ui: restore ready_text.png splash sprite

ready.cc:75 loads /data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready_text.png
to render the 'ready' text on the splash, but the asset never got copied
during the C++ UI port (b5a0b32). isNull() check meant it just silently drew
nothing. Copied verbatim from the broken tree.

CLAUDE.md

@@ -0,0 +1,266 @@
+# ClearPilot — CLAUDE.md
+
+## Project Overview
+
+ClearPilot is a custom fork of **FrogPilot** (itself a fork of comma.ai's openpilot), purpose-built for Brian Hanson's **Hyundai Tucson** (HDA2 equipped). The vehicle's HDA2 system has specific quirks around how it synchronizes driving state with openpilot that require careful handling.
+
+The fork was previously in a state where many features were layered on top but the driving model behavior had regressed in ways that couldn't be traced. On **2026-05-03** the working tree was reset back to a known-clean baseline so features can be re-introduced one at a time with proper testing. Most non-driving-math features have since been ported back.
+
+## Current State
+
+`build_only.sh` succeeds and `launch_openpilot.sh` boots the manager. The following customizations are active in this tree:
+
+**Boot / build / device infra**
+- launch chain (`launch_openpilot.sh`, `launch_chffrplus.sh`) with stale-process kill (including `_text` by comm), `on_start.sh` SSH/WiFi setup, OpenVPN auto-connect (`vpn-monitor.sh` + `vpn.ovpn`), `nice-monitor.sh`, `build_only.sh` + `build_preflight.sh`
+- DongleId-keyed dev SSH identity (`system/clearpilot/dev/id_ed25519.{cpt,pub.cpt}` + `tools/{encrypt,decrypt}`)
+- Custom startup logo (`bg.jpg`) + custom Qt spinner (`selfdrive/ui/qt/spinner{,.cc,.h}`) — `build.py` atomically swaps the prebuilt spinner binary after each successful build
+- `BUILD_ONLY=1` env path in `build.py` spawns the failure TextWindow fully detached (own session, /dev/null stdio) so `build_only.sh` exits with a non-blocking error window
+
+**Logging suppressed**
+- `loggerd`, `encoderd`, `stream_encoderd` disabled in `process_config.py` — no `rlog`/`qlog` segments or `.hevc` files written to `/data/media/0/realdata/`
+- `save_bootlog()` skipped in `manager_init()` — no boot logs
+
+**GPS (Quectel modem replacement)**
+- `system/clearpilot/gpsd.py` polls Quectel EC25 modem via `mmcli` AT commands at 2 Hz, publishes `gpsLocation`, sets system clock on first fix
+- NOAA solar-position calc → `IsDaylight` memory param + auto `ScreenDisplayMode` 0↔1 switch (sunrise/sunset)
+- **`locationd` patched to NOT subscribe to GPS** — `liveLocationKalman.gpsOK` stays false permanently. Self-driving sees GPS as not-present; downstream consumers (controlsd, paramsd, torqued, frogpilot_planner) handle that case naturally. GPS data is still published and used by speed_logicd / UI / dashcamd, just kept out of the kalman filter.
+
+**UI (full C++ port)**
+- New ready/splash screen rendered by Qt directly; shown when started but gear=park
+- ClearPilot offroad menu (Home / Dashcam / Debug panels) replacing the stock home — Status window with live system stats (temp, fan, storage, RAM, WiFi, VPN, GPS, telemetry, dashcam)
+- Onroad widgets: speed (from `gpsLocation` via `speed_logicd`), speed-limit, cruise-vs-limit warning sign
+- Nightrider mode: camera suppressed, lane lines/path drawn as 2px outlines (`ScreenDisplayMode` 1 or 4)
+- Display power: `ScreenDisplayMode` 3 → screen off; ignition off blanks immediately
+- Qt RPC widget-tree dump server at `ipc:///tmp/clearpilot_ui_rpc`
+- Crash handler in `main.cc` with stack-trace dump for SIGSEGV/SIGABRT
+- `screenDisplayMode` is a member of `AnnotatedCameraWidget`, accessed from `OnroadWindow::updateState` as `nvg->screenDisplayMode`
+- QtWebEngine dependency removed entirely
+
+**Display modes (LFA debug button)**
+- 5-state `ScreenDisplayMode` machine in `controlsd.clearpilot_state_control()`:
+  - Drive: 0→4, 1→2, 2→3, 3→4, 4→2 (button never goes back to auto)
+  - Not drive: anything except 3 → 3 (off), 3 → 0 (auto)
+- Auto-wake from screen-off (mode 3 → 0) on park→drive edge
+- "Clearpilot Debug Function Executed" alert removed (`clp_debug_notice` and its event registration deleted from `events.py`)
+
+**Speed / cruise**
+- `speed_logicd` standalone managed process (`selfdrive/clearpilot/speed_logicd.py` wrapping `speed_logic.SpeedState`) — subscribes to `gpsLocation` + `carState`, ticks at 2 Hz, writes `Clearpilot{Speed,SpeedLimit,CruiseWarning,...}Display` memory params
+- Cruise-vs-limit warning thresholds: +10 over (limit ≥ 50), +7 over (26-49), +9 over (≤ 25); -5 under
+- On warning transitions / speed-limit change: writes `ClearpilotPlayDing="1"` (consumed by soundd)
+- Decoupled from `controlsd` so self-driving timing is unaffected
+- **Note**: speed-limit widget shows 0 until `CarSpeedLimit` publisher in `hyundai/carstate.py` CAN-FD decode is ported (not done yet). Speed widget works.
+
+**Sound**
+- `soundd.py` mixes a single-shot ding alongside the alert stream (`MAX_VOLUME`, independent of alert volume map). Polls `ClearpilotPlayDing` at ~2 Hz, clears on read. `selfdrive/clearpilot/sounds/ding.wav` is the asset.
+
+**Dashcam**
+- `selfdrive/clearpilot/dashcamd` (native C++) — VisionIPC frames from camerad → OMX H.264 hardware encoder → 3-min MP4 segments + SRT GPS subtitle sidecars in `/data/media/0/videos/<trip>/`
+- Trip lifecycle (WAITING → RECORDING → IDLE_TIMEOUT). 10-min idle close from drive→park; immediate close on ignition off; graceful close on `DashcamShutdown`
+- Publishes `DashcamState` ("waiting"/"recording"/"stopped") and `DashcamFrames` (per-trip count) every 5 s
+- `omx_encoder.cc` ports broken's version (adds `encode_frame_nv12()`, NEON-only libyuv paths)
+- **`camerad` gating changed to `always_run`** so the dashcam can record the moment ignition+drive arrives without waiting for camera startup
+- `system/loggerd/deleter.py` trip-aware cleanup: drops oldest entire trip dir first, falls back to oldest segment within active trip; also enforces 4 GB cap on `/data/log2`
+
+## Where the Old Code Lives
+
+| Location | What it is |
+|---|---|
+| `/data/openpilot/` | This repo. **Active.** |
+| `/data/openpilot-broken-2026-05-03/` | Full snapshot (with `.git`) of the prior modified-but-broken tree. Reference for porting features. |
+| `/data/clearpilot-baseline/` | The original baseline source we copied in. Kept for safety; do not modify. |
+| `/data/openpilot-features-broken/` | Pre-existing snapshot from an earlier reset attempt — **unverified**, leave alone. |
+
+| Tag | Commit | What |
+|---|---|---|
+| `pre-reset-2026-05-03` | `f7e602c` | Last commit of the pre-reset broken-but-feature-complete tree. |
+| `working-baseline-2` | `b287fd0` | First commit after the reset where the bare baseline built and launched. |
+
+Both tags are pushed to `origin/clearpilot`.
+
+## Pending Feature Port Roadmap
+
+Items still in `/data/openpilot-broken-2026-05-03/` that haven't been ported. Port in small, testable batches.
+
+**Driving behavior (HDA2 specifics)** — these touch self-driving code and warrant extra scrutiny:
+- Lateral disabled (car's radar cruise handles steering; openpilot longitudinal only)
+- Brief disengage when turn signal is active during lane changes (note: `no_lat_lane_change` infrastructure already wired through `controlsd` → `paramsMemory` → UI/canfd, but the actual disengage trigger may need work)
+- Driver-monitoring timeout adjustments
+- Custom driving models — model files (`duck-amigo.thneed`, `farmville.onnx`, `wd-40.thneed`) live in `selfdrive/clearpilot/models/`; selection logic not ported
+
+**Speed-limit publisher**
+- `hyundai/carstate.py update_canfd()` writes `CarSpeedLimit` from CAN — until ported, the speed-limit widget shows 0 and cruise warnings never trigger
+
+**Telemetry**
+- `selfdrive/clearpilot/telemetry.py` (client) + `telemetryd.py` (collector) — diff-based CSV logger over ZMQ
+- Toggleable via `TelemetryEnabled` memory param from Debug panel
+- Auto-disabled if `/data` free < 5 GB; auto-disabled on every manager start
+- Hyundai CAN-FD data logged from `update_canfd()` groups (car/cruise/speed_limit/buttons)
+
+**Bench mode (UI testing without a car)**
+- `--bench` flag → `BENCH_MODE=1` in `launch_openpilot.sh` (already wired) → enables `bench_onroad.py`, blocks real car processes
+- `bench_cmd.py` for setting fake vehicle state via params; UI dump RPC wired (`bench_cmd dump`)
+- Param keys (`Bench*`, `ClpUiState`) not yet registered
+
+**Power/thermal**
+- Standstill power saving: `modeld` and `dmonitoringmodeld` throttled to 1 fps when stopped
+- Fan controller uses offroad clamps at standstill
+- Park CPU savings + virtual battery shutdown fix
+
+**Session logging**
+- `/data/log2/current/` per-process stderr capture; aggregate `session.log` of major events
+- Time-resolved log dir rename via GPS/NTP; 30-day rotation
+- See `selfdrive/manager/process.py` and `manager.py` changes in the broken tree
+- `LogDirInitialized` param not yet registered
+
+## Working Rules
+
+### CRITICAL: Change Control
+
+This is self-driving software. All changes must be deliberate and well-understood.
+
+- **NEVER make changes outside of what is explicitly requested**
+- **Always explain proposed changes first** — describe the change, the logic, and the architecture; let Brian review and approve before writing any code
+- **Brian is an expert on this software** — do not override his judgment or assume responsibility for changes he doesn't understand
+- **Every line must be understood** — work slowly and deliberately
+- **Test everything thoroughly** — Brian must always be in the loop
+- **Do not refactor, clean up, or "improve" code beyond the specific request**
+
+### Logging
+
+**NEVER use `cloudlog`.** It's comma.ai's cloud telemetry pipeline, not ours — writes go to a publisher that's effectively a black hole for us (and the only thing it could do if ever reachable is bother the upstream FrogPilot developer). Our changes must always use **file logging** instead.
+
+Use `print(..., file=sys.stderr, flush=True)`. Once session-logging is re-ported, manager will redirect each managed process's stderr to `/data/log2/current/{process}.log`. Prefix custom log lines with `CLP ` so they're easy to filter from upstream noise.
+
+```python
+import sys
+print(f"CLP gpsd: ...", file=sys.stderr, flush=True)
+```
+
+Do not use `cloudlog.warning`, `cloudlog.info`, `cloudlog.error`, `cloudlog.event`, or `cloudlog.exception` in any CLEARPILOT-added code. Existing upstream/FrogPilot `cloudlog` calls can stay untouched.
+
+### File Ownership
+
+We operate as `root` on this device, but openpilot runs as the `comma` user (uid=1000, gid=1000). After any code changes that touch multiple files or before testing:
+
+```bash
+chown -R comma:comma /data/openpilot
+```
+
+### Git
+
+- Remote: `git@git.hanson.xyz:brianhansonxyz/clearpilot.git`
+- Branch: `clearpilot` — this is the canonical/main branch and is what fresh device flashes provision from. **Do not abandon it for another branch.**
+- Large model files are tracked in git (intentional — this is a backup)
+- The `clearpilot` branch was force-pushed on 2026-05-03 as part of the reset; the prior history is reachable via the `pre-reset-2026-05-03` tag.
+
+### Samba Share
+
+- Share name: `openpilot` (e.g. `\\comma-3889765b\openpilot`)
+- Path: `/data/openpilot`
+- Username: `comma`
+- Password: `i-like-to-drive-cars`
+- Runs as `comma:comma` via force user/group — files created over SMB are owned correctly
+- Enabled at boot (`smbd` + `nmbd`)
+
+### Testing Changes
+
+Use `build_only.sh` to compile, then start the manager separately. Never compile individual targets with scons directly — always use the full build script. Always start the manager after a successful build — don't wait for the user to ask.
+
+```bash
+# 1. Fix ownership
+chown -R comma:comma /data/openpilot
+
+# 2. Build (kills running manager, removes prebuilt, compiles, exits)
+#    build_only.sh tees output to /tmp/build.log and propagates the build's
+#    exit code via PIPESTATUS. On failure: error text window stays on screen
+#    fully detached; the script exits non-zero and stderr has the compile error.
+su - comma -c "bash /data/openpilot/build_only.sh"
+
+# 3. If build succeeded ($? == 0), start openpilot
+su - comma -c "bash /data/openpilot/launch_openpilot.sh"
+
+# 4. Inspect logs
+ls /data/log2/current/
+cat /data/log2/current/session.log
+tail /tmp/build.log  # last build's output
+```
+
+### Adding New Params
+
+The params system uses a C++ whitelist. Adding a new param name without registering it will crash with `UnknownKeyName`. To add one:
+
+1. Register the key in `common/params.cc` (alphabetically, with `PERSISTENT` or `CLEAR_ON_*` flag)
+2. For memory params, add a default in `manager_init()`'s memory-params loop (after the persistent default loop)
+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 transient state that should reset on boot. Conventions:
+
+- **Registration**: register in `common/params.cc` as `PERSISTENT` (the registration flag does NOT control which path the param lives at — `/dev/shm` is tmpfs and clears on reboot regardless)
+- **C++ access**: `Params{"/dev/shm/params"}` (the Params class appends `/d/` internally — `Params("/dev/shm/params/d")` would resolve to `/dev/shm/params/d/d/`)
+- **Python access**: `Params("/dev/shm/params")`
+- **UI toggles**: use `ToggleControl` with manual `toggleFlipped` lambda, not `ParamControl` (which only handles persistent params)
+- **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.
+
+Currently registered memory-param keys (in `params.cc`): `ScreenDisplayMode`, `CPTLkasButtonAction`, `CarIsMetric`, `Clearpilot{CruiseWarning,CruiseWarningSpeed,HasSpeed,IsMetric,PlayDing,ShowHealthMetrics,SpeedDisplay,SpeedLimitDisplay,SpeedUnit}`, `Dashcam{Frames,Shutdown,State}`, `IsDaylight`, `ModelFps`, `ModelStandby`, `ModelStandbyTs`, `ScreenRecorderDebug`, `ShutdownTouchReset`, `TelemetryEnabled`, `VpnEnabled`, `no_lat_lane_change`. Bench-mode and `LogDirInitialized` keys not registered yet.
+
+### Changing a Service's Publish Rate
+
+SubMaster's `freq_ok` check requires observed rate to fall within `[0.8 × min_freq, 1.2 × max_freq]` of the value declared in `cereal/services.py`. Publishing *faster* than declared trips `commIssue` just as surely as too slow. If you change how often a process publishes, update the rate in `cereal/services.py` to match.
+
+## Device: comma 3x
+
+- Qualcomm Snapdragon SoC (aarch64), serial `comma-3889765b`
+- Storage: WDC SDINDDH4-128G, 128 GB UFS 2.1
+- Ubuntu 20.04.6 LTS on AGNOS 9.7
+- Kernel 4.9.103+ (custom comma.ai PREEMPT build, vendor-patched Qualcomm)
+- Python 3.11.4 via pyenv at `/usr/local/pyenv/versions/3.11.4/` (system python 3.8 — do not use)
+- Display: Weston (Wayland) on tty1
+- Hardware encoding: OMX (`OMX.qcom.video.encoder.avc` / `.hevc`); V4L2 VIDC exists but is not usable from ffmpeg subprocess
+
+### Filesystem mount quirks
+
+| Mount | Device | Type | Notes |
+|---|---|---|---|
+| `/` | /dev/sda7 | ext4 | rw |
+| `/data` | /dev/sda12 | ext4 | **persistent** — openpilot lives here |
+| `/home` | overlay | overlayfs | **volatile** (upper on tmpfs) — changes lost on reboot |
+| `/tmp` | tmpfs | tmpfs | volatile |
+| `/persist` | /dev/sda2 | ext4 | persistent config/certs, noexec |
+| `/dsp` | /dev/sde26 | ext4 | **read-only** Qualcomm DSP firmware |
+| `/firmware` | /dev/sde4 | vfat | **read-only** firmware blobs |
+
+### GPS
+
+The device has **no u-blox chip** (`/dev/ttyHS0` does not exist). GPS is the **Quectel EC25 LTE modem**'s built-in GPS, accessed via AT commands through `mmcli`. The original `qcomgpsd` is broken on this device because the diag interface hangs after setup. `system/clearpilot/gpsd.py` is the replacement; locationd is patched not to consume `gpsLocation` so the kalman filter isn't tainted.
+
+### Sidebar / Process Notes
+
+- `camerad` runs `always_run` (was `driverview`) — this is needed for dashcamd. Costs steady-state camera power even when ignition is off.
+- `loggerd`, `encoderd`, `stream_encoderd` are commented out in `process_config.py` — no segment or video logging
+- `qcomgpsd` is commented out; `system.clearpilot.gpsd` is registered in its place (gated by `qcomgps` callback = `not ublox_available()`, which is always true on this device)
+- `speed_logicd` is `only_onroad`; `dashcamd` is `always_run` (manages own trip lifecycle)
+- `uploader` already commented out in baseline
+
+## Boot Sequence
+
+```
+Power On
+  → systemd: comma.service (runs as comma user)
+    → /usr/comma/comma.sh (waits for Weston, handles factory reset)
+      → /data/continue.sh
+        → /data/openpilot/launch_openpilot.sh
+          → kill stale instances (launch_openpilot, launch_chffrplus, manager.py, ./ui, _text by comm)
+          → bash system/clearpilot/on_start.sh  (SSH, WiFi, run provision.sh)
+          → background system/clearpilot/vpn-monitor.sh
+          → background system/clearpilot/nice-monitor.sh
+          → exec ./launch_chffrplus.sh
+            → source launch_env.sh
+            → run agnos_init
+            → set PYTHONPATH
+            → if no `prebuilt`: run build.py (spinner + scons)
+            → exec selfdrive/manager/manager.py
+              → manager_init() sets default params (persistent + memory)
+              → ensure_running() loop starts managed processes
+```

build_only.sh

@@ -10,8 +10,11 @@ BASEDIR="/data/openpilot"
 # Fix ownership — we edit as root, openpilot builds/runs as comma
 sudo chown -R comma:comma "$BASEDIR"
 
-# Kill stale error displays and any running manager/launch/managed processes
+# Kill stale error displays and any running manager/launch/managed processes.
+# `text` is a shell wrapper that execs `./_text` — after exec the process is named
+# `_text` (no path), so we kill by exact comm in addition to the path pattern.
 pkill -9 -f "selfdrive/ui/text" 2>/dev/null
+pkill -9 -x _text 2>/dev/null
 pkill -9 -f 'launch_openpilot.sh' 2>/dev/null
 pkill -9 -f 'launch_chffrplus.sh' 2>/dev/null
 pkill -9 -f 'python.*manager.py' 2>/dev/null

common/params.cc

@@ -243,6 +243,30 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     {"CPTLkasButtonAction", PERSISTENT},
     {"ScreenDisplayMode", PERSISTENT},
+
+    // CLEARPILOT memory params (live at /dev/shm/params; tmpfs is volatile so
+    // these reset on reboot regardless of registration flag).
+    {"CarIsMetric", PERSISTENT},
+    {"ClearpilotCruiseWarning", PERSISTENT},
+    {"ClearpilotCruiseWarningSpeed", PERSISTENT},
+    {"ClearpilotHasSpeed", PERSISTENT},
+    {"ClearpilotIsMetric", PERSISTENT},
+    {"ClearpilotPlayDing", PERSISTENT},
+    {"ClearpilotShowHealthMetrics", PERSISTENT},
+    {"ClearpilotSpeedDisplay", PERSISTENT},
+    {"ClearpilotSpeedLimitDisplay", PERSISTENT},
+    {"ClearpilotSpeedUnit", PERSISTENT},
+    {"DashcamFrames", PERSISTENT},
+    {"DashcamShutdown", PERSISTENT},
+    {"DashcamState", PERSISTENT},
+    {"IsDaylight", PERSISTENT},
+    {"ModelFps", PERSISTENT},
+    {"ModelStandby", PERSISTENT},
+    {"ModelStandbyTs", PERSISTENT},
+    {"ScreenRecorderDebug", PERSISTENT},
+    {"ShutdownTouchReset", PERSISTENT},
+    {"TelemetryEnabled", PERSISTENT},
+    {"VpnEnabled", PERSISTENT},
     
     {"RadarDist", PERSISTENT},
     {"ModelDist", PERSISTENT},

launch_chffrplus.sh

@@ -79,8 +79,11 @@ function launch {
     agnos_init
   fi
 
-  # CLEARPILOT: kill stale error display from previous build/run
+  # CLEARPILOT: kill stale error display from previous build/run.
+  # `text` is a wrapper that execs ./_text — running process is named _text
+  # with no path, so kill by exact comm too.
   pkill -f "selfdrive/ui/text" 2>/dev/null
+  pkill -x _text 2>/dev/null
 
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log

launch_openpilot.sh

@@ -13,6 +13,9 @@ pkill -9 -f 'selfdrive\.' 2>/dev/null
 pkill -9 -f 'system\.' 2>/dev/null
 pkill -9 -f './ui' 2>/dev/null
 pkill -9 -f 'selfdrive/ui/text' 2>/dev/null
+# `text` is a shell wrapper that execs `./_text` — after exec the running
+# process's argv has no path, so kill by exact comm too.
+pkill -9 -x _text 2>/dev/null
 sleep 1
 
 # CLEARPILOT: ensure params persistence dir is owned by comma:comma. Editing

selfdrive/SConscript

@@ -3,4 +3,5 @@ SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
 SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
+SConscript(['ui/SConscript'])
+SConscript(['clearpilot/SConscript'])

selfdrive/clearpilot/SConscript

@@ -0,0 +1,16 @@
+Import('env', 'arch', 'common', 'messaging', 'visionipc', 'cereal')
+
+clearpilot_env = env.Clone()
+clearpilot_env['CPPPATH'] += ['#selfdrive/frogpilot/screenrecorder/openmax/include/']
+# Disable --as-needed so static lib ordering doesn't matter
+clearpilot_env['LINKFLAGS'] = [f for f in clearpilot_env.get('LINKFLAGS', []) if f != '-Wl,--as-needed']
+
+if arch == "larch64":
+  omx_obj = File('#selfdrive/frogpilot/screenrecorder/omx_encoder.o')
+  clearpilot_env.Program(
+    'dashcamd',
+    ['dashcamd.cc', omx_obj],
+    LIBS=[common, 'json11', cereal, visionipc, messaging,
+          'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread',
+          'OmxCore', 'avformat', 'avcodec', 'avutil', 'yuv']
+  )

selfdrive/clearpilot/dashcamd.cc

@@ -0,0 +1,409 @@
+/*
+ * CLEARPILOT dashcamd — records raw camera footage to MP4 using OMX H.264 hardware encoder.
+ *
+ * Connects to camerad via VisionIPC, receives NV12 frames, and feeds them directly
+ * to the Qualcomm OMX encoder. Produces 3-minute MP4 segments organized by trip.
+ *
+ * Trip directory structure:
+ *   /data/media/0/videos/YYYYMMDD-HHMMSS/   (trip directory, named at trip start)
+ *     YYYYMMDD-HHMMSS.mp4                    (3-minute segments)
+ *     YYYYMMDD-HHMMSS.srt                    (GPS subtitle sidecar)
+ *
+ * Trip lifecycle state machine:
+ *
+ *   WAITING:
+ *     - Process starts in this state
+ *     - Waits for valid system time (year >= 2024) AND car in drive gear
+ *     - Transitions to RECORDING when both conditions met
+ *
+ *   RECORDING:
+ *     - Actively encoding frames, car is in drive
+ *     - 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
+ *     - Ignition off → close trip → WAITING
+ *
+ *   Graceful shutdown (DashcamShutdown param):
+ *     - thermald sets DashcamShutdown="1" before device power-off
+ *     - dashcamd closes current segment, acks, exits
+ *
+ *   Published params (memory, every 5s):
+ *     - DashcamState: "waiting" or "recording"
+ *     - DashcamFrames: per-trip encoded frame count (resets each trip)
+ */
+
+#include <cstdio>
+#include <ctime>
+#include <string>
+#include <errno.h>
+#include <signal.h>
+#include <sched.h>
+#include <execinfo.h>
+#include <sys/stat.h>
+#include <sys/resource.h>
+#include <unistd.h>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
+#include "common/timing.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/frogpilot/screenrecorder/omx_encoder.h"
+
+const std::string VIDEOS_BASE = "/data/media/0/videos";
+const int SEGMENT_SECONDS = 180;  // 3 minutes
+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
+
+ExitHandler do_exit;
+
+enum TripState {
+  WAITING,        // no trip, waiting for valid time + drive gear
+  RECORDING,      // actively recording, car in drive
+  IDLE_TIMEOUT,   // car left drive, recording with 10-min timer
+};
+
+static std::string make_timestamp() {
+  char buf[64];
+  time_t t = time(NULL);
+  struct tm tm = *localtime(&t);
+  snprintf(buf, sizeof(buf), "%04d%02d%02d-%02d%02d%02d",
+           tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
+           tm.tm_hour, tm.tm_min, tm.tm_sec);
+  return std::string(buf);
+}
+
+static bool system_time_valid() {
+  time_t t = time(NULL);
+  struct tm tm = *gmtime(&t);
+  return (tm.tm_year + 1900) >= 2024;
+}
+
+static std::string make_utc_timestamp() {
+  char buf[32];
+  time_t t = time(NULL);
+  struct tm tm = *gmtime(&t);
+  snprintf(buf, sizeof(buf), "%04d-%02d-%02d %02d:%02d:%02d UTC",
+           tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday,
+           tm.tm_hour, tm.tm_min, tm.tm_sec);
+  return std::string(buf);
+}
+
+// Format SRT timestamp: HH:MM:SS,mmm
+static std::string srt_time(int seconds) {
+  int h = seconds / 3600;
+  int m = (seconds % 3600) / 60;
+  int s = seconds % 60;
+  char buf[16];
+  snprintf(buf, sizeof(buf), "%02d:%02d:%02d,000", h, m, s);
+  return std::string(buf);
+}
+
+static void crash_handler(int sig) {
+  FILE *f = fopen("/tmp/dashcamd_crash.log", "w");
+  if (f) {
+    fprintf(f, "CRASH: signal %d\n", sig);
+    void *bt[30];
+    int n = backtrace(bt, 30);
+    backtrace_symbols_fd(bt, n, fileno(f));
+    fclose(f);
+  }
+  _exit(1);
+}
+
+int main(int argc, char *argv[]) {
+  signal(SIGSEGV, crash_handler);
+  signal(SIGABRT, crash_handler);
+  setpriority(PRIO_PROCESS, 0, -10);
+
+  // CLEARPILOT: pin to cores 0-3 (little cluster). Avoids cache/memory-bandwidth
+  // contention with the RT-pinned processes on the big cluster:
+  //   core 4 = controlsd, core 5 = plannerd/radard, core 7 = modeld.
+  // OMX offloads actual H.264 work to hardware, so the main thread just copies
+  // frames and muxes MP4 — fine on the little cluster.
+  cpu_set_t mask;
+  CPU_ZERO(&mask);
+  for (int i = 0; i < 4; i++) CPU_SET(i, &mask);
+  if (sched_setaffinity(0, sizeof(mask), &mask) != 0) {
+    LOGW("dashcamd: sched_setaffinity failed (%d), continuing unpinned", errno);
+  } else {
+    LOGW("dashcamd: pinned to cores 0-3");
+  }
+
+  // Ensure base output directory exists
+  mkdir(VIDEOS_BASE.c_str(), 0755);
+
+  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");
+
+  // 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: first valid frame %dx%d stride=%d", width, height, y_stride);
+
+  // Subscribe to carState (gear), deviceState (ignition), gpsLocation (subtitles)
+  SubMaster sm({"carState", "deviceState", "gpsLocation"});
+  Params params;
+  Params params_memory("/dev/shm/params");
+
+  // Trip state
+  TripState state = WAITING;
+  OmxEncoder *encoder = nullptr;
+  std::string trip_dir;
+  int frame_count = 0;     // per-segment (for rotation)
+  int trip_frames = 0;     // per-trip (published to params)
+  int recv_count = 0;
+  uint64_t segment_start_ts = 0;
+  double idle_timer_start = 0.0;
+
+  // SRT subtitle state
+  FILE *srt_file = nullptr;
+  int srt_index = 0;
+  int srt_segment_sec = 0;
+  double last_srt_write = 0;
+
+  // Ignition tracking
+  bool prev_started = false;
+  bool started_initialized = false;
+
+  // Param publish throttle
+  int param_check_counter = 0;
+  double last_param_write = 0;
+
+  // Publish initial state
+  params_memory.put("DashcamState", "waiting");
+  params_memory.put("DashcamFrames", "0");
+
+  LOGW("dashcamd: entering main loop in WAITING state");
+
+  // Helper: start a new trip
+  auto start_new_trip = [&]() {
+    trip_dir = VIDEOS_BASE + "/" + make_timestamp();
+    mkdir(trip_dir.c_str(), 0755);
+    LOGW("dashcamd: new trip %s", trip_dir.c_str());
+
+    encoder = new OmxEncoder(trip_dir.c_str(), width, height, CAMERA_FPS, BITRATE);
+
+    std::string seg_name = make_timestamp();
+    LOGW("dashcamd: opening segment %s", seg_name.c_str());
+    encoder->encoder_open((seg_name + ".mp4").c_str());
+
+    std::string srt_path = trip_dir + "/" + seg_name + ".srt";
+    srt_file = fopen(srt_path.c_str(), "w");
+    srt_index = 0;
+    srt_segment_sec = 0;
+    last_srt_write = 0;
+
+    frame_count = 0;
+    trip_frames = 0;
+    segment_start_ts = nanos_since_boot();
+    state = RECORDING;
+
+    params_memory.put("DashcamState", "recording");
+    params_memory.put("DashcamFrames", "0");
+  };
+
+  // Helper: close current trip
+  auto close_trip = [&]() {
+    if (srt_file) { fclose(srt_file); srt_file = nullptr; }
+    if (encoder) {
+      encoder->encoder_close();
+      LOGW("dashcamd: segment closed");
+      delete encoder;
+      encoder = nullptr;
+    }
+    state = WAITING;
+    frame_count = 0;
+    trip_frames = 0;
+    idle_timer_start = 0.0;
+    LOGW("dashcamd: trip ended, returning to WAITING");
+
+    params_memory.put("DashcamState", "waiting");
+    params_memory.put("DashcamFrames", "0");
+  };
+
+  while (!do_exit) {
+    VisionBuf *buf = vipc.recv();
+    if (buf == nullptr) continue;
+
+    // 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;
+
+    // Read vehicle state
+    bool started = sm.valid("deviceState") &&
+                   sm["deviceState"].getDeviceState().getStarted();
+    auto gear = sm.valid("carState") ?
+                sm["carState"].getCarState().getGearShifter() :
+                cereal::CarState::GearShifter::UNKNOWN;
+    bool in_drive = (gear == cereal::CarState::GearShifter::DRIVE ||
+                     gear == cereal::CarState::GearShifter::SPORT ||
+                     gear == cereal::CarState::GearShifter::LOW ||
+                     gear == cereal::CarState::GearShifter::MANUMATIC);
+
+    // Detect ignition off → close any active trip
+    if (started_initialized && prev_started && !started) {
+      LOGW("dashcamd: ignition off");
+      if (state == RECORDING || state == IDLE_TIMEOUT) {
+        close_trip();
+      }
+    }
+    prev_started = started;
+    started_initialized = true;
+
+    // Check for graceful shutdown request (every ~1 second)
+    if (++param_check_counter >= CAMERA_FPS) {
+      param_check_counter = 0;
+      if (params_memory.getBool("DashcamShutdown")) {
+        LOGW("dashcamd: shutdown requested");
+        if (state == RECORDING || state == IDLE_TIMEOUT) {
+          close_trip();
+        }
+        params_memory.putBool("DashcamShutdown", false);
+        LOGW("dashcamd: shutdown ack sent, exiting");
+        break;
+      }
+    }
+
+    // State machine
+    switch (state) {
+      case WAITING: {
+        bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
+        if (in_drive && system_time_valid() && has_gps) {
+          start_new_trip();
+        }
+        break;
+      }
+
+      case RECORDING:
+        if (!in_drive) {
+          idle_timer_start = now;
+          state = IDLE_TIMEOUT;
+          LOGW("dashcamd: car left drive, starting 10-min idle timer");
+        }
+        break;
+
+      case IDLE_TIMEOUT:
+        if (in_drive) {
+          idle_timer_start = 0.0;
+          state = RECORDING;
+          LOGW("dashcamd: back in drive, resuming trip");
+        } else if ((now - idle_timer_start) >= IDLE_TIMEOUT_SECONDS) {
+          LOGW("dashcamd: idle timeout expired");
+          close_trip();
+        }
+        break;
+    }
+
+    // Only encode frames when we have an active recording
+    if (state != RECORDING && state != IDLE_TIMEOUT) continue;
+
+    // Segment rotation
+    if (frame_count >= FRAMES_PER_SEGMENT) {
+      if (srt_file) { fclose(srt_file); srt_file = nullptr; }
+      encoder->encoder_close();
+
+      std::string seg_name = make_timestamp();
+      LOGW("dashcamd: opening segment %s", seg_name.c_str());
+      encoder->encoder_open((seg_name + ".mp4").c_str());
+
+      std::string srt_path = trip_dir + "/" + seg_name + ".srt";
+      srt_file = fopen(srt_path.c_str(), "w");
+      srt_index = 0;
+      srt_segment_sec = 0;
+      last_srt_write = 0;
+
+      frame_count = 0;
+      segment_start_ts = nanos_since_boot();
+    }
+
+    uint64_t ts = nanos_since_boot() - segment_start_ts;
+
+    // Validate buffer before encoding
+    if (buf->y == nullptr || buf->uv == nullptr || buf->width == 0 || buf->height == 0) {
+      LOGE("dashcamd: invalid frame buf y=%p uv=%p %zux%zu, skipping", buf->y, buf->uv, buf->width, buf->height);
+      continue;
+    }
+
+    // Feed NV12 frame directly to OMX encoder
+    encoder->encode_frame_nv12(buf->y, y_stride, buf->uv, uv_stride, width, height, ts);
+    frame_count++;
+    trip_frames++;
+
+    // Publish state every 5 seconds
+    if (now - last_param_write >= 5.0) {
+      params_memory.put("DashcamFrames", std::to_string(trip_frames));
+      last_param_write = now;
+    }
+
+    // Write GPS subtitle at most once per second
+    if (srt_file && (now - last_srt_write) >= 1.0) {
+      last_srt_write = now;
+      srt_index++;
+
+      double lat = 0, lon = 0, speed_ms = 0;
+      bool has_gps = sm.valid("gpsLocation") && sm["gpsLocation"].getGpsLocation().getHasFix();
+      if (has_gps) {
+        auto gps = sm["gpsLocation"].getGpsLocation();
+        lat = gps.getLatitude();
+        lon = gps.getLongitude();
+        speed_ms = gps.getSpeed();
+      }
+
+      double speed_mph = speed_ms * 2.23694;
+      std::string utc = make_utc_timestamp();
+      std::string t_start = srt_time(srt_segment_sec);
+      std::string t_end = srt_time(srt_segment_sec + 1);
+      srt_segment_sec++;
+
+      if (has_gps) {
+        const char *deg = "\xC2\xB0";  // UTF-8 degree sign
+        fprintf(srt_file, "%d\n%s --> %s\n%.0f MPH | %.4f%s%c %.4f%s%c | %s\n\n",
+                srt_index, t_start.c_str(), t_end.c_str(),
+                speed_mph,
+                std::abs(lat), deg, lat >= 0 ? 'N' : 'S',
+                std::abs(lon), deg, lon >= 0 ? 'E' : 'W',
+                utc.c_str());
+      } else {
+        fprintf(srt_file, "%d\n%s --> %s\nNo GPS | %s\n\n",
+                srt_index, t_start.c_str(), t_end.c_str(), utc.c_str());
+      }
+      fflush(srt_file);
+    }
+  }
+
+  // Clean exit
+  if (state == RECORDING || state == IDLE_TIMEOUT) {
+    close_trip();
+  }
+  params_memory.put("DashcamState", "stopped");
+  params_memory.put("DashcamFrames", "0");
+  LOGW("dashcamd: stopped");
+
+  return 0;
+}

selfdrive/clearpilot/speed_logic.py

@@ -0,0 +1,114 @@
+"""
+ClearPilot speed processing module.
+
+Shared logic for converting raw speed and speed limit data into display-ready
+values. Called from controlsd (live mode) and bench_onroad (bench mode).
+
+Reads raw inputs, converts to display units (mph or kph based on car's CAN
+unit setting), detects speed limit changes, and writes results to params_memory
+for the onroad UI to read.
+"""
+import math
+import time
+from openpilot.common.params import Params
+from openpilot.common.conversions import Conversions as CV
+
+
+class SpeedState:
+  def __init__(self):
+    self.params_memory = Params("/dev/shm/params")
+    self.prev_speed_limit = 0
+
+    # Ding state tracking
+    self.last_ding_time = 0.0
+    self.prev_warning = ""
+    self.prev_warning_speed_limit = 0
+
+    # Cache last-written param values — each put() is mkstemp+fsync+flock+rename.
+    # Sentinel None so the first call always writes.
+    self._w_has_speed = None
+    self._w_speed_display = None
+    self._w_speed_limit_display = None
+    self._w_speed_unit = None
+    self._w_is_metric = None
+    self._w_cruise_warning = None
+    self._w_cruise_warning_speed = None
+
+  def _put_if_changed(self, key, value, attr):
+    if getattr(self, attr) != value:
+      self.params_memory.put(key, value)
+      setattr(self, attr, value)
+
+  def update(self, speed_ms: float, has_speed: bool, speed_limit_ms: float, is_metric: bool,
+             cruise_speed_ms: float = 0.0, cruise_active: bool = False, cruise_standstill: bool = False):
+    """
+    Convert raw m/s values to display-ready strings and write to params_memory.
+    """
+    now = time.monotonic()
+
+    if is_metric:
+      speed_display = speed_ms * CV.MS_TO_KPH
+      speed_limit_display = speed_limit_ms * CV.MS_TO_KPH
+      cruise_display = cruise_speed_ms * CV.MS_TO_KPH
+      unit = "km/h"
+    else:
+      speed_display = speed_ms * CV.MS_TO_MPH
+      speed_limit_display = speed_limit_ms * CV.MS_TO_MPH
+      cruise_display = cruise_speed_ms * CV.MS_TO_MPH
+      unit = "mph"
+
+    speed_int = int(math.floor(speed_display))
+    speed_limit_int = int(round(speed_limit_display))
+    cruise_int = int(round(cruise_display))
+
+    self.prev_speed_limit = speed_limit_int
+
+    # Write display-ready values to params_memory (gated on change)
+    self._put_if_changed("ClearpilotHasSpeed", "1" if has_speed and speed_int > 0 else "0", "_w_has_speed")
+    self._put_if_changed("ClearpilotSpeedDisplay", str(speed_int) if has_speed and speed_int > 0 else "", "_w_speed_display")
+    self._put_if_changed("ClearpilotSpeedLimitDisplay", str(speed_limit_int) if speed_limit_int > 0 else "0", "_w_speed_limit_display")
+    self._put_if_changed("ClearpilotSpeedUnit", unit, "_w_speed_unit")
+    self._put_if_changed("ClearpilotIsMetric", "1" if is_metric else "0", "_w_is_metric")
+
+    # Cruise warning logic
+    warning = ""
+    warning_speed = ""
+    cruise_engaged = cruise_active and not cruise_standstill
+
+    if speed_limit_int >= 20 and cruise_engaged and cruise_int > 0:
+      # Tiers (warning fires at >= limit + threshold):
+      #   limit >= 50:  +9 over ok, warn at +10   (e.g. 60 → warn at 70)
+      #   limit 26-49:  +6 over ok, warn at +7    (e.g. 35 → warn at 42)
+      #   limit <= 25:  +8 over ok, warn at +9    (e.g. 25 → warn at 34, so 33 is ok)
+      if speed_limit_int >= 50:
+        over_threshold = 10
+      elif speed_limit_int <= 25:
+        over_threshold = 9
+      else:
+        over_threshold = 7
+      if cruise_int >= speed_limit_int + over_threshold:
+        warning = "over"
+        warning_speed = str(cruise_int)
+      elif cruise_int <= speed_limit_int - 5:
+        warning = "under"
+        warning_speed = str(cruise_int)
+
+    self._put_if_changed("ClearpilotCruiseWarning", warning, "_w_cruise_warning")
+    self._put_if_changed("ClearpilotCruiseWarningSpeed", warning_speed, "_w_cruise_warning_speed")
+
+    # Ding logic: play when warning sign appears or speed limit changes while visible
+    should_ding = False
+    if warning:
+      if not self.prev_warning:
+        # Warning sign just appeared
+        should_ding = True
+      elif speed_limit_int != self.prev_warning_speed_limit:
+        # Speed limit changed while warning sign is visible
+        should_ding = True
+
+    if should_ding and now - self.last_ding_time >= 30:
+      self.params_memory.put("ClearpilotPlayDing", "1")
+      self.last_ding_time = now
+
+    self.prev_warning = warning
+    self.prev_warning_speed_limit = speed_limit_int if warning else 0

selfdrive/clearpilot/speed_logicd.py

@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+"""
+ClearPilot speed/cruise daemon.
+
+Subscribes to gpsLocation (for vehicle speed display) and carState (for
+cruise state), reads CarSpeedLimit from /dev/shm/params, and ticks
+SpeedState at ~2 Hz. SpeedState writes the display params the onroad UI
+reads, and asserts ClearpilotPlayDing="1" on speed-limit warning
+transitions (soundd consumes that flag).
+
+Decoupled from controlsd so self-driving timing isn't affected.
+"""
+import sys
+
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
+
+
+def main():
+  print("CLP speed_logicd: starting", file=sys.stderr, flush=True)
+
+  params = Params()
+  params_memory = Params("/dev/shm/params")
+  speed_state = SpeedState()
+
+  is_metric = params.get_bool("IsMetric")
+
+  sm = messaging.SubMaster(['gpsLocation', 'carState'])
+  rk = Ratekeeper(2.0, print_delay_threshold=None)
+
+  while True:
+    sm.update(0)
+
+    gps = sm['gpsLocation']
+    has_gps = sm.valid['gpsLocation'] and gps.hasFix
+    speed_ms = float(gps.speed) if has_gps else 0.0
+
+    cs = sm['carState']
+    cruise_speed_ms = float(cs.cruiseState.speed)
+    cruise_active = bool(cs.cruiseState.enabled)
+    cruise_standstill = bool(cs.cruiseState.standstill)
+
+    # CarSpeedLimit is published by hyundai/carstate.py CAN-FD decode (when
+    # ported). Until then it's 0 / empty and the speed-limit + warning logic
+    # naturally short-circuits.
+    try:
+      speed_limit_ms = float(params_memory.get("CarSpeedLimit") or 0.0)
+    except (TypeError, ValueError):
+      speed_limit_ms = 0.0
+
+    speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
+                       cruise_speed_ms, cruise_active, cruise_standstill)
+
+    rk.keep_time()
+
+
+if __name__ == "__main__":
+  main()

selfdrive/controls/controlsd.py

@@ -77,7 +77,9 @@ class Controls:
     self.params_storage = Params("/persist/params")
 
     self.params_memory.put_bool("CPTLkasButtonAction", False)
-    self.params_memory.put_bool("ScreenDisplayMode", 0)
+    self.params_memory.put_int("ScreenDisplayMode", 0)
+    # CLEARPILOT: edge tracking for park→drive auto-wake of screen
+    self.was_driving_gear = False
 
     self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
 
@@ -1233,32 +1235,35 @@ class Controls:
     self.frogpilot_variables.use_ev_tables = self.params.get_bool("EVTable")
 
   def update_clearpilot_events(self, CS):
-    if (len(CS.buttonEvents) > 0): 
+    if (len(CS.buttonEvents) > 0):
       print (CS.buttonEvents)
 
-    # Uncomment to alert when lkas button pressed
-    # if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
-      # self.events.add(EventName.clpDebug)
-
   def clearpilot_state_control(self, CC, CS):
-    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
-      
-      # Uncomment for debug testing.
-      # if self.params_memory.get_bool("CPTLkasButtonAction"):
-      #   self.params_memory.put_bool("CPTLkasButtonAction", False)
-      # else:
-      #   self.params_memory.put_bool("CPTLkasButtonAction", True)
-  
-      # Rotate display mode.  These are mostly used in the frontend ui app.
-      max_display_mode = 2
-      current_display_mode = self.params_memory.get_int("ScreenDisplayMode")
-      current_display_mode = current_display_mode + 1
-      if current_display_mode > max_display_mode:
-        current_display_mode = 0
-      self.params_memory.put_int("ScreenDisplayMode", current_display_mode)
+    # CLEARPILOT: pure UI plumbing — does not modify CC/actuators. Maintains
+    # ScreenDisplayMode (5-state machine driven by the LFA/debug button + gear
+    # edges). Speed/cruise overlay state is owned by speed_logicd, not here.
+    driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park,
+                                          GearShifter.reverse, GearShifter.unknown)
+
+    # Auto-wake screen when shifting into drive from screen-off
+    if driving_gear and not self.was_driving_gear:
+      if self.params_memory.get_int("ScreenDisplayMode") == 3:
+        self.params_memory.put_int("ScreenDisplayMode", 0)
+    self.was_driving_gear = driving_gear
+
+    # LFA/debug button cycles ScreenDisplayMode. Onroad and offroad use
+    # different transition tables.
+    if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
+      current = self.params_memory.get_int("ScreenDisplayMode")
+      if driving_gear:
+        # Onroad: 0→4, 1→2, 2→3, 3→4, 4→2 (never back to auto via button)
+        transitions = {0: 4, 1: 2, 2: 3, 3: 4, 4: 2}
+        new_mode = transitions.get(current, 0)
+      else:
+        # Not in drive: anything except 3 → 3 (screen off), state 3 → 0 (auto)
+        new_mode = 0 if current == 3 else 3
+      self.params_memory.put_int("ScreenDisplayMode", new_mode)
 
-      # Leftovers
-      # self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
     return CC
 
 def main():

selfdrive/controls/lib/events.py

@@ -262,16 +262,6 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
-def clp_debug_notice(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  if not hasattr(clp_debug_notice, "counter"):
-    clp_debug_notice.counter = 0  
-  clp_debug_notice.counter += 1 
-  return Alert(
-    f"Clearpilot Debug Function Executed ({clp_debug_notice.counter})",
-    "",
-    AlertStatus.normal, AlertSize.small,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 3.0)
-
 
 def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   # Clearpilot todo:
@@ -778,10 +768,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
   },
 
-  EventName.clpDebug: {
-    ET.PERMANENT: clp_debug_notice,
-  },
-
   EventName.noGps: {
     ET.PERMANENT: no_gps_alert,
   },

selfdrive/frogpilot/screenrecorder/omx_encoder.cc

@@ -35,120 +35,19 @@ int ABGRToNV12(const uint8_t* src_abgr,
   int halfwidth = (width + 1) >> 1;
   void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr,
                       uint8_t* dst_u, uint8_t* dst_v, int width) =
-      ABGRToUVRow_C;
+      ABGRToUVRow_NEON;
   void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) =
-      ABGRToYRow_C;
-  void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_C;
+      ABGRToYRow_NEON;
+  void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, uint8_t* dst_uv, int width) = MergeUVRow_NEON;
   if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) {
     return -1;
   }
-if (height < 0) {  // Negative height means invert the image.
-  height = -height;
-  src_abgr = src_abgr + (height - 1) * src_stride_abgr;
-  src_stride_abgr = -src_stride_abgr;
-}
-#if defined(HAS_ABGRTOYROW_SSSE3) && defined(HAS_ABGRTOUVROW_SSSE3)
-  if (TestCpuFlag(kCpuHasSSSE3)) {
-    ABGRToUVRow = ABGRToUVRow_Any_SSSE3;
-    ABGRToYRow = ABGRToYRow_Any_SSSE3;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_SSSE3;
-      ABGRToYRow = ABGRToYRow_SSSE3;
-    }
+  if (height < 0) {
+    height = -height;
+    src_abgr = src_abgr + (height - 1) * src_stride_abgr;
+    src_stride_abgr = -src_stride_abgr;
   }
-#endif
-#if defined(HAS_ABGRTOYROW_AVX2) && defined(HAS_ABGRTOUVROW_AVX2)
-  if (TestCpuFlag(kCpuHasAVX2)) {
-    ABGRToUVRow = ABGRToUVRow_Any_AVX2;
-    ABGRToYRow = ABGRToYRow_Any_AVX2;
-    if (IS_ALIGNED(width, 32)) {
-      ABGRToUVRow = ABGRToUVRow_AVX2;
-      ABGRToYRow = ABGRToYRow_AVX2;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    ABGRToYRow = ABGRToYRow_Any_NEON;
-    if (IS_ALIGNED(width, 8)) {
-      ABGRToYRow = ABGRToYRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOUVROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    ABGRToUVRow = ABGRToUVRow_Any_NEON;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_MMI) && defined(HAS_ABGRTOUVROW_MMI)
-  if (TestCpuFlag(kCpuHasMMI)) {
-    ABGRToYRow = ABGRToYRow_Any_MMI;
-    ABGRToUVRow = ABGRToUVRow_Any_MMI;
-    if (IS_ALIGNED(width, 8)) {
-      ABGRToYRow = ABGRToYRow_MMI;
-    }
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToUVRow = ABGRToUVRow_MMI;
-    }
-  }
-#endif
-#if defined(HAS_ABGRTOYROW_MSA) && defined(HAS_ABGRTOUVROW_MSA)
-  if (TestCpuFlag(kCpuHasMSA)) {
-    ABGRToYRow = ABGRToYRow_Any_MSA;
-    ABGRToUVRow = ABGRToUVRow_Any_MSA;
-    if (IS_ALIGNED(width, 16)) {
-      ABGRToYRow = ABGRToYRow_MSA;
-    }
-    if (IS_ALIGNED(width, 32)) {
-      ABGRToUVRow = ABGRToUVRow_MSA;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_SSE2)
-  if (TestCpuFlag(kCpuHasSSE2)) {
-    MergeUVRow_ = MergeUVRow_Any_SSE2;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_SSE2;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_AVX2)
-  if (TestCpuFlag(kCpuHasAVX2)) {
-    MergeUVRow_ = MergeUVRow_Any_AVX2;
-    if (IS_ALIGNED(halfwidth, 32)) {
-      MergeUVRow_ = MergeUVRow_AVX2;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_NEON)
-  if (TestCpuFlag(kCpuHasNEON)) {
-    MergeUVRow_ = MergeUVRow_Any_NEON;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_NEON;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_MMI)
-  if (TestCpuFlag(kCpuHasMMI)) {
-    MergeUVRow_ = MergeUVRow_Any_MMI;
-    if (IS_ALIGNED(halfwidth, 8)) {
-      MergeUVRow_ = MergeUVRow_MMI;
-    }
-  }
-#endif
-#if defined(HAS_MERGEUVROW_MSA)
-  if (TestCpuFlag(kCpuHasMSA)) {
-    MergeUVRow_ = MergeUVRow_Any_MSA;
-    if (IS_ALIGNED(halfwidth, 16)) {
-      MergeUVRow_ = MergeUVRow_MSA;
-    }
-  }
-#endif
   {
-    // Allocate a rows of uv.
     align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2);
     uint8_t* row_v = row_u + ((halfwidth + 31) & ~31);
 
@@ -182,9 +81,9 @@ extern ExitHandler do_exit;
 // ***** OMX callback functions *****
 
 void OmxEncoder::wait_for_state(OMX_STATETYPE state_) {
-  std::unique_lock lk(this->state_lock);
-  while (this->state != state_) {
-    this->state_cv.wait(lk);
+  std::unique_lock lk(state_lock);
+  while (state != state_) {
+    state_cv.wait(lk);
   }
 }
 
@@ -236,270 +135,203 @@ static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused))
 static const char* omx_color_fomat_name(uint32_t format) {
   switch (format) {
   case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused";
-  case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome";
-  case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332";
-  case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444";
-  case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444";
-  case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555";
-  case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565";
-  case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565";
-  case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666";
-  case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665";
-  case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666";
-  case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888";
-  case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888";
-  case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887";
-  case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888";
-  case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888";
-  case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888";
-  case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar";
-  case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar";
-  case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar";
-  case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar";
   case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar";
-  case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar";
-  case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar";
-  case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar";
-  case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr";
-  case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb";
-  case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY";
-  case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY";
-  case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved";
-  case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit";
-  case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit";
-  case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed";
-  case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2";
-  case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4";
-  case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8";
-  case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16";
-  case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24";
-  case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32";
-  case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar";
-  case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666";
-  case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666";
-  case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666";
-
-  case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque";
-  case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar";
-  case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar";
-  case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka";
-  case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled";
   case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m";
-
-  case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka";
-  case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView";
-  case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed";
   case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888";
-  case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed";
-
-  default:
-    return "unkn";
+  default: return "unkn";
   }
 }
 
 
 // ***** encoder functions *****
 
-OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale) {
+OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate) {
   this->path = path;
   this->width = width;
   this->height = height;
   this->fps = fps;
-  this->remuxing = !h265;
 
-  this->downscale = downscale;
-  if (this->downscale) {
-    this->y_ptr2 = (uint8_t *)malloc(this->width*this->height);
-    this->u_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
-    this->v_ptr2 = (uint8_t *)malloc(this->width*this->height/4);
+  OMX_ERRORTYPE err = OMX_Init();
+  if (err != OMX_ErrorNone) {
+    LOGE("OMX_Init failed: %x", err);
+    return;
   }
 
-  auto component = (OMX_STRING)(h265 ? "OMX.qcom.video.encoder.hevc" : "OMX.qcom.video.encoder.avc");
-  int err = OMX_GetHandle(&this->handle, component, this, &omx_callbacks);
+  OMX_STRING component = (OMX_STRING)("OMX.qcom.video.encoder.avc");
+  err = OMX_GetHandle(&handle, component, this, &omx_callbacks);
   if (err != OMX_ErrorNone) {
-    LOGE("error getting codec: %x", err);
+    LOGE("Error getting codec: %x", err);
+    OMX_Deinit();
+    return;
   }
 
   // setup input port
-
   OMX_PARAM_PORTDEFINITIONTYPE in_port = {0};
   in_port.nSize = sizeof(in_port);
   in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
 
-  in_port.format.video.nFrameWidth = this->width;
-  in_port.format.video.nFrameHeight = this->height;
-  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
-  in_port.format.video.nSliceHeight = this->height;
-  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
-  in_port.format.video.xFramerate = (this->fps * 65536);
+  in_port.format.video.nFrameWidth = width;
+  in_port.format.video.nFrameHeight = height;
+  in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  in_port.format.video.nSliceHeight = height;
+  in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+  in_port.format.video.xFramerate = (fps * 65536);
   in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused;
   in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
-  this->in_buf_headers.resize(in_port.nBufferCountActual);
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port));
+  in_buf_headers.resize(in_port.nBufferCountActual);
 
   // setup output port
-
-  OMX_PARAM_PORTDEFINITIONTYPE out_port = {0};
+  OMX_PARAM_PORTDEFINITIONTYPE out_port;
+  memset(&out_port, 0, sizeof(OMX_PARAM_PORTDEFINITIONTYPE));
   out_port.nSize = sizeof(out_port);
+  out_port.nVersion.s.nVersionMajor = 1;
+  out_port.nVersion.s.nVersionMinor = 0;
+  out_port.nVersion.s.nRevision = 0;
+  out_port.nVersion.s.nStep = 0;
   out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port));
-  out_port.format.video.nFrameWidth = this->width;
-  out_port.format.video.nFrameHeight = this->height;
+
+  OMX_ERRORTYPE error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error getting output port parameters: 0x%08x", error);
+    return;
+  }
+
+  out_port.format.video.nFrameWidth = width;
+  out_port.format.video.nFrameHeight = height;
   out_port.format.video.xFramerate = 0;
   out_port.format.video.nBitrate = bitrate;
-  if (h265) {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingHEVC;
-  } else {
-    out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
-  }
+  out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC;
   out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
+  error = OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error setting output port parameters: 0x%08x", error);
+    return;
+  }
 
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port));
-  this->out_buf_headers.resize(out_port.nBufferCountActual);
+  error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port);
+  if (error != OMX_ErrorNone) {
+    LOGE("Error getting updated output port parameters: 0x%08x", error);
+    return;
+  }
+
+  out_buf_headers.resize(out_port.nBufferCountActual);
 
   OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0};
   bitrate_type.nSize = sizeof(bitrate_type);
   bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-  OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
   bitrate_type.eControlRate = OMX_Video_ControlRateVariable;
   bitrate_type.nTargetBitrate = bitrate;
 
-  OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type));
 
-  if (h265) {
-    // setup HEVC
-  #ifndef QCOM2
-    OMX_VIDEO_PARAM_HEVCTYPE hevc_type = {0};
-    OMX_INDEXTYPE index_type = (OMX_INDEXTYPE) OMX_IndexParamVideoHevc;
-  #else
-    OMX_VIDEO_PARAM_PROFILELEVELTYPE hevc_type = {0};
-    OMX_INDEXTYPE index_type = OMX_IndexParamVideoProfileLevelCurrent;
-  #endif
-    hevc_type.nSize = sizeof(hevc_type);
-    hevc_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    OMX_CHECK(OMX_GetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
+  // setup h264
+  OMX_VIDEO_PARAM_AVCTYPE avc = {0};
+  avc.nSize = sizeof(avc);
+  avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
+  OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoAvc, &avc));
 
-    hevc_type.eProfile = OMX_VIDEO_HEVCProfileMain;
-    hevc_type.eLevel = OMX_VIDEO_HEVCHighTierLevel5;
+  avc.nBFrames = 0;
+  avc.nPFrames = 15;
 
-    OMX_CHECK(OMX_SetParameter(this->handle, index_type, (OMX_PTR) &hevc_type));
-  } else {
-    // setup h264
-    OMX_VIDEO_PARAM_AVCTYPE avc = { 0 };
-    avc.nSize = sizeof(avc);
-    avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT;
-    OMX_CHECK(OMX_GetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+  avc.eProfile = OMX_VIDEO_AVCProfileHigh;
+  avc.eLevel = OMX_VIDEO_AVCLevel31;
 
-    avc.nBFrames = 0;
-    avc.nPFrames = 15;
+  avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
+  avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
 
-    avc.eProfile = OMX_VIDEO_AVCProfileHigh;
-    avc.eLevel = OMX_VIDEO_AVCLevel31;
+  avc.nRefFrames = 1;
+  avc.bUseHadamard = OMX_TRUE;
+  avc.bEntropyCodingCABAC = OMX_TRUE;
+  avc.bWeightedPPrediction = OMX_TRUE;
+  avc.bconstIpred = OMX_TRUE;
 
-    avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB;
-    avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable;
+  OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoAvc, &avc));
 
-    avc.nRefFrames = 1;
-    avc.bUseHadamard = OMX_TRUE;
-    avc.bEntropyCodingCABAC = OMX_TRUE;
-    avc.bWeightedPPrediction = OMX_TRUE;
-    avc.bconstIpred = OMX_TRUE;
+  OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
 
-    OMX_CHECK(OMX_SetParameter(this->handle, OMX_IndexParamVideoAvc, &avc));
+  for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_IN, this, in_port.nBufferSize));
   }
 
