Revert "sessions: document hyundai canfd steer torque bump"

This reverts commit 5d76576a15.

selfdrive/clearpilot/dashcamd.cc

@@ -12,20 +12,20 @@
  * Trip lifecycle state machine:
  *
  *   WAITING:
- *     - Process starts in this state
+ *     - Process starts in this state. Idle.
  *     - Waits for valid system time (year >= 2024) AND car in drive gear
  *     - Transitions to RECORDING when both conditions met
  *
  *   RECORDING:
  *     - Actively encoding frames, car is in drive
- *     - Car leaves drive → start 10-min idle timer → IDLE_TIMEOUT
- *
- *   IDLE_TIMEOUT:
- *     - Car left drive, still recording with timer running
- *     - Car re-enters drive → cancel timer → RECORDING
- *     - Timer expires → close trip → WAITING
+ *     - Gear shift into PARK → close trip immediately → WAITING (idle)
  *     - Ignition off → close trip → WAITING
  *
+ *   IDLE_TIMEOUT (deprecated, retained for safety):
+ *     - Was used to keep recording across brief drive-thru / fuel stops.
+ *     - Now unreachable: drive→park transitions close the trip immediately
+ *       and a fresh trip starts on the next drive engagement.
+ *
  *   Graceful shutdown (DashcamShutdown param):
  *     - thermald sets DashcamShutdown="1" before device power-off
  *     - dashcamd closes current segment, acks, exits
@@ -301,10 +301,11 @@ int main(int argc, char *argv[]) {
       }
 
       case RECORDING:
-        if (!in_drive) {
-          idle_timer_start = now;
-          state = IDLE_TIMEOUT;
-          LOGW("dashcamd: car left drive, starting 10-min idle timer");
+        // CLEARPILOT: close trip immediately on park (no idle timer). User wants
+        // dashcam idle in park, fresh trip on each drive engagement.
+        if (gear == cereal::CarState::GearShifter::PARK) {
+          LOGW("dashcamd: gear in park, closing trip");
+          close_trip();
         }
         break;
 

selfdrive/controls/controlsd.py

@@ -681,7 +681,12 @@ class Controls:
       self.LoC.reset(v_pid=CS.vEgo)
       self.frogpilot_variables.no_lat_lane_change = False
       self.FPCC.noLatLaneChange = False
-      lac_log = log.ControlsState.LateralDebugState.new_message()
+      # 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

selfdrive/controls/plannerd.py

@@ -34,13 +34,21 @@ 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)
+      # CLEARPILOT: skip the planning compute while parked, but KEEP publishing
+      # at the normal cadence so consumers' alive flags stay healthy. Skipping
+      # publishes entirely caused longitudinalPlan to go alive=False at
+      # controlsd, which fires a real commIssue the moment we shift out of park.
+      # Stale published values are fine — controlsd's own park short-circuit
+      # ignores the longitudinalPlan content while parked anyway.
+      parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
+      if not parked:
+        longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-      publish_ui_plan(sm, pm, longitudinal_planner)
+      # publish_ui_plan reads longitudinal_planner.a_desired_trajectory_full
+      # which is only set inside update(). Skip it while parked — uiPlan is
+      # UI-only, not on controlsd's commIssue check list, so going silent is fine.
+      if not parked:
+        publish_ui_plan(sm, pm, longitudinal_planner)
 
 def main():
   plannerd_thread()

selfdrive/frogpilot/frogpilot_process.py

@@ -85,11 +85,15 @@ def frogpilot_thread():
           frogpilot_planner = FrogPilotPlanner(CP)
           frogpilot_planner.update_frogpilot_params()
 
-      # CLEARPILOT: skip planner work while parked.
+      # CLEARPILOT: skip planner compute while parked, but KEEP publishing at
+      # the normal cadence so frogpilotPlan stays alive at consumers. Skipping
+      # publishes entirely caused commIssue ("not_alive: frogpilotPlan") at
+      # controlsd the moment we shifted out of park.
       parked = sm['carState'].gearShifter == car.CarState.GearShifter.park
-      if sm.updated['modelV2'] and not parked:
-        frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
-                                  sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
+      if sm.updated['modelV2']:
+        if not parked:
+          frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotNavigation'],
+                                    sm['liveLocationKalman'], sm['modelV2'], sm['radarState'])
         frogpilot_planner.publish(sm, pm)
 
     if not time_validated: