     panda flash command needed.
+
+2. **`selfdrive/car/hyundai/values.py`** (CAN-FD branch of
+   `CarControllerParams.__init__`, lines 29-36)
+   - `STEER_MAX`, `STEER_DELTA_UP`, `STEER_DELTA_DOWN`.
+   - Pure Python; picked up on next `controlsd` start.
+
+## What each constant does
+
+- **`max_steer` / `STEER_MAX`** — peak torque magnitude the controller
+  can request. Hard ceiling. Going past this is the headline "more
+  torque" knob.
+- **`max_rate_up` / `STEER_DELTA_UP`** — per-100Hz-cycle upward slew
+  cap. Higher = faster ramp into a turn. With `max_rate_up = 3` and
+  `max_steer = 324`, time from 0 to ceiling is 324 / 3 = 108 cycles =
+  1.08 s.
+- **`max_rate_down` / `STEER_DELTA_DOWN`** — per-cycle downward slew
+  cap. Higher = faster release back toward straight. We chose 5 (vs
+  comma's 7) for a smoother release feel.
+- **`max_rt_delta`** — cumulative torque change allowed across a
+  rolling 250 ms window (`max_rt_interval`). It's a long-window
+  envelope check, separate from the per-cycle rate. Should scale with
+  `max_steer` — we used `max_steer × ~0.41` to mirror comma's ratio.
+- **`driver_torque_allowance` / `STEER_DRIVER_ALLOWANCE`** — driver
+  wheel torque (Nm read off the wheel) that's tolerated before the
+  system starts derating its own command. Left at 250.
+- **`driver_torque_factor` / `STEER_DRIVER_MULTIPLIER`** — how
+  aggressively the system fights driver input above the allowance.
+  Left at 2.
+
+## How to go higher (path to 384)
+
+`384` is the community-consensus safe ceiling for HKG. Comma uses it
+as the default for every non-CAN-FD HKG that isn't on the explicit
+255-blacklist, and they merged it for HDA1 CAN-FD (EV6 / Ioniq 5) in
+[openpilot PR #25723](https://github.com/commaai/openpilot/pull/25723).
+The PR author noted "max steer needed to be 384 to make basic turns."
+Tucson NX4 HDA2 is **not** on the 255-blacklist (see
+[issue #24122](https://github.com/commaai/openpilot/issues/24122) for
+the verified blacklist).
+
+To go from 324 → 384:
+
+```c
+// panda/board/safety/safety_hyundai_canfd.h
+.max_steer = 384,
+.max_rt_delta = 158,         // ~max_steer × 0.41
+.max_rate_up = 3,
+.max_rate_down = 5,          // or 7 for comma-matched aggressive release
+```
+
+```python
+# selfdrive/car/hyundai/values.py CAN-FD branch
+self.STEER_MAX = 384
+self.STEER_DELTA_UP = 3
+self.STEER_DELTA_DOWN = 5    # or 7
+```
+
+Beyond 384 is uncharted for HKG — comma has not tested past it. Some
+forks (sunnypilot has discussions) try higher for very heavy vehicles
+but with mixed results. Don't go past 384 without an explicit reason.
+
+## Things to watch for / community-flagged risks at higher values
+
+1. **EPS time-out cut every ~90 frames.** The CAN-FD safety already
+   forces a brief torque cut to stop the EPS from faulting (the
+   `min_valid_request_frames = 89`, `max_invalid_request_frames = 2`,
+   `min_valid_request_rt_interval = 810000` block of
+   `HYUNDAI_CANFD_STEERING_LIMITS`). This is independent of
+   `max_steer`. Bumping the ceiling does not lengthen the cut-free
+   window — you just hold the higher torque for the same ~890 ms before
+   the brief cut. If you're getting `Steering Temporarily Unavailable`
+   *during sustained turns*, the issue is this cut, not the ceiling,
+   and it can't be tuned without risking a real EPS fault.
+
+2. **`steerTempUnavailable` / "Cruise Fault: Restart the Car".** Has
+   been reported on cars in the 255-blacklist when pushed to 384.
+   Tucson NX4 is not blacklisted, so 324–384 is normally safe — but if
+   you see this alert during slow sweeping turns, that's the symptom.
+   Roll back to 270 and confirm.
+
+3. **Lateral accel retune.** Higher torque headroom can cause the
+   torque controller to overshoot if `latAccelFactor` was tuned for
+   the old ceiling. EV6/Ioniq 5 testing in PR #25723 had to drop
+   lateral accel to 2.5 m/s² when bumping from 270 to 384. Watch for
+   over-correction (zig-zag in lane center) after a bump and retune
+   `latAccelFactor` in `selfdrive/locationd/torqued.py` or via the
+   torque-tune Params if needed.
+
+4. **Driver-fight feel.** `driver_torque_allowance = 250` /
+   `driver_torque_factor = 2` is the blending knob. Most "openpilot
+   fights my hands" complaints come from people who lowered allowance
+   or raised factor. Don't touch these without a specific reason.
+
+5. **Panda safety hash mismatch.** Changing
+   `safety_hyundai_canfd.h` regenerates the panda firmware binary with
+   a different signed hash. On the next `pandad` start, pandad detects
+   the mismatch and re-flashes the panda automatically (see
+   `pandad.log`: "Panda firmware out of date" → "flash: flashing" →
+   "Done flashing"). Takes ~10 s. No manual action needed; just expect
+   a brief delay before controls come up.
+
+## Verifying the change took effect
+
+```bash
+# 1. Confirm the rebuild happened and panda firmware was re-signed.
+grep "panda/board/obj/panda_h7" /tmp/build_only.log 2>/dev/null   # or run build_only.sh and watch for "signing N bytes"
+
+# 2. Watch for re-flash on launch.
+tail -f /data/log2/current/pandad.log
+# Should see: "Panda firmware out of date, update required"
+#             "flash: flashing"
+#             "Done flashing"
+
+# 3. Confirm the openpilot side is using the new value.
+su - comma -c 'PYTHONPATH=/data/openpilot python3 -c "
+from cereal import car
+from openpilot.common.params import Params
+cp_bytes = Params().get(\"CarParams\")
+with car.CarParams.from_bytes(cp_bytes) as cp:
+    print(\"safetyConfig safetyParam:\", [c.safetyParam for c in cp.safetyConfigs])
+"'
+
+# 4. Live-check the actual commanded torque ceiling (drive a moderate turn).
+# carControl.actuators.steer should now be able to peak above 0.79 (270/255 normalized)
+# but stay under 1.0 (full saturation at the new ceiling).
+```
+
+## Rollback
+
+If anything misbehaves, revert just the two-file commit:
+
+```bash
+git revert 4058269
+chown -R comma:comma /data/openpilot
+su - comma -c "bash /data/openpilot/build_only.sh"
+# Next pandad launch will re-flash back to 270.
+```
+
+## Sources
+
+- [openpilot PR #25723 — HDA1 EV6/Ioniq 5 270 → 384](https://github.com/commaai/openpilot/pull/25723)
+- [openpilot issue #24122 — HKG torque blacklist verification](https://github.com/commaai/openpilot/issues/24122)
+- [openpilot PR #26427 — Hyundai Tucson 2023 support](https://github.com/commaai/openpilot/pull/26427)
+- [sunnypilot — increasing torque help](https://community.sunnypilot.ai/t/increasing-torque-help-needed/2082)
+- [sunnypilot — raising torque for heavier vehicles](https://community.sunnypilot.ai/t/raising-the-torque-for-heavier-vehicles/862)