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
-
-  for (auto &buf : this->in_buf_headers) {
-    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_IN, this,
-                             in_port.nBufferSize));
-  }
-
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_AllocateBuffer(this->handle, &buf, PORT_INDEX_OUT, this,
-                             out_port.nBufferSize));
+  for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
+    OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_OUT, this, out_port.nBufferSize));
   }
 
   wait_for_state(OMX_StateIdle);
 
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
+  OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateExecuting, NULL));
 
   wait_for_state(OMX_StateExecuting);
 
   // give omx all the output buffers
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_FillThisBuffer(this->handle, buf));
+  for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) {
+    OMX_CHECK(OMX_FillThisBuffer(handle, buf));
   }
 
   // fill the input free queue
-  for (auto &buf : this->in_buf_headers) {
-    this->free_in.push(buf);
+  for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) {
+    free_in.push(buf);
   }
 }
 
-void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
+void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_buf) {
   int err;
   uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset;
 
   if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) {
-    if (e->codec_config_len < out_buf->nFilledLen) {
-      e->codec_config = (uint8_t *)realloc(e->codec_config, out_buf->nFilledLen);
+    if (encoder->codec_config_len < out_buf->nFilledLen) {
+      encoder->codec_config = (uint8_t *)realloc(encoder->codec_config, out_buf->nFilledLen);
     }
-    e->codec_config_len = out_buf->nFilledLen;
-    memcpy(e->codec_config, buf_data, out_buf->nFilledLen);
+    encoder->codec_config_len = out_buf->nFilledLen;
+    memcpy(encoder->codec_config, buf_data, out_buf->nFilledLen);
 #ifdef QCOM2
     out_buf->nTimeStamp = 0;
 #endif
   }
 
-  if (e->of) {
-    fwrite(buf_data, out_buf->nFilledLen, 1, e->of);
+  if (encoder->of) {
+    fwrite(buf_data, out_buf->nFilledLen, 1, encoder->of);
   }
 
-  if (e->remuxing) {
-    if (!e->wrote_codec_config && e->codec_config_len > 0) {
-      // extradata will be freed by av_free() in avcodec_free_context()
-      e->codec_ctx->extradata = (uint8_t*)av_mallocz(e->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
-      e->codec_ctx->extradata_size = e->codec_config_len;
-      memcpy(e->codec_ctx->extradata, e->codec_config, e->codec_config_len);
+  if (!encoder->wrote_codec_config && encoder->codec_config_len > 0) {
+    // extradata will be freed by av_free() in avcodec_free_context()
+    encoder->out_stream->codecpar->extradata = (uint8_t*)av_mallocz(encoder->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE);
+    encoder->out_stream->codecpar->extradata_size = encoder->codec_config_len;
+    memcpy(encoder->out_stream->codecpar->extradata, encoder->codec_config, encoder->codec_config_len);
 
-      err = avcodec_parameters_from_context(e->out_stream->codecpar, e->codec_ctx);
-      assert(err >= 0);
-      err = avformat_write_header(e->ofmt_ctx, NULL);
-      assert(err >= 0);
+    err = avformat_write_header(encoder->ofmt_ctx, NULL);
+    assert(err >= 0);
 
-      e->wrote_codec_config = true;
+    encoder->wrote_codec_config = true;
+  }
+
+  if (out_buf->nTimeStamp > 0) {
+    // input timestamps are in microseconds
+    AVRational in_timebase = {1, 1000000};
+
+    AVPacket pkt;
+    av_init_packet(&pkt);
+    pkt.data = buf_data;
+    pkt.size = out_buf->nFilledLen;
+
+    enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
+    pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, encoder->out_stream->time_base, rnd);
+    pkt.duration = av_rescale_q(1, AVRational{1, encoder->fps}, encoder->out_stream->time_base);
+
+    if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
+      pkt.flags |= AV_PKT_FLAG_KEY;
     }
 
-    if (out_buf->nTimeStamp > 0) {
-      // input timestamps are in microseconds
-      AVRational in_timebase = {1, 1000000};
+    err = av_write_frame(encoder->ofmt_ctx, &pkt);
+    if (err < 0) { LOGW("ts encoder write issue"); }
 
-      AVPacket pkt;
-      av_init_packet(&pkt);
-      pkt.data = buf_data;
-      pkt.size = out_buf->nFilledLen;
-
-      enum AVRounding rnd = static_cast<enum AVRounding>(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX);
-      pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, e->ofmt_ctx->streams[0]->time_base, rnd);
-      pkt.duration = av_rescale_q(50*1000, in_timebase, e->ofmt_ctx->streams[0]->time_base);
-
-      if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) {
-        pkt.flags |= AV_PKT_FLAG_KEY;
-      }
-
-      err = av_write_frame(e->ofmt_ctx, &pkt);
-      if (err < 0) { LOGW("ts encoder write issue"); }
-
-      av_free_packet(&pkt);
-    }
+    av_packet_unref(&pkt);
   }
 
   // give omx back the buffer
@@ -508,134 +340,186 @@ void OmxEncoder::handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf) {
     out_buf->nTimeStamp = 0;
   }
 #endif
-  OMX_CHECK(OMX_FillThisBuffer(e->handle, out_buf));
+  OMX_CHECK(OMX_FillThisBuffer(encoder->handle, out_buf));
 }
 
 int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) {
-  int err;
-  if (!this->is_open) {
+  if (!is_open) {
     return -1;
   }
 
-  // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates...
-  // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this
   OMX_BUFFERHEADERTYPE* in_buf = nullptr;
-  while (!this->free_in.try_pop(in_buf, 20)) {
+  while (!free_in.try_pop(in_buf, 20)) {
     if (do_exit) {
       return -1;
     }
   }
 
-  int ret = this->counter;
+  int ret = counter;
 
   uint8_t *in_buf_ptr = in_buf->pBuffer;
 
   uint8_t *in_y_ptr = in_buf_ptr;
-  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, this->width);
-  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, this->width);
-  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, this->height));
+  int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width);
+  uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
 
-  err = ABGRToNV12(ptr, this->width*4,
-                   in_y_ptr, in_y_stride,
-                   in_uv_ptr, in_uv_stride,
-                   this->width, this->height);
+  int err = ABGRToNV12(ptr, width * 4, in_y_ptr, in_y_stride, in_uv_ptr, in_uv_stride, width, height);
   assert(err == 0);
 
-  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, this->width, this->height);
+  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
   in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
   in_buf->nOffset = 0;
-  in_buf->nTimeStamp = ts/1000LL;  // OMX_TICKS, in microseconds
-  this->last_t = in_buf->nTimeStamp;
+  in_buf->nTimeStamp = ts / 1000LL;  // OMX_TICKS, in microseconds
+  last_t = in_buf->nTimeStamp;
 
-  OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+  OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
 
   // pump output
   while (true) {
     OMX_BUFFERHEADERTYPE *out_buf;
-    if (!this->done_out.try_pop(out_buf)) {
+    if (!done_out.try_pop(out_buf)) {
       break;
     }
     handle_out_buf(this, out_buf);
   }
 
-  this->dirty = true;
+  dirty = true;
 
-  this->counter++;
+  counter++;
+
+  return ret;
+}
+
+// CLEARPILOT: encode raw NV12 frames directly (no RGBA conversion needed)
+int OmxEncoder::encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
+                                   int in_width, int in_height, uint64_t ts) {
+  if (!is_open) {
+    return -1;
+  }
+
+  OMX_BUFFERHEADERTYPE* in_buf = nullptr;
+  while (!free_in.try_pop(in_buf, 20)) {
+    if (do_exit) {
+      return -1;
+    }
+  }
+
+  int ret = counter;
+
+  uint8_t *in_buf_ptr = in_buf->pBuffer;
+  int venus_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int venus_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width);
+  uint8_t *dst_y = in_buf_ptr;
+  uint8_t *dst_uv = in_buf_ptr + (venus_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height));
+
+  // Copy Y plane row by row (source stride may differ from VENUS stride)
+  for (int row = 0; row < in_height; row++) {
+    memcpy(dst_y + row * venus_y_stride, y_ptr + row * y_stride, in_width);
+  }
+  // Copy UV plane row by row
+  int uv_height = in_height / 2;
+  for (int row = 0; row < uv_height; row++) {
+    memcpy(dst_uv + row * venus_uv_stride, uv_ptr + row * uv_stride, in_width);
+  }
+
+  in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height);
+  in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME;
+  in_buf->nOffset = 0;
+  in_buf->nTimeStamp = ts / 1000LL;
+  last_t = in_buf->nTimeStamp;
+
+  OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
+
+  while (true) {
+    OMX_BUFFERHEADERTYPE *out_buf;
+    if (!done_out.try_pop(out_buf)) {
+      break;
+    }
+    handle_out_buf(this, out_buf);
+  }
+
+  dirty = true;
+  counter++;
 
   return ret;
 }
 
 void OmxEncoder::encoder_open(const char* filename) {
-  int err;
+  if (!filename || strlen(filename) == 0) {
+    return;
+  }
+
+  if (strlen(filename) + path.size() + 2 > sizeof(vid_path)) {
+    return;
+  }
 
   struct stat st = {0};
-  if (stat(this->path.c_str(), &st) == -1) {
-    mkdir(this->path.c_str(), 0755);
-  }
-
-  snprintf(this->vid_path, sizeof(this->vid_path), "%s/%s", this->path.c_str(), filename);
-  printf("encoder_open %s remuxing:%d\n", this->vid_path, this->remuxing);
-
-  if (this->remuxing) {
-    avformat_alloc_output_context2(&this->ofmt_ctx, NULL, NULL, this->vid_path);
-    assert(this->ofmt_ctx);
-
-    this->out_stream = avformat_new_stream(this->ofmt_ctx, NULL);
-    assert(this->out_stream);
-
-    // set codec correctly
-    av_register_all();
-
-    AVCodec *codec = NULL;
-    codec = avcodec_find_encoder(AV_CODEC_ID_H264);
-    assert(codec);
-
-    this->codec_ctx = avcodec_alloc_context3(codec);
-    assert(this->codec_ctx);
-    this->codec_ctx->width = this->width;
-    this->codec_ctx->height = this->height;
-    this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
-    this->codec_ctx->time_base = (AVRational){ 1, this->fps };
-
-    err = avio_open(&this->ofmt_ctx->pb, this->vid_path, AVIO_FLAG_WRITE);
-    assert(err >= 0);
-
-    this->wrote_codec_config = false;
-  } else {
-    this->of = fopen(this->vid_path, "wb");
-    assert(this->of);
-#ifndef QCOM2
-    if (this->codec_config_len > 0) {
-      fwrite(this->codec_config, this->codec_config_len, 1, this->of);
+  if (stat(path.c_str(), &st) == -1) {
+    if (mkdir(path.c_str(), 0755) == -1) {
+      return;
     }
-#endif
   }
 
-  // create camera lock file
-  snprintf(this->lock_path, sizeof(this->lock_path), "%s/%s.lock", this->path.c_str(), filename);
-  int lock_fd = HANDLE_EINTR(open(this->lock_path, O_RDWR | O_CREAT, 0664));
-  assert(lock_fd >= 0);
+  snprintf(vid_path, sizeof(vid_path), "%s/%s", path.c_str(), filename);
+
+  if (avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, vid_path) < 0 || !ofmt_ctx) {
+    return;
+  }
+
+  out_stream = avformat_new_stream(ofmt_ctx, NULL);
+  if (!out_stream) {
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
+
+  out_stream->time_base = AVRational{1, fps};
+
+  out_stream->codecpar->codec_id = AV_CODEC_ID_H264;
+  out_stream->codecpar->codec_type = AVMEDIA_TYPE_VIDEO;
+  out_stream->codecpar->width = width;
+  out_stream->codecpar->height = height;
+
+  int err = avio_open(&ofmt_ctx->pb, vid_path, AVIO_FLAG_WRITE);
+  if (err < 0) {
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
+
+  wrote_codec_config = false;
+
+  snprintf(lock_path, sizeof(lock_path), "%s/%s.lock", path.c_str(), filename);
+  int lock_fd = HANDLE_EINTR(open(lock_path, O_RDWR | O_CREAT, 0664));
+  if (lock_fd < 0) {
+    avio_closep(&ofmt_ctx->pb);
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    return;
+  }
   close(lock_fd);
 
-  this->is_open = true;
-  this->counter = 0;
+  is_open = true;
+  counter = 0;
 }
 
 void OmxEncoder::encoder_close() {
-  if (this->is_open) {
-    if (this->dirty) {
-      // drain output only if there could be frames in the encoder
+  if (!is_open) return;
 
-      OMX_BUFFERHEADERTYPE* in_buf = this->free_in.pop();
+  if (dirty) {
+    OMX_BUFFERHEADERTYPE* in_buf = free_in.pop();
+    if (in_buf) {
       in_buf->nFilledLen = 0;
       in_buf->nOffset = 0;
       in_buf->nFlags = OMX_BUFFERFLAG_EOS;
-      in_buf->nTimeStamp = this->last_t + 1000000LL/this->fps;
+      in_buf->nTimeStamp = last_t + 1000000LL / fps;
 
-      OMX_CHECK(OMX_EmptyThisBuffer(this->handle, in_buf));
+      OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf));
 
       while (true) {
-        OMX_BUFFERHEADERTYPE *out_buf = this->done_out.pop();
+        OMX_BUFFERHEADERTYPE *out_buf = done_out.pop();
+        if (!out_buf) break;
 
         handle_out_buf(this, out_buf);
 
@@ -643,55 +527,112 @@ void OmxEncoder::encoder_close() {
           break;
         }
       }
-      this->dirty = false;
     }
-
-    if (this->remuxing) {
-      av_write_trailer(this->ofmt_ctx);
-      avcodec_free_context(&this->codec_ctx);
-      avio_closep(&this->ofmt_ctx->pb);
-      avformat_free_context(this->ofmt_ctx);
-    } else {
-      fclose(this->of);
-      this->of = nullptr;
-    }
-    unlink(this->lock_path);
+    dirty = false;
+  }
+
+  if (out_stream) {
+    out_stream->nb_frames = counter;
+    out_stream->duration = av_rescale_q(counter, AVRational{1, fps}, out_stream->time_base);
+  }
+
+  if (ofmt_ctx) {
+    av_write_trailer(ofmt_ctx);
+    ofmt_ctx->duration = out_stream ? out_stream->duration : 0;
+    avio_closep(&ofmt_ctx->pb);
+    avformat_free_context(ofmt_ctx);
+    ofmt_ctx = nullptr;
+    out_stream = nullptr;
+  }
+
+  if (lock_path[0] != '\0') {
+    unlink(lock_path);
+  }
+
+  is_open = false;
+
+  // Remux with faststart for streaming/seeking support
+  if (strlen(vid_path) > 0) {
+    char fixed_path[1024];
+    snprintf(fixed_path, sizeof(fixed_path), "%s.fixed.mp4", vid_path);
+
+    char cmd[2048];
+    snprintf(cmd, sizeof(cmd), "ffmpeg -y -i \"%s\" -c copy -movflags +faststart \"%s\" && mv \"%s\" \"%s\"",
+             vid_path, fixed_path, fixed_path, vid_path);
+
+    int ret = system(cmd);
+    if (ret != 0) {
+      LOGW("ffmpeg faststart remux failed with exit code %d", ret);
+    }
   }
-  this->is_open = false;
 }
 
 OmxEncoder::~OmxEncoder() {
-  assert(!this->is_open);
-
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateIdle, NULL));
-
-  wait_for_state(OMX_StateIdle);
-
-  OMX_CHECK(OMX_SendCommand(this->handle, OMX_CommandStateSet, OMX_StateLoaded, NULL));
-
-  for (auto &buf : this->in_buf_headers) {
-    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_IN, buf));
+  if (is_open) {
+    LOGE("OmxEncoder closed with is_open=true, calling encoder_close()");
+    encoder_close();
   }
 
-  for (auto &buf : this->out_buf_headers) {
-    OMX_CHECK(OMX_FreeBuffer(this->handle, PORT_INDEX_OUT, buf));
+  if (!handle) {
+    LOGE("OMX handle is null in destructor, skipping teardown.");
+    return;
+  }
+
+  OMX_ERRORTYPE err;
+
+  err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to set OMX state to Idle: %x", err);
+  } else {
+    wait_for_state(OMX_StateIdle);
+  }
+
+  err = OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateLoaded, NULL);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to set OMX state to Loaded: %x", err);
+  }
+
+  for (OMX_BUFFERHEADERTYPE *buf : in_buf_headers) {
+    if (buf) {
+      err = OMX_FreeBuffer(handle, PORT_INDEX_IN, buf);
+      if (err != OMX_ErrorNone) {
+        LOGE("Failed to free input buffer: %x", err);
+      }
+    }
+  }
+
+  for (OMX_BUFFERHEADERTYPE *buf : out_buf_headers) {
+    if (buf) {
+      err = OMX_FreeBuffer(handle, PORT_INDEX_OUT, buf);
+      if (err != OMX_ErrorNone) {
+        LOGE("Failed to free output buffer: %x", err);
+      }
+    }
   }
 
   wait_for_state(OMX_StateLoaded);
 
-  OMX_CHECK(OMX_FreeHandle(this->handle));
+  err = OMX_FreeHandle(handle);
+  if (err != OMX_ErrorNone) {
+    LOGE("Failed to free OMX handle: %x", err);
+  }
+
+  handle = nullptr;
+
+  err = OMX_Deinit();
+  if (err != OMX_ErrorNone) {
+    LOGE("OMX_Deinit failed: %x", err);
+  }
 
   OMX_BUFFERHEADERTYPE *out_buf;
-  while (this->free_in.try_pop(out_buf));
-  while (this->done_out.try_pop(out_buf));
+  while (free_in.try_pop(out_buf));
+  while (done_out.try_pop(out_buf));
 
-  if (this->codec_config) {
-    free(this->codec_config);
+  if (codec_config) {
+    free(codec_config);
+    codec_config = nullptr;
   }
 
-  if (this->downscale) {
-    free(this->y_ptr2);
-    free(this->u_ptr2);
-    free(this->v_ptr2);
-  }
+  in_buf_headers.clear();
+  out_buf_headers.clear();
 }

selfdrive/frogpilot/screenrecorder/omx_encoder.h

@@ -12,13 +12,15 @@ extern "C" {
 
 #include "common/queue.h"
 
-// OmxEncoder, lossey codec using hardware hevc
+// OmxEncoder, lossey codec using hardware H.264
 class OmxEncoder {
 public:
-  OmxEncoder(const char* path, int width, int height, int fps, int bitrate, bool h265, bool downscale);
+  OmxEncoder(const char* path, int width, int height, int fps, int bitrate);
   ~OmxEncoder();
 
   int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts);
+  int encode_frame_nv12(const uint8_t *y_ptr, int y_stride, const uint8_t *uv_ptr, int uv_stride,
+                        int in_width, int in_height, uint64_t ts);
   void encoder_open(const char* filename);
   void encoder_close();
 
@@ -42,31 +44,26 @@ private:
   int counter = 0;
 
   std::string path;
-  FILE *of;
+  FILE *of = nullptr;
 
-  size_t codec_config_len;
-  uint8_t *codec_config = NULL;
-  bool wrote_codec_config;
+  size_t codec_config_len = 0;
+  uint8_t *codec_config = nullptr;
+  bool wrote_codec_config = false;
 
   std::mutex state_lock;
   std::condition_variable state_cv;
   OMX_STATETYPE state = OMX_StateLoaded;
 
-  OMX_HANDLETYPE handle;
+  OMX_HANDLETYPE handle = nullptr;
 
   std::vector<OMX_BUFFERHEADERTYPE *> in_buf_headers;
   std::vector<OMX_BUFFERHEADERTYPE *> out_buf_headers;
 
-  uint64_t last_t;
+  uint64_t last_t = 0;
 
   SafeQueue<OMX_BUFFERHEADERTYPE *> free_in;
   SafeQueue<OMX_BUFFERHEADERTYPE *> done_out;
 
-  AVFormatContext *ofmt_ctx;
-  AVCodecContext *codec_ctx;
-  AVStream *out_stream;
-  bool remuxing;
-
-  bool downscale;
-  uint8_t *y_ptr2, *u_ptr2, *v_ptr2;
+  AVFormatContext *ofmt_ctx = nullptr;
+  AVStream *out_stream = nullptr;
 };

selfdrive/locationd/locationd.cc

@@ -594,10 +594,15 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
     this->handle_sensor(t, log.getAccelerometer());
   } else if (log.isGyroscope()) {
     this->handle_sensor(t, log.getGyroscope());
-  } else if (log.isGpsLocation()) {
-    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
-  } else if (log.isGpsLocationExternal()) {
-    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
+  // CLEARPILOT: GPS branches removed — locationd no longer subscribes to
+  // gpsLocation/gpsLocationExternal, so these would be dead code regardless.
+  // Self-driving treats GPS as not present: gpsOK stays false (last_gps_msg
+  // never updates), and other liveLocationKalman fields stay at the kalman
+  // filter's IMU+camera-odometry-only state.
+  // } else if (log.isGpsLocation()) {
+  //   this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
+  // } else if (log.isGpsLocationExternal()) {
+  //   this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
   //} else if (log.isGnssMeasurements()) {
   //  this->handle_gnss(t, log.getGnssMeasurements());
   } else if (log.isCarState()) {
@@ -676,22 +681,16 @@ void Localizer::configure_gnss_source(const LocalizerGnssSource &source) {
 }
 
 int Localizer::locationd_thread() {
-  Params params;
-  LocalizerGnssSource source;
-  const char* gps_location_socket;
-  if (params.getBool("UbloxAvailable")) {
-    source = LocalizerGnssSource::UBLOX;
-    gps_location_socket = "gpsLocationExternal";
-  } else {
-    source = LocalizerGnssSource::QCOM;
-    gps_location_socket = "gpsLocation";
-  }
-
-  this->configure_gnss_source(source);
-  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
+  // CLEARPILOT: do not subscribe to GPS. Our gpsd publishes gpsLocation for
+  // UI/clock/dashcam, but feeding it to the kalman filter screws up the
+  // self-driving math. liveLocationKalman.gpsOK stays false; downstream
+  // self-driving consumers (controlsd, paramsd, torqued, frogpilot_planner)
+  // already handle that case.
+  this->configure_gnss_source(LocalizerGnssSource::QCOM);
+  const std::initializer_list<const char *> service_list = {"cameraOdometry", "liveCalibration",
                                                           "carState", "accelerometer", "gyroscope"};
 
-  SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
+  SubMaster sm(service_list, {}, nullptr, {});
   PubMaster pm({"liveLocationKalman"});
 
   uint64_t cnt = 0;
@@ -730,12 +729,14 @@ int Localizer::locationd_thread() {
       kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
       pm.send("liveLocationKalman", bytes.begin(), bytes.size());
 
-      if (cnt % 1200 == 0 && gpsOK) {  // once a minute
-        VectorXd posGeo = this->get_position_geodetic();
-        std::string lastGPSPosJSON = util::string_format(
-          "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
-        params.putNonBlocking("LastGPSPosition", lastGPSPosJSON);
-      }
+      // CLEARPILOT: dead code now that gpsOK is permanently false (we don't
+      // subscribe to gpsLocation). Was: write LastGPSPosition once a minute.
+      // if (cnt % 1200 == 0 && gpsOK) {
+      //   VectorXd posGeo = this->get_position_geodetic();
+      //   std::string lastGPSPosJSON = util::string_format(
+      //     "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2));
+      //   params.putNonBlocking("LastGPSPosition", lastGPSPosJSON);
+      // }
       cnt++;
     }
   }

selfdrive/manager/manager.py

@@ -55,7 +55,8 @@ def manager_init(frogpilot_functions) -> None:
   frogpilot_boot = threading.Thread(target=frogpilot_boot_functions, args=(frogpilot_functions,))
   frogpilot_boot.start()
 
-  save_bootlog()
+  # CLEARPILOT: skip writing boot logs to /data/media/0/realdata/boot/
+  # save_bootlog()
 
   params = Params()
   params_storage = Params("/persist/params")
@@ -300,6 +301,32 @@ def manager_init(frogpilot_functions) -> None:
     else:
       params_storage.put(k, params.get(k))
 
+  # CLEARPILOT memory-param defaults. /dev/shm/params is on tmpfs so these
+  # reset on every boot anyway; we still set them so first-readers don't see
+  # missing keys before the writer process has spun up.
+  params_memory = Params("/dev/shm/params")
+  for k, v in [
+    ("CarIsMetric", "0"),
+    ("ClearpilotCruiseWarning", ""),
+    ("ClearpilotCruiseWarningSpeed", ""),
+    ("ClearpilotHasSpeed", "0"),
+    ("ClearpilotIsMetric", "0"),
+    ("ClearpilotPlayDing", "0"),
+    ("ClearpilotSpeedDisplay", ""),
+    ("ClearpilotSpeedLimitDisplay", "0"),
+    ("ClearpilotSpeedUnit", "mph"),
+    ("DashcamFrames", "0"),
+    ("DashcamShutdown", "0"),
+    ("DashcamState", "stopped"),
+    ("ModelFps", "20"),
+    ("ModelStandby", "0"),
+    ("ModelStandbyTs", "0"),
+    ("ShutdownTouchReset", "0"),
+    ("TelemetryEnabled", "0"),
+    ("VpnEnabled", "1"),
+  ]:
+    params_memory.put(k, v)
+
   # Create folders needed for msgq
   try:
     os.mkdir("/dev/shm")

selfdrive/manager/process_config.py

@@ -54,7 +54,9 @@ def allow_uploads(started, params, CP: car.CarParams) -> bool:
 procs = [
   DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  # CLEARPILOT: camerad runs always (was driverview) so dashcamd can record
+  # the moment ignition+drive-gear arrives without waiting for camera startup.
+  NativeProcess("camerad", "system/camerad", ["./camerad"], always_run),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], allow_logging),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], allow_logging),
   PythonProcess("logmessaged", "system.logmessaged", allow_logging),
@@ -62,9 +64,12 @@ procs = [
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)),
-  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
-  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
-  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
+  # CLEARPILOT: disabled segment + camera logging — no rlog/qlog or .hevc
+  # files written to /data/media/0/realdata. We don't use comma's upload/
+  # replay pipeline. Keep deleter running for any leftover cleanup.
+  # NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging),
+  # NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  # NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging),
   NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
   #NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
   #PythonProcess("navmodeld", "selfdrive.modeld.navmodeld", only_onroad),
@@ -79,6 +84,16 @@ 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),  # Fixme
+  # CLEARPILOT: replacement for qcomgpsd (whose diag interface is broken on this device).
+  # Uses Quectel modem AT commands via mmcli. Self-driving does NOT consume this; locationd
+  # is patched to skip gpsLocation. Used only for system clock + UI speed + dashcam metadata.
+  PythonProcess("gpsd", "system.clearpilot.gpsd", qcomgps, enabled=TICI),
+  # CLEARPILOT: speed/cruise overlay daemon. Reads gpsLocation + carState, writes display
+  # params for the onroad UI; asserts ClearpilotPlayDing on speed-limit warning transitions.
+  PythonProcess("speed_logicd", "selfdrive.clearpilot.speed_logicd", only_onroad),
+  # CLEARPILOT: dashcam — VisionIPC frames → OMX H.264 → 3-min MP4 segments + SRT
+  # GPS subtitles in /data/media/0/videos/. Manages its own trip lifecycle.
+  NativeProcess("dashcamd", "selfdrive/clearpilot", ["./dashcamd"], always_run),
   # PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
   #PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),

selfdrive/ui/SConscript

@@ -39,7 +39,7 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc",
-          "../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc",
+          "../frogpilot/screenrecorder/omx_encoder.cc",  # kept for dashcamd .o dependency
           "qt/ready.cc"]
 
 # build translation files
@@ -77,8 +77,7 @@ qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
 qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 
 
-# Clearpilot
-# Create clearpilot tools
+# Clearpilot tools
 qt_env.Program("/data/openpilot/system/clearpilot/tools/qt_shell", ["/data/openpilot/system/clearpilot/tools/qt_shell.cc"], LIBS=qt_libs)
 
 # build main UI

selfdrive/ui/main.cc

@@ -1,4 +1,9 @@
 #include <sys/resource.h>
+#include <csignal>
+#include <cstdio>
+#include <cstdlib>
+#include <execinfo.h>
+#include <unistd.h>
 
 #include <QApplication>
 #include <QTranslator>
@@ -8,7 +13,27 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/window.h"
 
+// CLEARPILOT: crash handler — prints stack trace to stderr on SIGSEGV/SIGABRT
+static void crash_handler(int sig) {
+  const char *sig_name = (sig == SIGSEGV) ? "SIGSEGV" : (sig == SIGABRT) ? "SIGABRT" : "SIGNAL";
+  fprintf(stderr, "\n=== CRASH: %s (signal %d) ===\n", sig_name, sig);
+
+  void *frames[64];
+  int count = backtrace(frames, 64);
+  fprintf(stderr, "Backtrace (%d frames):\n", count);
+  backtrace_symbols_fd(frames, count, STDERR_FILENO);
+  fprintf(stderr, "=== END CRASH ===\n");
+  fflush(stderr);
+
+  // Re-raise to get default behavior (core dump / exit)
+  signal(sig, SIG_DFL);
+  raise(sig);
+}
+
 int main(int argc, char *argv[]) {
+  signal(SIGSEGV, crash_handler);
+  signal(SIGABRT, crash_handler);
+
   setpriority(PRIO_PROCESS, 0, -20);
 
   qInstallMessageHandler(swagLogMessageHandler);

selfdrive/ui/qt/home.cc

@@ -1,14 +1,20 @@
 #include "selfdrive/ui/qt/home.h"
 
+#include <cstdlib>
 #include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QStackedWidget>
 #include <QVBoxLayout>
 
-#include "selfdrive/ui/qt/offroad/experimental_mode.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
+#include "common/swaglog.h"
+#include "common/params.h"
 #include "system/hardware/hw.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/widgets/controls.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/qt/widgets/scrollview.h"
+#include "selfdrive/ui/qt/network/networking.h"
+#include "cereal/messaging/messaging.h"
 
 // HomeWindow: the container for the offroad and onroad UIs
 
@@ -21,6 +27,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   main_layout->setSpacing(0);
 
   sidebar = new Sidebar(this);
+  sidebar->setVisible(false);
   main_layout->addWidget(sidebar);
   QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings);
   QObject::connect(sidebar, &Sidebar::openOnroad, this, &HomeWindow::showOnroad);
@@ -28,8 +35,17 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout = new QStackedLayout();
   main_layout->addLayout(slayout);
 
-  home = new OffroadHome(this);
-  QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings);
+  home = new ClearPilotPanel(this);
+  QObject::connect(home, &ClearPilotPanel::openSettings, this, &HomeWindow::openSettings);
+  QObject::connect(home, &ClearPilotPanel::openStatus, this, &HomeWindow::openStatus);
+  QObject::connect(home, &ClearPilotPanel::closePanel, [=]() {
+    // Return to splash or onroad depending on state
+    if (uiState()->scene.started) {
+      slayout->setCurrentWidget(onroad);
+    } else {
+      slayout->setCurrentWidget(ready);
+    }
+  });
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
@@ -38,7 +54,8 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   // CLEARPILOT
   ready = new ReadyWindow(this);
   slayout->addWidget(ready);
-  
+  slayout->setCurrentWidget(ready);  // show splash immediately, not ClearPilotPanel
+
   driver_view = new DriverViewWindow(this);
   connect(driver_view, &DriverViewWindow::done, [=] {
     showDriverView(false);
@@ -64,52 +81,79 @@ void HomeWindow::showSidebar(bool show) {
 }
 
 void HomeWindow::updateState(const UIState &s) {
-  // const SubMaster &sm = *(s.sm);
   if (s.scene.started) {
     showDriverView(s.scene.driver_camera_timer >= 10, true);
+
+    // CLEARPILOT: show splash screen when onroad but in park
+    bool parked = s.scene.parked;
+    int screenMode = paramsMemory.getInt("ScreenDisplayMode");
+    bool nightrider = (screenMode == 1 || screenMode == 4);
+
+    if (parked && !was_parked_onroad) {
+      LOGW("CLP UI: park transition -> showing splash");
+      slayout->setCurrentWidget(ready);
+      // If we were in nightrider mode, switch to screen off
+      if (nightrider) {
+        paramsMemory.putInt("ScreenDisplayMode", 3);
+      }
+    } 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 (normal mode only)
+    if (parked && ready->isVisible()) {
+      if (screenMode == 3) {
+        Hardware::set_display_power(false);
+      } else {
+        Hardware::set_display_power(true);
+      }
+    }
   }
 }
 
 void HomeWindow::offroadTransition(bool offroad) {
+  sidebar->setVisible(false);
   if (offroad) {
-    sidebar->setVisible(false);
+    LOGW("CLP UI: offroad transition -> showing splash");
+    was_parked_onroad = false;
     slayout->setCurrentWidget(ready);
   } else {
-    sidebar->setVisible(false);
-    slayout->setCurrentWidget(onroad);
+    // CLEARPILOT: start onroad in splash — updateState will switch to
+    // camera view once the car shifts out of park. Reset has_driven so
+    // fresh ignition shows the READY text (not the post-drive textless splash).
+    LOGW("CLP UI: onroad transition -> showing splash (parked)");
+    was_parked_onroad = true;
+    ready->has_driven = false;
+    slayout->setCurrentWidget(ready);
   }
 }
 
 void HomeWindow::showDriverView(bool show, bool started) {
   if (show) {
+    LOGW("CLP UI: showDriverView(true) -> driver_view");
     emit closeSettings();
     slayout->setCurrentWidget(driver_view);
-    sidebar->setVisible(show == false);
-  } else {
-    if (started) {
-      slayout->setCurrentWidget(onroad);
-      sidebar->setVisible(params.getBool("Sidebar"));
-    } else {
-      slayout->setCurrentWidget(home);
-      sidebar->setVisible(show == false);
-    }
+    sidebar->setVisible(false);
+  } else if (!started) {
+    // Offroad, not started — show home menu
+    slayout->setCurrentWidget(home);
+    sidebar->setVisible(false);
   }
+  // CLEARPILOT: when started, don't touch slayout here —
+  // updateState handles park->splash and drive->onroad transitions
 }
 
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
-  // CLEARPILOT todo - tap on main goes straight to settings
-  // Unless we click a debug widget.
-
-  // CLEARPILOT - click ready shows home
-  if (!onroad->isVisible() && ready->isVisible()) {
-    sidebar->setVisible(true);
+  // CLEARPILOT: tap from any view goes to ClearPilotPanel
+  if (ready->isVisible() || onroad->isVisible()) {
+    LOGW("CLP UI: tap -> showing ClearPilotPanel");
+    sidebar->setVisible(false);
+    home->resetToGeneral();
     slayout->setCurrentWidget(home);
   }
-
-  // Todo: widgets
-  if (onroad->isVisible()) {
-    emit openSettings();
-  }
 }
 
 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
@@ -117,132 +161,274 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
   // const SubMaster &sm = *(uiState()->sm);
 }
 
-// OffroadHome: the offroad home page
+// CLEARPILOT: ClearPilotPanel — settings-style sidebar menu
 
-OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(40, 40, 40, 40);
-
-  // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
-  header_layout->setContentsMargins(0, 0, 0, 0);
-  header_layout->setSpacing(16);
-
-  update_notif = new QPushButton(tr("UPDATE"));
-  update_notif->setVisible(false);
-  update_notif->setStyleSheet("background-color: #364DEF;");
-  QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
-  header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  alert_notif = new QPushButton();
-  alert_notif->setVisible(false);
-  alert_notif->setStyleSheet("background-color: #E22C2C;");
-  QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); });
-  header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  date = new ElidedLabel();
-  header_layout->addWidget(date, 0, Qt::AlignHCenter | Qt::AlignLeft);
-
-  version = new ElidedLabel();
-  header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight);
-
-  main_layout->addLayout(header_layout);
-
-  // main content
-  main_layout->addSpacing(25);
-  center_layout = new QStackedLayout();
-
-  QWidget *home_widget = new QWidget(this);
-  {
-    QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
-    home_layout->setContentsMargins(0, 0, 0, 0);
-    home_layout->setSpacing(30);
-    
-    // // // Create a QWebEngineView
-    // QWebEngineView *web_view = new QWebEngineView();
-    // web_view->load(QUrl("http://fark.com"));
-    
-    // // Add the QWebEngineView to the layout
-    // home_layout->addWidget(web_view);
+static const char *clpSidebarBtnStyle = R"(
+  QPushButton {
+    color: grey;
+    border: none;
+    background: none;
+    font-size: 65px;
+    font-weight: 500;
   }
-  center_layout->addWidget(home_widget);
+  QPushButton:checked {
+    color: white;
+  }
+  QPushButton:pressed {
+    color: #ADADAD;
+  }
+)";
 
-  // add update & alerts widgets
-  update_widget = new UpdateAlert();
-  QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(update_widget);
-  alerts_widget = new OffroadAlert();
-  QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); });
-  center_layout->addWidget(alerts_widget);
+// clpActionBtnStyle removed — no longer used
 
-  main_layout->addLayout(center_layout, 1);
 
-  // set up refresh timer
-  timer = new QTimer(this);
-  timer->callOnTimeout(this, &OffroadHome::refresh);
+ClearPilotPanel::ClearPilotPanel(QWidget* parent) : QFrame(parent) {
+  // Sidebar
+  QWidget *sidebar_widget = new QWidget;
+  QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
+  sidebar_layout->setContentsMargins(50, 50, 100, 50);
+
+  // Close button
+  QPushButton *close_btn = new QPushButton("← Back");
+  close_btn->setStyleSheet(R"(
+    QPushButton {
+      color: white;
+      border-radius: 25px;
+      background: #292929;
+      font-size: 50px;
+      font-weight: 500;
+    }
+    QPushButton:pressed {
+      color: #ADADAD;
+    }
+  )");
+  close_btn->setFixedSize(300, 125);
+  sidebar_layout->addSpacing(10);
+  sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight);
+  QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closePanel(); });
+
+  // Panel content area
+  panel_widget = new QStackedWidget();
+
+  // ── General panel ──
+  ListWidget *general_panel = new ListWidget(this);
+  general_panel->setContentsMargins(50, 25, 50, 25);
+
+  // Status button
+  auto *status_btn = new ButtonControl("System Status", "VIEW", "");
+  connect(status_btn, &ButtonControl::clicked, [=]() { emit openStatus(); });
+  general_panel->addItem(status_btn);
+
+  // Reset Calibration
+  auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", "");
+  connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, [=]() {
+    QString desc = "openpilot requires the device to be mounted within 4° left or right and "
+                   "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.";
+    std::string calib_bytes = Params().get("CalibrationParams");
+    if (!calib_bytes.empty()) {
+      try {
+        AlignedBuffer aligned_buf;
+        capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
+        auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
+        if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
+          double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
+          double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
+          desc += QString(" Your device is pointed %1° %2 and %3° %4.")
+                      .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
+                           QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
+        }
+      } catch (...) {
+        qInfo() << "invalid CalibrationParams";
+      }
+    }
+    qobject_cast<ButtonControl *>(sender())->setDescription(desc);
+  });
+  connect(resetCalibBtn, &ButtonControl::clicked, [=]() {
+    if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", "Reset", this)) {
+      Params().remove("CalibrationParams");
+      Params().remove("LiveTorqueParameters");
+    }
+  });
+  general_panel->addItem(resetCalibBtn);
+
+  // Power buttons
+  QHBoxLayout *power_layout = new QHBoxLayout();
+  power_layout->setSpacing(30);
+
+  QPushButton *reboot_btn = new QPushButton("Reboot");
+  reboot_btn->setObjectName("reboot_btn");
+  power_layout->addWidget(reboot_btn);
+
+  QPushButton *softreboot_btn = new QPushButton("Soft Reboot");
+  softreboot_btn->setObjectName("softreboot_btn");
+  power_layout->addWidget(softreboot_btn);
+
+  QPushButton *poweroff_btn = new QPushButton("Power Off");
+  poweroff_btn->setObjectName("poweroff_btn");
+  power_layout->addWidget(poweroff_btn);
+
+  QObject::connect(reboot_btn, &QPushButton::clicked, [=]() {
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm("Are you sure you want to reboot?", "Reboot", this)) {
+        if (!uiState()->engaged()) {
+          Params().putBool("DoReboot", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Reboot", this);
+    }
+  });
+
+  QObject::connect(softreboot_btn, &QPushButton::clicked, [=]() {
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm("Are you sure you want to soft reboot?", "Soft Reboot", this)) {
+        if (!uiState()->engaged()) {
+          Params().putBool("DoSoftReboot", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Soft Reboot", this);
+    }
+  });
+
+  QObject::connect(poweroff_btn, &QPushButton::clicked, [=]() {
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm("Are you sure you want to power off?", "Power Off", this)) {
+        if (!uiState()->engaged()) {
+          Params().putBool("DoShutdown", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert("Disengage to Power Off", this);
+    }
+  });
+
+  general_panel->addItem(power_layout);
+
+  // ── Network panel ──
+  Networking *network_panel = new Networking(this);
+  // Hide APN button — find by searching QPushButton labels inside AdvancedNetworking
+  for (auto *btn : network_panel->findChildren<QPushButton *>()) {
+    if (btn->text().contains("APN", Qt::CaseInsensitive)) {
+      // Hide the parent AbstractControl frame, not just the button
+      if (auto *frame = qobject_cast<QFrame *>(btn->parentWidget())) {
+        frame->setVisible(false);
+      }
+    }
+  }
+
+  // ── Dashcam panel ──
+  QWidget *dashcam_panel = new QWidget(this);
+  QVBoxLayout *dash_layout = new QVBoxLayout(dashcam_panel);
+  dash_layout->setContentsMargins(50, 25, 50, 25);
+  QLabel *dash_label = new QLabel("Dashcam viewer coming soon");
+  dash_label->setStyleSheet("color: grey; font-size: 40px;");
+  dash_label->setAlignment(Qt::AlignCenter);
+  dash_layout->addWidget(dash_label);
+  dash_layout->addStretch();
+
+  // ── Debug panel ──
+  ListWidget *debug_panel = new ListWidget(this);
+  debug_panel->setContentsMargins(50, 25, 50, 25);
+
+  auto *telemetry_toggle = new ToggleControl("Telemetry Logging",
+    "Record telemetry data to CSV in the session log directory. "
+    "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 *health_metrics_toggle = new ToggleControl("System Health Overlay",
+    "Show controls lag, model frame drops, temperature, CPU, and memory usage "
+    "in the lower-right of the onroad UI. For diagnosing slowdown issues.", "",
+    Params().getBool("ClearpilotShowHealthMetrics"), this);
+  QObject::connect(health_metrics_toggle, &ToggleControl::toggleFlipped, [](bool on) {
+    Params().putBool("ClearpilotShowHealthMetrics", on);
+  });
+  debug_panel->addItem(health_metrics_toggle);
+
+  auto *vpn_toggle = new ToggleControl("VPN",
+    "Connect to vpn.hanson.xyz for remote SSH access. "
+    "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 {
+      std::system("sudo pkill -TERM -f vpn-monitor.sh; sudo killall openvpn");
+    }
+  });
+  debug_panel->addItem(vpn_toggle);
+
+  // ── Register panels with sidebar buttons ──
+  QList<QPair<QString, QWidget *>> panels = {
+    {"General", general_panel},
+    {"Network", network_panel},
+    {"Dashcam", dashcam_panel},
+    {"Debug", debug_panel},
+  };
+
+  nav_group = new QButtonGroup(this);
+  nav_group->setExclusive(true);
+
+  for (auto &[name, panel] : panels) {
+    QPushButton *btn = new QPushButton(name);
+    btn->setCheckable(true);
+    btn->setStyleSheet(clpSidebarBtnStyle);
+    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+    sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
+    nav_group->addButton(btn);
+
+    // Network panel handles its own scrolling/margins
+    if (name == "Network") {
+      panel_widget->addWidget(panel);
+      QObject::connect(btn, &QPushButton::clicked, [=, w = panel]() {
+        panel_widget->setCurrentWidget(w);
+      });
+    } else {
+      ScrollView *panel_frame = new ScrollView(panel, this);
+      panel_widget->addWidget(panel_frame);
+      QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+        panel_widget->setCurrentWidget(w);
+      });
+    }
+  }
+
+  // Select General by default
+  nav_group->buttons().first()->setChecked(true);
+  panel_widget->setCurrentIndex(0);
+
+  // Main layout: sidebar + panels
+  QHBoxLayout *main_layout = new QHBoxLayout(this);
+  sidebar_widget->setFixedWidth(500);
+  main_layout->addWidget(sidebar_widget);
+  main_layout->addWidget(panel_widget);
 
   setStyleSheet(R"(
     * {
       color: white;
+      font-size: 50px;
     }
-    OffroadHome {
+    ClearPilotPanel {
       background-color: black;
     }
-    OffroadHome > QPushButton {
-      padding: 15px 30px;
-      border-radius: 5px;
-      font-size: 40px;
-      font-weight: 500;
-    }
-    OffroadHome > QLabel {
-      font-size: 55px;
+    QStackedWidget, ScrollView, Networking {
+      background-color: #292929;
+      border-radius: 30px;
     }
+    #softreboot_btn { height: 120px; border-radius: 15px; background-color: #e2e22c; }
+    #softreboot_btn:pressed { background-color: #ffe224; }
+    #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; }
+    #reboot_btn:pressed { background-color: #4a4a4a; }
+    #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; }
+    #poweroff_btn:pressed { background-color: #FF2424; }
   )");
 }
 
-/* Refresh data on screen every 5 seconds. */
-void OffroadHome::showEvent(QShowEvent *event) {
-  refresh();
-  timer->start(5 * 1000);
-}
-
-void OffroadHome::hideEvent(QHideEvent *event) {
-  timer->stop();
-}
-
-void OffroadHome::refresh() {
-  QString model = QString::fromStdString(params.get("ModelName"));
-
-  date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d"));
-  version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model);
-
-  // bool updateAvailable = update_widget->refresh();
-
-  int alerts = alerts_widget->refresh();
-
-  if (alerts > 0 && !alerts_widget->isVisible()) {
-    alerts_widget->setVisible(true);
-  } else if (alerts == 0 && alerts_widget->isVisible()) {
-    alerts_widget->setVisible(false);
-  }
-
-  // pop-up new notification
-  // CLEARPILOT temp disabled update notifications
-  // int idx = center_layout->currentIndex();
-  // if (!updateAvailable && !alerts && false) {
-  //   idx = 0;
-  // } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) {
-  //   idx = 1;
-  // } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) {
-  //   idx = 2;
-  // }
-  // center_layout->setCurrentIndex(idx);
-
-  // CLEARPILOT temp disabled update notifications
-//  update_notif->setVisible(updateAvailable);
-//  alert_notif->setVisible(alerts);
-  alert_notif->setVisible(false);
-  if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
-  }
+void ClearPilotPanel::resetToGeneral() {
+  panel_widget->setCurrentIndex(0);
+  nav_group->buttons().first()->setChecked(true);
 }

selfdrive/ui/qt/home.h

@@ -1,9 +1,11 @@
 #pragma once
 
+#include <QButtonGroup>
 #include <QFrame>
 #include <QLabel>
 #include <QPushButton>
 #include <QStackedLayout>
+#include <QStackedWidget>
 #include <QTimer>
 #include <QWidget>
 
@@ -16,32 +18,23 @@
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 #include "selfdrive/ui/ui.h"
 
-class OffroadHome : public QFrame {
+class ClearPilotPanel : public QFrame {
   Q_OBJECT
 
 public:
-  explicit OffroadHome(QWidget* parent = 0);
+  explicit ClearPilotPanel(QWidget* parent = 0);
 
 signals:
   void openSettings(int index = 0, const QString &param = "");
+  void openStatus();
+  void closePanel();
+
+public:
+  void resetToGeneral();
 
 private:
-  void showEvent(QShowEvent *event) override;
-  void hideEvent(QHideEvent *event) override;
-  void refresh();
-
-  Params params;
-
-  QTimer* timer;
-  ElidedLabel* version;
-  QStackedLayout* center_layout;
-  UpdateAlert *update_widget;
-  OffroadAlert* alerts_widget;
-  QPushButton* alert_notif;
-  QPushButton* update_notif;
-
-  // FrogPilot variables
-  ElidedLabel* date;
+  QStackedWidget *panel_widget;
+  QButtonGroup *nav_group;
 };
 
 class HomeWindow : public QWidget {
@@ -53,6 +46,7 @@ public:
 
 signals:
   void openSettings(int index = 0, const QString &param = "");
+  void openStatus();
   void closeSettings();
 
 public slots:
@@ -67,17 +61,18 @@ protected:
 
 private:
   Sidebar *sidebar;
-  OffroadHome *home;
+  ClearPilotPanel *home;
   OnroadWindow *onroad;
   DriverViewWindow *driver_view;
   QStackedLayout *slayout;
 
   // FrogPilot variables
   Params params;
+  Params paramsMemory{"/dev/shm/params"};
 
   // CLEARPILOT
-  // bool show_ready;
   ReadyWindow *ready;
+  bool was_parked_onroad = false;
 
 private slots:
   void updateState(const UIState &s);

selfdrive/ui/qt/onroad.cc

@@ -7,6 +7,7 @@
 #include <sstream>
 
 #include <QApplication>
+#include <QDateTime>
 #include <QDebug>
 #include <QMouseEvent>
 
@@ -75,12 +76,13 @@ void OnroadWindow::updateState(const UIState &s) {
   alerts->updateAlert(alert);
 
   nvg->updateState(s);
+  nvg->update();  // CLEARPILOT: force repaint every frame for HUD elements
 
   QColor bgColor = bg_colors[s.status];
-  
-  if (paramsMemory.getBool("no_lat_lane_change") == 1 || nvg->screenDisplayMode == 2) {
+  // CLEARPILOT: read from paramsMemory; controlsd writes "no_lat_lane_change".
+  if (paramsMemory.getBool("no_lat_lane_change")) {
     bgColor = bg_colors[STATUS_DISENGAGED];
-  } 
+  }
 
   if (bg != bgColor) {
     bg = bgColor;
@@ -176,7 +178,14 @@ void OnroadWindow::offroadTransition(bool offroad) {
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
-  p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
+  // 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) {
@@ -216,6 +225,13 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
   }
 }
 
+// void OnroadWindow::update_screen_on_off() {
+//   int screenDisaplayMode = paramsMemory.getInt("ScreenDisaplayMode");
+//   if (screenDisaplayMode == 1) {
+//     // Conditionally off
+//   }
+// }
+
 
 // ***** onroad widgets *****
 
@@ -308,10 +324,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   QHBoxLayout *buttons_layout = new QHBoxLayout();
   buttons_layout->setSpacing(0);
 
-  // Neokii screen recorder
-  recorder_btn = new ScreenRecorder(this);
-  recorder_btn->setVisible(false);
-  // buttons_layout->addWidget(recorder_btn);
+  // Neokii screen recorder — DISABLED: using dashcamd instead
 
   QVBoxLayout *top_right_layout = new QVBoxLayout();
   top_right_layout->setSpacing(0);
@@ -327,24 +340,13 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
 }
 
 void AnnotatedCameraWidget::updateState(const UIState &s) {
-
-  screenDisplayMode = paramsMemory.getInt("ScreenDisplayMode");
-  if (screenDisplayMode == 2 && !alert_is_visible) {
-    // Draw black, filled, full-size rectangle to blank the screen
-    // p.fillRect(0, 0, width(), height(), Qt::black);
-    // p.restore();
-    Hardware::set_display_power(false);
-    return;
-  } else {
-    Hardware::set_display_power(true);
-  }
-
   const int SET_SPEED_NA = 255;
   const SubMaster &sm = *(s.sm);
 
   const bool cs_alive = sm.alive("controlsState");
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
+  (void)car_state;  // CLEARPILOT: suppress unused warning, will use later
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
@@ -354,11 +356,16 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
     setSpeed *= KM_TO_MILE;
   }
 
-  // Handle older routes where vEgoCluster is not set
-  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen && !scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
-  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+  // CLEARPILOT: read speed and speed limit from params (written by speed_logic.py ~2Hz)
+  clpParamFrame++;
+  if (clpParamFrame % 10 == 0) {  // ~2Hz at 20Hz UI update rate
+    clpHasSpeed = paramsMemory.get("ClearpilotHasSpeed") == "1";
+    clpSpeedDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedDisplay"));
+    clpSpeedLimitDisplay = QString::fromStdString(paramsMemory.get("ClearpilotSpeedLimitDisplay"));
+    clpSpeedUnit = QString::fromStdString(paramsMemory.get("ClearpilotSpeedUnit"));
+    clpCruiseWarning = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarning"));
+    clpCruiseWarningSpeed = QString::fromStdString(paramsMemory.get("ClearpilotCruiseWarningSpeed"));
+  }
 
   // auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
   // speedLimit = slcOverridden ? scene.speed_limit_overridden_speed : speedLimitController ? scene.speed_limit : nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
@@ -394,9 +401,28 @@ if (edgeColor != bgColor) {
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
-  // Blank when screenDisplayMode=1
+  // CLEARPILOT: display power control based on ScreenDisplayMode
   p.save();
-  
+
+  if (displayMode == 3 && !alert_is_visible) {
+    Hardware::set_display_power(false);
+    p.restore();
+    return;
+  } else {
+    Hardware::set_display_power(true);
+  }
+
+  // CLEARPILOT: blinking blue circle when telemetry is recording
+  if (paramsMemory.getBool("TelemetryEnabled")) {
+    // Blink: visible for 500ms, hidden for 500ms
+    int phase = (QDateTime::currentMSecsSinceEpoch() / 500) % 2;
+    if (phase == 0) {
+      p.setPen(Qt::NoPen);
+      p.setBrush(QColor(30, 100, 220));
+      p.drawEllipse(width() - 150, 50, 100, 100);
+    }
+  }
+
   // Header gradient
   QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
   bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
@@ -407,7 +433,7 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
 
   // QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   // QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
-  QString speedStr = QString::number(std::nearbyint(speed));
+  // QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
 
   p.restore();
@@ -431,17 +457,21 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   // Todo: lead speed
   // Todo: Experimental speed
 
-  // // current speed
-  if (!(scene.hide_speed)) {
-    // CLEARPILOT changes to 120 from ~176
-    // Maybe we want to hide this?
+  // CLEARPILOT: show speed from speed_logic params, hide when no speed or speed=0
+  if (clpHasSpeed && !clpSpeedDisplay.isEmpty() && !scene.hide_speed) {
     p.setFont(InterFont(140, QFont::Bold));
-    drawText(p, rect().center().x(), 210, speedStr);
-    // CLEARPILOT changes to 40 from 66
+    drawText(p, rect().center().x(), 210, clpSpeedDisplay);
     p.setFont(InterFont(50));
-    drawText(p, rect().center().x(), 290, speedUnit, 200);
+    drawText(p, rect().center().x(), 290, clpSpeedUnit, 200);
   }
-  
+
+  // CLEARPILOT: speed limit sign in lower-left, cruise warning above it
+  drawSpeedLimitSign(p);
+  drawCruiseWarningSign(p);
+
+  // CLEARPILOT: system health metrics in lower-right (debug overlay)
+  drawHealthMetrics(p);
+
   // Draw FrogPilot widgets
   paintFrogPilotWidgets(p);
 }
@@ -535,6 +565,164 @@ void AnnotatedCameraWidget::drawSpeedWidget(QPainter &p, int x, int y, const QSt
 }
 
 
+void AnnotatedCameraWidget::drawSpeedLimitSign(QPainter &p) {
+  // Hide when no speed limit or speed limit is 0
+  if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
+
+  p.save();
+
+  const int signW = 189;
+  const int signH = 239;
+  const int margin = 20;
+  const int borderW = 6;
+  const int innerBorderW = 4;
+  const int innerMargin = 10;
+  const int cornerR = 15;
+
+  // Position: 20px from lower-left corner
+  QRect signRect(margin, height() - signH - margin, signW, signH);
+
+  if (nightriderMode) {
+    // Nightrider: black background, light gray-blue border and text
+    QColor borderColor(160, 180, 210);
+    QColor textColor(160, 180, 210);
+
+    // Outer border
+    p.setPen(QPen(borderColor, borderW));
+    p.setBrush(QColor(0, 0, 0, 220));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    // Inner border
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(borderColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "SPEED" text
+    p.setPen(textColor);
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
+
+    // "LIMIT" text
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
+
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+  } else {
+    // Normal: white background, black border and text
+    QColor borderColor(0, 0, 0);
+    QColor textColor(0, 0, 0);
+
+    // Outer border
+    p.setPen(QPen(borderColor, borderW));
+    p.setBrush(QColor(255, 255, 255, 240));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    // Inner border
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(borderColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "SPEED" text
+    p.setPen(textColor);
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SPEED");
+
+    // "LIMIT" text
+    p.setFont(InterFont(30, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 48, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "LIMIT");
+
+    // Speed limit number — shifted down ~10% of innerRect height via extra top inset
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpSpeedLimitDisplay);
+  }
+
+  p.restore();
+}
+
+void AnnotatedCameraWidget::drawCruiseWarningSign(QPainter &p) {
+  // Only show when there's an active warning and the speed limit sign is visible
+  if (clpCruiseWarning.isEmpty() || clpCruiseWarningSpeed.isEmpty()) return;
+  if (clpSpeedLimitDisplay.isEmpty() || clpSpeedLimitDisplay == "0") return;
+
+  bool isOver = (clpCruiseWarning == "over");
+  if (!isOver && clpCruiseWarning != "under") return;
+
+  p.save();
+
+  // Same dimensions as speed limit sign
+  const int signW = 189;
+  const int signH = 239;
+  const int margin = 20;
+  const int borderW = 6;
+  const int innerBorderW = 4;
+  const int innerMargin = 10;
+  const int cornerR = 15;
+  const int gap = 20;
+
+  // Position: directly above the speed limit sign
+  int speedLimitY = height() - signH - margin;
+  QRect signRect(margin, speedLimitY - signH - gap, signW, signH);
+
+  if (nightriderMode) {
+    // Nightrider: black background with colored border/text
+    QColor accentColor = isOver ? QColor(220, 50, 50) : QColor(50, 180, 80);
+
+    p.setPen(QPen(accentColor, borderW));
+    p.setBrush(QColor(0, 0, 0, 220));
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(accentColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "CRUISE" text
+    p.setPen(accentColor);
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
+
+    // "SET" text
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
+
+    // Cruise speed number
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+  } else {
+    // Normal: colored background with white border/text
+    QColor bgColor = isOver ? QColor(200, 30, 30, 240) : QColor(40, 160, 60, 240);
+    QColor fgColor(255, 255, 255);
+
+    p.setPen(QPen(fgColor, borderW));
+    p.setBrush(bgColor);
+    p.drawRoundedRect(signRect, cornerR, cornerR);
+
+    QRect innerRect = signRect.adjusted(innerMargin, innerMargin, -innerMargin, -innerMargin);
+    p.setPen(QPen(fgColor, innerBorderW));
+    p.setBrush(Qt::NoBrush);
+    p.drawRoundedRect(innerRect, cornerR - 4, cornerR - 4);
+
+    // "CRUISE" text
+    p.setPen(fgColor);
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 15, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "CRUISE");
+
+    // "SET" text
+    p.setFont(InterFont(26, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 45, 0, 0), Qt::AlignTop | Qt::AlignHCenter, "SET");
+
+    // Cruise speed number
+    p.setFont(InterFont(90, QFont::Bold));
+    p.drawText(innerRect.adjusted(0, 86, 0, 0), Qt::AlignCenter, clpCruiseWarningSpeed);
+  }
+
+  p.restore();
+}
+
 void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
   QRect real_rect = p.fontMetrics().boundingRect(text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
@@ -543,6 +731,87 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
+// CLEARPILOT: System health overlay — shows metrics that indicate the system
+// is overburdened or behind. Toggled via ClearpilotShowHealthMetrics param.
+// Metrics (top→bottom): FPS, DROP, TEMP, CPU, MEM, FAN
+//   FPS: modeld framerate — 20 normally, 0 in park. Read from ModelFps memory
+//        param which modeld writes only on transition.
+//   DROP (%): modelV2 frameDropPerc — modeld losing frames; controlsd errors >20%
+//   TEMP (°C): deviceState.maxTempC — thermal throttling starts ~75, serious >88
+//   CPU (%): max core from deviceState.cpuUsagePercent
+//   MEM (%): deviceState.memoryUsagePercent
+//   FAN (%): actual fan duty from peripheralState RPM (scaled to 6500 RPM = 100%)
+// Each value color-codes green/yellow/red by severity.
+void AnnotatedCameraWidget::drawHealthMetrics(QPainter &p) {
+  static bool enabled = Params().getBool("ClearpilotShowHealthMetrics");
+  static int check_counter = 0;
+  // re-check the param every ~2s without a toggle signal path
+  if (++check_counter >= 40) {
+    check_counter = 0;
+    enabled = Params().getBool("ClearpilotShowHealthMetrics");
+  }
+  if (!enabled) return;
+
+  SubMaster &sm = *(uiState()->sm);
+  auto ds = sm["deviceState"].getDeviceState();
+  auto mv = sm["modelV2"].getModelV2();
+  auto ps = sm["peripheralState"].getPeripheralState();
+
+  int model_fps = paramsMemory.getInt("ModelFps");
+  float drop_pct = mv.getFrameDropPerc();
+  float temp_c = ds.getMaxTempC();
+  int mem_pct = ds.getMemoryUsagePercent();
+  int cpu_pct = 0;
+  for (auto v : ds.getCpuUsagePercent()) cpu_pct = std::max(cpu_pct, (int)v);
+  // Actual fan (not commanded): scale RPM to 0-100 using 6500 RPM as full scale
+  int fan_pct = std::min(100, (int)(ps.getFanSpeedRpm() * 100 / 6500));
+
+  auto color_for = [](float v, float warn, float crit) {
+    if (v >= crit) return QColor(0xff, 0x50, 0x50);   // red
+    if (v >= warn) return QColor(0xff, 0xd0, 0x40);   // yellow
+    return QColor(0xff, 0xff, 0xff);                   // white (ok)
+  };
+
+  struct Row { QString label; QString value; QColor color; };
+  Row rows[] = {
+    {"FPS",  QString::number(model_fps),    QColor(0xff, 0xff, 0xff)},
+    {"DROP", QString::number((int)drop_pct),color_for(drop_pct, 5.f,  15.f)},
+    {"TEMP", QString::number((int)temp_c),  color_for(temp_c,  75.f,  88.f)},
+    {"CPU",  QString::number(cpu_pct),      color_for((float)cpu_pct, 75.f, 90.f)},
+    {"MEM",  QString::number(mem_pct),      color_for((float)mem_pct, 70.f, 85.f)},
+    {"FAN",  QString::number(fan_pct),      QColor(0xff, 0xff, 0xff)},
+  };
+
+  p.save();
+  p.setFont(InterFont(90, QFont::Bold));
+  QFontMetrics fm = p.fontMetrics();
+  int row_h = fm.height();              // natural line height at 90pt bold
+  int gap = 40;                         // requested 40px between values
+  int margin = 30;                      // requested 30px margin
+  int panel_w = 360;                    // fixed width — fits "TEMP 99"
+  int n = sizeof(rows) / sizeof(rows[0]);
+  int panel_h = n * row_h + (n - 1) * gap + 2 * margin;
+  int x = width() - panel_w - margin;
+  int y = height() - panel_h - margin;
+
+  // black background
+  p.setPen(Qt::NoPen);
+  p.setBrush(QColor(0, 0, 0, 200));
+  p.drawRoundedRect(QRect(x, y, panel_w, panel_h), 20, 20);
+
+  // rows
+  int text_y = y + margin + fm.ascent();
+  for (int i = 0; i < n; i++) {
+    p.setPen(rows[i].color);
+    // label left (shifted -50px per user request), value right
+    p.drawText(x + margin - 50, text_y, rows[i].label);
+    QRect vrect = fm.boundingRect(rows[i].value);
+    p.drawText(x + panel_w - margin - vrect.width(), text_y, rows[i].value);
+    text_y += row_h + gap;
+  }
+  p.restore();
+}
+
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -562,13 +831,6 @@ void AnnotatedCameraWidget::updateFrameMat() {
   s->fb_w = w;
   s->fb_h = h;
 
-  if (screenDisplayMode == 1 || screenDisplayMode == 2) {
-    // Render a black box instead of the video feed
-    QPainter painter(this);
-    painter.fillRect(0, 0, w, h, Qt::black);
-    return;
-  }
-
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video
@@ -580,32 +842,65 @@ void AnnotatedCameraWidget::updateFrameMat() {
 }
 
 void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
-  if (screenDisplayMode == 2) {
-    return;
-  }
-  
   painter.save();
 
   // CLEARPILOT: color channel code rewriten to allow custom colors
 
   SubMaster &sm = *(s->sm);
 
+  // CLEARPILOT: nightrider mode — outline only, no fill
+  bool outlineOnly = nightriderMode;
+
+  // CLEARPILOT: read here so the nightrider hide-when-disengaged check below
+  // can let lane-change frames through (controlsd forces edgeColor to
+  // STATUS_DISENGAGED while no_lat_lane_change is true).
+  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+
+  // CLEARPILOT: in nightrider mode, hide all lines when not engaged — except
+  // during a lane change, where we still want lane lines + road edges drawn
+  // alongside the yellow lane-change outline.
+  if (outlineOnly && edgeColor == bg_colors[STATUS_DISENGAGED] && !is_no_lat_lane_change) {
+    painter.restore();
+    return;
+  }
+
+  // CLEARPILOT: nightrider lines are 1px wider (3 instead of 2)
+  int outlineWidth = outlineOnly ? 3 : 2;
+  // CLEARPILOT: lane lines 5% thinner than the generic outline (QPen accepts float width)
+  float laneLineWidth = outlineOnly ? (float)outlineWidth * 0.95f : (float)outlineWidth;
+
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
+    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, laneLineWidth));
+      painter.setBrush(Qt::NoBrush);
+    } else {
+      painter.setPen(Qt::NoPen);
+      painter.setBrush(lineColor);
+    }
     painter.drawPolygon(scene.lane_line_vertices[i]);
   }
+  if (outlineOnly) painter.setPen(Qt::NoPen);
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
+    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, outlineWidth));
+      painter.setBrush(Qt::NoBrush);
+    } else {
+      painter.setPen(Qt::NoPen);
+      painter.setBrush(edgeCol);
+    }
     painter.drawPolygon(scene.road_edge_vertices[i]);
   }
+  if (outlineOnly) painter.setPen(Qt::NoPen);
 
   // paint center lane path
   // QColor bg_colors[CHANGE_LANE_PATH_COLOR];
 
-  bool is_no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
+  // is_no_lat_lane_change was read at the top of this function.
 
   QColor center_lane_color;
   
@@ -665,12 +960,29 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
       path_gradient.setColorAt(1.0, QColor(center_lane_color.red(), center_lane_color.green(), center_lane_color.blue(), static_cast<int>(CENTER_LANE_ALPHA * 255 * 0.0)));
     }
 
-    painter.setBrush(path_gradient);
+    if (outlineOnly) {
+      // CLEARPILOT: in nightrider, the tire path is rendered as an outline.
+      // - Normal: light blue 3px (status-neutral guide)
+      // - Lane change: 4px outline of CHANGE_LANE_PATH_COLOR (the same yellow
+      //   used to fill the polygon in normal mode), so the nightrider lane
+      //   change reads as the same visual cue, just hollow.
+      if (is_no_lat_lane_change) {
+        painter.setPen(QPen(bg_colors[CHANGE_LANE_PATH_COLOR], 4));
+      } else {
+        QColor lightBlue(153, 204, 255, 220);  // #99CCFF light blue, mostly opaque
+        painter.setPen(QPen(lightBlue, 3));
+      }
+      painter.setBrush(Qt::NoBrush);
+    } else {
+      painter.setPen(Qt::NoPen);
+      painter.setBrush(path_gradient);
+    }
     painter.drawPolygon(scene.track_vertices);
+    if (outlineOnly) painter.setPen(Qt::NoPen);
   }
 
   // Paint path edges ,Use current background color
-  if (edgeColor != bg_colors[STATUS_DISENGAGED]) {
+  if (edgeColor != bg_colors[STATUS_DISENGAGED] && !outlineOnly) {
     QLinearGradient edge_gradient;
     edge_gradient.setColorAt(0.0, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255)));  
     edge_gradient.setColorAt(0.5, QColor(edgeColor.red(), edgeColor.green(), edgeColor.blue(), static_cast<int>(255 * 0.8) ));  
@@ -686,18 +998,24 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   // Paint blindspot path
   if (scene.blind_spot_path) {
-    QLinearGradient bs(0, height(), 0, 0);
-    bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
-    bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
-    bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
-
-    painter.setBrush(bs);
+    QColor bsColor = QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6);
+    if (outlineOnly) {
+      painter.setPen(QPen(bsColor, outlineWidth));
+      painter.setBrush(Qt::NoBrush);
+    } else {
+      QLinearGradient bs(0, height(), 0, 0);
+      bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
+      bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
+      bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
+      painter.setBrush(bs);
+    }
     if (blindSpotLeft) {
       painter.drawPolygon(scene.track_adjacent_vertices[4]);
     }
     if (blindSpotRight) {
       painter.drawPolygon(scene.track_adjacent_vertices[5]);
     }
+    if (outlineOnly) painter.setPen(Qt::NoPen);
   }
 
   // Paint adjacent lane paths
@@ -708,16 +1026,19 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
     float maxLaneWidth = laneDetectionWidth * 1.5;
 
     auto paintLane = [=](QPainter &painter, const QPolygonF &lane, float laneWidth, bool blindspot) {
-      QLinearGradient al(0, height(), 0, 0);
-
       bool redPath = laneWidth < minLaneWidth || laneWidth > maxLaneWidth || blindspot;
       float hue = redPath ? 0.0 : 120.0 * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);
 
-      al.setColorAt(0.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6));
-      al.setColorAt(0.5, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.4));
-      al.setColorAt(1.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.2));
-
-      painter.setBrush(al);
+      if (outlineOnly) {
+        painter.setPen(QPen(QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6), 2));
+        painter.setBrush(Qt::NoBrush);
+      } else {
+        QLinearGradient al(0, height(), 0, 0);
+        al.setColorAt(0.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.6));
+        al.setColorAt(0.5, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.4));
+        al.setColorAt(1.0, QColor::fromHslF(hue / 360.0, 0.75, 0.50, 0.2));
+        painter.setBrush(al);
+      }
       painter.drawPolygon(lane);
 
       painter.setFont(InterFont(30, QFont::DemiBold));
@@ -805,6 +1126,10 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
   const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
   const float v_ego = sm["carState"].getCarState().getVEgo();
 
+  // CLEARPILOT: read display mode early — needed for camera suppression
+  displayMode = paramsMemory.getInt("ScreenDisplayMode");
+  nightriderMode = (displayMode == 1 || displayMode == 4);
+
   // draw camera frame
   {
     std::lock_guard lk(frame_lock);
@@ -845,9 +1170,19 @@ 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();
-    CameraWidget::setFrameId(model.getFrameId());
-    CameraWidget::paintGL();
+    if (nightriderMode) {
+      // CLEARPILOT: black background, no camera feed
+      glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
+      glClear(GL_COLOR_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
+    } else {
+      CameraWidget::setFrameId(model.getFrameId());
+      CameraWidget::paintGL();
+    }
     painter.endNativePainting();
   }
 
@@ -925,7 +1260,7 @@ void AnnotatedCameraWidget::initializeFrogPilotWidgets() {
     animationFrameIndex = (animationFrameIndex + 1) % totalFrames;
   });
 
-  // Initialize the timer for the screen recorder
+  // CLEARPILOT: screen recorder disabled — replaced by dedicated dashcamd process
   // QTimer *record_timer = new QTimer(this);
   // connect(record_timer, &QTimer::timeout, this, [this]() {
   //   if (recorder_btn) {
@@ -1010,7 +1345,8 @@ 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);
   }
 
@@ -1022,8 +1358,7 @@ void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &p) {
     drawSLCConfirmation(p);
   }
 
-  // recorder_btn->setVisible(scene.screen_recorder && !mapOpen);
-  recorder_btn->setVisible(false);
+  // CLEARPILOT: screen recorder disabled, using dashcamd instead
 }
 
 void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
@@ -1212,7 +1547,30 @@ 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/onroad.h

@@ -12,7 +12,7 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/widgets/cameraview.h"
 
-#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"
+// #include "selfdrive/frogpilot/screenrecorder/screenrecorder.h"  // DISABLED: using dashcamd instead
 
 const int btn_size = 192;
 const int img_size = (btn_size / 4) * 3;
@@ -47,16 +47,31 @@ public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
   void updateLaneEdgeColor(QColor &bgColor);
-  int screenDisplayMode = 0;
 
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
   void drawSpeedWidget(QPainter &p, int x, int y, const QString &title, const QString &speedLimitStr, QColor colorSpeed, int width = 176);
+  void drawSpeedLimitSign(QPainter &p);
+  void drawCruiseWarningSign(QPainter &p);
+  void drawHealthMetrics(QPainter &p);
 
   QVBoxLayout *main_layout;
   QPixmap dm_img;
   float speed;
+  bool has_gps_speed = false;
+  bool nightriderMode = false;
+  int displayMode = 0;
   QString speedUnit;
+
+  // ClearPilot speed state (from params_memory, updated ~2Hz)
+  bool clpHasSpeed = false;
+  QString clpSpeedDisplay;
+  QString clpSpeedLimitDisplay;
+  QString clpSpeedUnit;
+  QString clpCruiseWarning;
+  QString clpCruiseWarningSpeed;
+  int clpParamFrame = 0;
+
   float setSpeed;
   float speedLimit;
   bool is_cruise_set = false;
@@ -89,8 +104,6 @@ private:
   Params paramsMemory{"/dev/shm/params"};
   UIScene &scene;
 
-  ScreenRecorder *recorder_btn;
-
   QHBoxLayout *bottom_layout;
 
   bool alwaysOnLateralActive;

selfdrive/ui/qt/ready.cc

@@ -30,11 +30,12 @@ ReadyWindow::ReadyWindow(QWidget *parent) : QWidget(parent) {
 
     timer = new QTimer(this);
     timer->callOnTimeout(this, &ReadyWindow::refresh);
+    uptime.start();
 }
 
 void ReadyWindow::showEvent(QShowEvent *event) {
   refresh();
-  timer->start(5 * 1000);
+  timer->start(2 * 1000);
 }
 
 void ReadyWindow::hideEvent(QHideEvent *event) {
@@ -43,34 +44,94 @@ void ReadyWindow::hideEvent(QHideEvent *event) {
 
 void ReadyWindow::paintEvent(QPaintEvent *event) {
     QPainter painter(this);
-    QPixmap *img_shown = nullptr;
+    painter.fillRect(rect(), Qt::black);
 
     if (is_hot) {
         if (img_hot.isNull()) {
             img_hot.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/hot.png");
         }
-        img_shown = &img_hot;
+        int x = (width() - img_hot.width()) / 2;
+        int y = (height() - img_hot.height()) / 2;
+        painter.drawPixmap(x, y, img_hot);
     } else {
-        if (img_ready.isNull()) {
-            img_ready.load("/data/openpilot/selfdrive/clearpilot/theme/clearpilot/images/ready.png");
+        // Boot logo — same rotation as spinner (bg.jpg is pre-rotated 90° CW for framebuffer)
+        if (img_bg.isNull()) {
+            QPixmap raw("/usr/comma/bg.jpg");
+            if (!raw.isNull()) {
+                QTransform rot;
+                rot.rotate(-90);
+                img_bg = raw.transformed(rot);
+            }
+        }
+        if (!img_bg.isNull()) {
+            QPixmap scaled = img_bg.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+            int x = (width() - scaled.width()) / 2;
+            int y = (height() - scaled.height()) / 2;
+            painter.drawPixmap(x, y, scaled);
         }
-        img_shown = &img_ready;
-    }
 
-    int x = (width() - img_shown->width()) / 2;
-    int y = (height() - img_shown->height()) / 2;
-    painter.drawPixmap(x, y, *img_shown);
+        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()) {
+                int tx = (width() - ready_text.width()) / 2;
+                int ty = height() / 2 + height() * 15 / 100;
+                painter.drawPixmap(tx, ty, ready_text);
+            }
+        } else {
+            // Error state: red text at 25% below center
+            QFont font("Inter", 50, QFont::Bold);
+            painter.setFont(font);
+            painter.setPen(QColor(0xFF, 0x44, 0x44));
+            int ty = height() / 2 + height() * 25 / 100;
+            QRect text_rect(0, ty, width(), 100);
+            painter.drawText(text_rect, Qt::AlignHCenter | Qt::AlignTop, error_msg);
+        }
+    }
 }
 
 void ReadyWindow::refresh() {
+    bool changed = false;
+
+    // Temperature check
     std::string bytes = params.get("Offroad_TemperatureTooHigh");
+    bool was_hot = is_hot;
     if (!bytes.empty()) {
         auto doc = QJsonDocument::fromJson(bytes.data());
         is_hot = true;
         cur_temp = doc["extra"].toString();
-        update();
-    } else if (is_hot) {
+    } else {
         is_hot = false;
-        update();
     }
+    if (is_hot != was_hot) changed = true;
+
+    // Error state checks (only when not hot — hot has its own display)
+    if (!is_hot) {
+        QString prev_error = error_msg;
+
+        // Panda check — same logic as sidebar, with 10s grace period on startup
+        if (uptime.elapsed() > 10000 &&
+            uiState()->scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
+            error_msg = "PANDA NOT CONNECTED";
+        }
+        // Car unrecognized check
+        else if (!params.get("Offroad_CarUnrecognized").empty()) {
+            error_msg = "CAR NOT RECOGNIZED";
+        }
+        else {
+            error_msg = "";
+        }
+
+        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

@@ -8,8 +8,9 @@
 #include <QSocketNotifier>
 #include <QVariantAnimation>
 #include <QWidget>
+#include <QElapsedTimer>
 #include <QTimer>
- 
+
 #include "common/util.h"
 #include "selfdrive/ui/ui.h"
 
@@ -17,6 +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;
@@ -26,6 +28,9 @@ private:
     QTimer* timer;
     bool is_hot = false;
     QString cur_temp;
-    QPixmap img_ready;
+    QString error_msg;  // non-empty = show red error instead of READY!
+    QElapsedTimer uptime;
+    bool last_started = false;
+    QPixmap img_bg;
     QPixmap img_hot;
 };

selfdrive/ui/qt/window.cc

@@ -1,6 +1,9 @@
 #include "selfdrive/ui/qt/window.h"
 
 #include <QFontDatabase>
+#include <QMouseEvent>
+
+#include <zmq.h>
 
 #include "system/hardware/hw.h"
 
@@ -11,6 +14,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   homeWindow = new HomeWindow(this);
   main_layout->addWidget(homeWindow);
   QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings);
+  QObject::connect(homeWindow, &HomeWindow::openStatus, this, &MainWindow::openStatus);
   QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings);
 
   settingsWindow = new SettingsWindow(this);
@@ -24,6 +28,11 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     homeWindow->showDriverView(true);
   });
 
+  // CLEARPILOT: Status window
+  statusWindow = new StatusWindow(this);
+  main_layout->addWidget(statusWindow);
+  QObject::connect(statusWindow, &StatusWindow::closeStatus, this, &MainWindow::closeSettings);
+
   onboardingWindow = new OnboardingWindow(this);
   main_layout->addWidget(onboardingWindow);
   QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() {
@@ -35,13 +44,17 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     if (!offroad) {
-      closeSettings();
+      // CLEARPILOT: just switch to homeWindow, don't show sidebar
+      // HomeWindow::offroadTransition handles the internal view
+      main_layout->setCurrentWidget(homeWindow);
     }
   });
   QObject::connect(device(), &Device::interactiveTimeout, [=]() {
-    if (main_layout->currentWidget() == settingsWindow) {
-      closeSettings();
+    // CLEARPILOT: on timeout, return to splash/onroad (not ClearPilotPanel)
+    if (main_layout->currentWidget() != homeWindow) {
+      main_layout->setCurrentWidget(homeWindow);
     }
+    homeWindow->offroadTransition(!uiState()->scene.started);
   });
 
   // load fonts
@@ -63,6 +76,74 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
     }
   )");
   setAttribute(Qt::WA_NoSystemBackground);
+
+  // CLEARPILOT: UI introspection RPC server
+  zmq_ctx = zmq_ctx_new();
+  zmq_sock = zmq_socket(zmq_ctx, ZMQ_REP);
+  zmq_bind(zmq_sock, "ipc:///tmp/clearpilot_ui_rpc");
+  int fd;
+  size_t fd_sz = sizeof(fd);
+  zmq_getsockopt(zmq_sock, ZMQ_FD, &fd, &fd_sz);
+  rpc_notifier = new QSocketNotifier(fd, QSocketNotifier::Read, this);
+  connect(rpc_notifier, &QSocketNotifier::activated, this, &MainWindow::handleRpcRequest);
+}
+
+void MainWindow::handleRpcRequest() {
+  int events = 0;
+  size_t events_sz = sizeof(events);
+  zmq_getsockopt(zmq_sock, ZMQ_EVENTS, &events, &events_sz);
+  if (!(events & ZMQ_POLLIN)) return;
+
+  char buf[256];
+  int rc = zmq_recv(zmq_sock, buf, sizeof(buf) - 1, ZMQ_DONTWAIT);
+  if (rc < 0) return;
+  buf[rc] = 0;
+
+  QString response;
+  if (strcmp(buf, "dump") == 0) {
+    response = dumpWidgetTree(this);
+  } else {
+    response = "unknown command";
+  }
+
+  QByteArray resp = response.toUtf8();
+  zmq_send(zmq_sock, resp.data(), resp.size(), 0);
+}
+
+QString MainWindow::dumpWidgetTree(QWidget *w, int depth) {
+  QString result;
+  QString indent(depth * 2, ' ');
+  QString className = w->metaObject()->className();
+  QString name = w->objectName().isEmpty() ? "(no name)" : w->objectName();
+  bool visible = w->isVisible();
+  QRect geo = w->geometry();
+
+  result += QString("%1%2 [%3] vis=%4 geo=%5,%6 %7x%8")
+    .arg(indent, className, name)
+    .arg(visible ? "Y" : "N")
+    .arg(geo.x()).arg(geo.y()).arg(geo.width()).arg(geo.height());
+
+  // Show stacked layout/widget current index
+  if (auto *sl = w->findChild<QStackedLayout *>(QString(), Qt::FindDirectChildrenOnly)) {
+    QWidget *cur = sl->currentWidget();
+    QString curClass = cur ? cur->metaObject()->className() : "null";
+    result += QString(" stack_cur=%1/%2(%3)").arg(sl->currentIndex()).arg(sl->count()).arg(curClass);
+  }
+  if (auto *sw = qobject_cast<QStackedWidget *>(w)) {
+    QWidget *cur = sw->currentWidget();
+    QString curClass = cur ? cur->metaObject()->className() : "null";
+    result += QString(" stack_cur=%1/%2(%3)").arg(sw->currentIndex()).arg(sw->count()).arg(curClass);
+  }
+
+  result += "\n";
+
+  for (QObject *child : w->children()) {
+    QWidget *cw = qobject_cast<QWidget *>(child);
+    if (cw && depth < 4) {
+      result += dumpWidgetTree(cw, depth + 1);
+    }
+  }
+  return result;
 }
 
 void MainWindow::openSettings(int index, const QString &param) {
@@ -70,6 +151,10 @@ void MainWindow::openSettings(int index, const QString &param) {
   settingsWindow->setCurrentPanel(index, param);
 }
 
+void MainWindow::openStatus() {
+  main_layout->setCurrentWidget(statusWindow);
+}
+
 void MainWindow::closeSettings() {
   main_layout->setCurrentWidget(homeWindow);
 
@@ -86,6 +171,16 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
     case QEvent::TouchEnd:
     case QEvent::MouseButtonPress:
     case QEvent::MouseMove: {
+      // CLEARPILOT: tap while screen-off (mode 3) -> wake to auto-normal (mode 0)
+      Params pmem{"/dev/shm/params"};
+      if (!device()->isAwake()) {
+        if (pmem.getInt("ScreenDisplayMode") == 3) {
+          pmem.putInt("ScreenDisplayMode", 0);
+        }
+      }
+      // CLEARPILOT: reset shutdown timer on any screen touch
+      static int touch_counter = 0;
+      pmem.put("ShutdownTouchReset", std::to_string(++touch_counter));
       // ignore events when device is awakened by resetInteractiveTimeout
       ignore = !device()->isAwake();
       device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
@@ -96,3 +191,215 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
   }
   return ignore;
 }
+
+// CLEARPILOT: Status window — live system stats, collected on background thread
+
+#include <QFile>
+#include <QProcess>
+#include <QDateTime>
+#include <QtConcurrent>
+
+static QString readFile(const QString &path) {
+  QFile f(path);
+  if (f.open(QIODevice::ReadOnly)) return QString(f.readAll()).trimmed();
+  return "";
+}
+
+static QString shellCmd(const QString &cmd) {
+  QProcess p;
+  p.start("bash", QStringList() << "-c" << cmd);
+  p.waitForFinished(1000);
+  return QString(p.readAllStandardOutput()).trimmed();
+}
+
+static StatusWindow::StatusData collectStatus() {
+  StatusWindow::StatusData d;
+
+  d.time = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
+  d.storage = shellCmd("df -h /data | tail -1 | awk '{print $3 \" / \" $2 \" (\" $5 \" used)\"}'");
+
+  // RAM from /proc/meminfo (no subprocess needed)
+  QString meminfo = readFile("/proc/meminfo");
+  long total = 0, avail = 0;
+  for (const QString &line : meminfo.split('\n')) {
+    if (line.startsWith("MemTotal:")) total = line.split(QRegExp("\\s+"))[1].toLong();
+    if (line.startsWith("MemAvailable:")) avail = line.split(QRegExp("\\s+"))[1].toLong();
+  }
+  if (total > 0) {
+    long used = total - avail;
+    d.ram = QString("%1 / %2 MB").arg(used / 1024).arg(total / 1024);
+  }
+
+  // Load from /proc/loadavg
+  QString loadavg = readFile("/proc/loadavg");
+  QStringList parts = loadavg.split(' ');
+  if (parts.size() >= 3) {
+    d.load = QString("%1  %2  %3").arg(parts[0], parts[1], parts[2]);
+  }
+
+  // Temperature
+  QString temps = shellCmd("cat /sys/class/thermal/thermal_zone*/temp 2>/dev/null | sort -rn | head -1");
+  if (!temps.isEmpty()) {
+    d.temp_c = temps.toLong() / 1000.0f;
+    d.temp = QString("%1\u00B0C").arg(d.temp_c, 0, 'f', 1);
+  }
+
+  // Fan
+  QString fan = shellCmd("cat /sys/class/hwmon/hwmon*/fan1_input 2>/dev/null | head -1");
+  if (fan.isEmpty()) fan = readFile("/dev/shm/params/d/LastFanSpeed");
+  d.fan = fan.isEmpty() ? QString::fromUtf8("\u2014") : fan + " RPM";
+
+  // Network
+  d.ip = shellCmd("ip route get 1.1.1.1 2>/dev/null | head -1 | awk '{print $7}'");
+  d.wifi = shellCmd("iwconfig wlan0 2>/dev/null | grep -oP 'ESSID:\"\\K[^\"]*'");
+
+  // VPN
+  QString tun = shellCmd("ip link show tun0 2>/dev/null | head -1");
+  if (tun.contains("UP")) {
+    d.vpn_status = "up";
+    d.vpn_ip = shellCmd("ip addr show tun0 2>/dev/null | grep 'inet ' | awk '{print $2}'");
+  }
+
+  // GPS
+  d.gps = readFile("/data/params/d/LastGPSPosition");
+
+  // Telemetry
+  d.telemetry = readFile("/data/params/d/TelemetryEnabled");
+
+  // Dashcam
+  d.dashcam_state = readFile("/dev/shm/params/d/DashcamState");
+  if (d.dashcam_state.isEmpty()) d.dashcam_state = "stopped";
+  d.dashcam_frames = readFile("/dev/shm/params/d/DashcamFrames");
+
+  // Panda: checked on UI thread in applyResults() via scene.pandaType
+
+  return d;
+}
+
+StatusWindow::StatusWindow(QWidget *parent) : QFrame(parent) {
+  QVBoxLayout *layout = new QVBoxLayout(this);
+  layout->setContentsMargins(50, 60, 50, 40);
+  layout->setSpacing(0);
+
+  // Status rows
+  auto makeRow = [&](const QString &label) -> QLabel* {
+    QHBoxLayout *row = new QHBoxLayout();
+    row->setContentsMargins(20, 0, 20, 0);
+
+    QLabel *name = new QLabel(label);
+    name->setStyleSheet("color: grey; font-size: 38px;");
+    name->setFixedWidth(350);
+    row->addWidget(name);
+
+    QLabel *value = new QLabel("—");
+    value->setStyleSheet("color: white; font-size: 38px;");
+    row->addWidget(value);
+    row->addStretch();
+
+    layout->addLayout(row);
+    layout->addSpacing(12);
+    return value;
+  };
+
+  time_label = makeRow("Time");
+  storage_label = makeRow("Storage");
+  ram_label = makeRow("Memory");
+  load_label = makeRow("Load");
+  temp_label = makeRow("Temperature");
+  fan_label = makeRow("Fan Speed");
+  panda_label = makeRow("Panda");
+  ip_label = makeRow("IP Address");
+  wifi_label = makeRow("WiFi");
+  vpn_label = makeRow("VPN");
+  gps_label = makeRow("GPS");
+  telemetry_label = makeRow("Telemetry");
+  dashcam_label = makeRow("Dashcam");
+
+  layout->addStretch();
+
+  setStyleSheet("StatusWindow { background-color: black; }");
+
+  connect(&watcher, &QFutureWatcher<StatusData>::finished, this, &StatusWindow::applyResults);
+
+  QTimer *timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, &StatusWindow::kickRefresh);
+  timer->start(1000);
+}
+
+void StatusWindow::kickRefresh() {
+  if (!isVisible() || collecting) return;
+  collecting = true;
+  watcher.setFuture(QtConcurrent::run(collectStatus));
+}
+
+void StatusWindow::applyResults() {
+  collecting = false;
+  StatusData d = watcher.result();
+
+  time_label->setText(d.time);
+  storage_label->setText(d.storage);
+  if (!d.ram.isEmpty()) ram_label->setText(d.ram);
+  if (!d.load.isEmpty()) load_label->setText(d.load);
+
+  if (!d.temp.isEmpty()) {
+    temp_label->setText(d.temp);
+    temp_label->setStyleSheet(d.temp_c > 70 ? "color: #ff4444; font-size: 38px;" :
+                              d.temp_c > 55 ? "color: #ffaa00; font-size: 38px;" :
+                                              "color: white; font-size: 38px;");
+  }
+
+  fan_label->setText(d.fan);
+
+  // Panda: same check as sidebar — read scene.pandaType on UI thread
+  if (uiState()->scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) {
+    panda_label->setText("Connected");
+    panda_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else {
+    panda_label->setText("Not connected");
+    panda_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  }
+
+  ip_label->setText(d.ip.isEmpty() ? "No connection" : d.ip);
+  wifi_label->setText(d.wifi.isEmpty() ? "Not connected" : d.wifi);
+
+  if (d.vpn_status == "up") {
+    vpn_label->setText("Connected (" + d.vpn_ip + ")");
+    vpn_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else {
+    vpn_label->setText("Not connected");
+    vpn_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  }
+
+  if (d.gps.isEmpty()) {
+    gps_label->setText("No fix");
+    gps_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  } else {
+    gps_label->setText(d.gps);
+    gps_label->setStyleSheet("color: white; font-size: 38px;");
+  }
+
+  if (d.telemetry == "1") {
+    telemetry_label->setText("Enabled");
+    telemetry_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else {
+    telemetry_label->setText("Disabled");
+    telemetry_label->setStyleSheet("color: grey; font-size: 38px;");
+  }
+
+  if (d.dashcam_state == "recording") {
+    QString text = "Recording";
+    if (!d.dashcam_frames.isEmpty() && d.dashcam_frames != "0") text += " (" + d.dashcam_frames + " frames)";
+    dashcam_label->setText(text);
+    dashcam_label->setStyleSheet("color: #17c44d; font-size: 38px;");
+  } else if (d.dashcam_state == "waiting") {
+    dashcam_label->setText("Waiting");
+    dashcam_label->setStyleSheet("color: #ffaa00; font-size: 38px;");
+  } else {
+    dashcam_label->setText("Stopped");
+    dashcam_label->setStyleSheet("color: #ff4444; font-size: 38px;");
+  }
+}
+
+void StatusWindow::mousePressEvent(QMouseEvent *e) {
+  emit closeStatus();
+}

selfdrive/ui/qt/window.h

@@ -1,12 +1,59 @@
 #pragma once
 
+#include <QFutureWatcher>
 #include <QStackedLayout>
+#include <QLabel>
+#include <QSocketNotifier>
+#include <QTimer>
 #include <QWidget>
 
 #include "selfdrive/ui/qt/home.h"
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 
+class StatusWindow : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit StatusWindow(QWidget *parent = 0);
+
+  struct StatusData {
+    QString time, storage, ram, load, temp, fan, ip, wifi;
+    QString vpn_status, vpn_ip, gps, telemetry;
+    QString dashcam_state, dashcam_frames;
+    float temp_c = 0;
+  };
+
+protected:
+  void mousePressEvent(QMouseEvent *e) override;
+
+signals:
+  void closeStatus();
+
+private slots:
+  void kickRefresh();
+  void applyResults();
+
+private:
+
+  QFutureWatcher<StatusData> watcher;
+  bool collecting = false;
+
+  QLabel *storage_label;
+  QLabel *ram_label;
+  QLabel *load_label;
+  QLabel *temp_label;
+  QLabel *fan_label;
+  QLabel *ip_label;
+  QLabel *wifi_label;
+  QLabel *vpn_label;
+  QLabel *gps_label;
+  QLabel *time_label;
+  QLabel *telemetry_label;
+  QLabel *dashcam_label;
+  QLabel *panda_label;
+};
+
 class MainWindow : public QWidget {
   Q_OBJECT
 
@@ -16,13 +63,24 @@ public:
 private:
   bool eventFilter(QObject *obj, QEvent *event) override;
   void openSettings(int index = 0, const QString &param = "");
+  void openStatus();
   void closeSettings();
+  QString dumpWidgetTree(QWidget *w, int depth = 0);
 
   QStackedLayout *main_layout;
   HomeWindow *homeWindow;
   SettingsWindow *settingsWindow;
+  StatusWindow *statusWindow;
   OnboardingWindow *onboardingWindow;
 
+  // CLEARPILOT: UI introspection RPC
+  void *zmq_ctx = nullptr;
+  void *zmq_sock = nullptr;
+  QSocketNotifier *rpc_notifier = nullptr;
+
   // FrogPilot variables
   Params params;
+
+private slots:
+  void handleRpcRequest();
 };

selfdrive/ui/soundd.py

@@ -93,6 +93,29 @@ class Soundd:
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
+    # CLEARPILOT ding (plays independently of alerts; triggered by writers
+    # setting ClearpilotPlayDing="1" in /dev/shm/params).
+    self.ding_sound = None
+    self.ding_frame = 0
+    self.ding_playing = False
+    self.ding_check_counter = 0
+    self._load_ding()
+
+  def _load_ding(self):
+    import sys
+    ding_path = BASEDIR + "/selfdrive/clearpilot/sounds/ding.wav"
+    try:
+      wavefile = wave.open(ding_path, 'r')
+      assert wavefile.getnchannels() == 1
+      assert wavefile.getsampwidth() == 2
+      assert wavefile.getframerate() == SAMPLE_RATE
+      length = wavefile.getnframes()
+      self.ding_sound = np.frombuffer(wavefile.readframes(length), dtype=np.int16).astype(np.float32) / (2**16/2)
+      print(f"CLP soundd: ClearPilot ding loaded: {length} frames", file=sys.stderr, flush=True)
+    except Exception as e:
+      print(f"CLP soundd: failed to load ding sound: {e}", file=sys.stderr, flush=True)
+      self.ding_sound = None
+
   def load_sounds(self):
     self.loaded_sounds: dict[int, np.ndarray] = {}
 
@@ -137,7 +160,20 @@ class Soundd:
         written_frames += frames_to_write
         self.current_sound_frame += frames_to_write
 
-    return ret * self.current_volume
+    ret = ret * self.current_volume
+
+    # CLEARPILOT: mix in ding (independent of alerts, always max volume)
+    if self.ding_playing and self.ding_sound is not None:
+      ding_remaining = len(self.ding_sound) - self.ding_frame
+      if ding_remaining > 0:
+        frames_to_write = min(ding_remaining, frames)
+        ret[:frames_to_write] += self.ding_sound[self.ding_frame:self.ding_frame + frames_to_write] * MAX_VOLUME
+        self.ding_frame += frames_to_write
+      else:
+        self.ding_playing = False
+        self.ding_frame = 0
+
+    return ret
 
   def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
     if status:
@@ -205,6 +241,14 @@ class Soundd:
         if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
           self.update_frogpilot_params()
 
+        # CLEARPILOT: poll ClearpilotPlayDing at ~2Hz; clear it on read.
+        self.ding_check_counter += 1
+        if self.ding_check_counter % 10 == 0 and self.ding_sound is not None:
+          if self.params_memory.get("ClearpilotPlayDing") == b"1":
+            self.params_memory.put("ClearpilotPlayDing", "0")
+            self.ding_playing = True
+            self.ding_frame = 0
+
   def update_frogpilot_params(self):
     self.alert_volume_control = self.params.get_bool("AlertVolumeControl")
 

selfdrive/ui/translations/main_ar.ts

@@ -818,15 +818,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>تحديث</translation>
+        <translation type="vanished">تحديث</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> التنبهات</translation>
+        <translation type="vanished"> التنبهات</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> تنبيه</translation>
+        <translation type="vanished"> تنبيه</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_de.ts

@@ -771,15 +771,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>Aktualisieren</translation>
+        <translation type="vanished">Aktualisieren</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> HINWEISE</translation>
+        <translation type="vanished"> HINWEISE</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> HINWEIS</translation>
+        <translation type="vanished"> HINWEIS</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_fr.ts

@@ -814,15 +814,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>MISE À JOUR</translation>
+        <translation type="vanished">MISE À JOUR</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> ALERTES</translation>
+        <translation type="vanished"> ALERTES</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> ALERTE</translation>
+        <translation type="vanished"> ALERTE</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_ja.ts

@@ -770,15 +770,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>更新</translation>
+        <translation type="vanished">更新</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> 警告</translation>
+        <translation type="vanished"> 警告</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> 警告</translation>
+        <translation type="vanished"> 警告</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_ko.ts

@@ -813,15 +813,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>업데이트</translation>
+        <translation type="vanished">업데이트</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> 알림</translation>
+        <translation type="vanished"> 알림</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> 알림</translation>
+        <translation type="vanished"> 알림</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_pt-BR.ts

@@ -814,15 +814,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>ATUALIZAÇÃO</translation>
+        <translation type="vanished">ATUALIZAÇÃO</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> ALERTAS</translation>
+        <translation type="vanished"> ALERTAS</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> ALERTA</translation>
+        <translation type="vanished"> ALERTA</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_th.ts

@@ -813,15 +813,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>อัปเดต</translation>
+        <translation type="vanished">อัปเดต</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> การแจ้งเตือน</translation>
+        <translation type="vanished"> การแจ้งเตือน</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> การแจ้งเตือน</translation>
+        <translation type="vanished"> การแจ้งเตือน</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_tr.ts

@@ -770,15 +770,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>GÜNCELLE</translation>
+        <translation type="vanished">GÜNCELLE</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> UYARILAR</translation>
+        <translation type="vanished"> UYARILAR</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> UYARI</translation>
+        <translation type="vanished"> UYARI</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -813,15 +813,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>更新</translation>
+        <translation type="vanished">更新</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> 警报</translation>
+        <translation type="vanished"> 警报</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> 警报</translation>
+        <translation type="vanished"> 警报</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -813,15 +813,15 @@
     <name>OffroadHome</name>
     <message>
         <source>UPDATE</source>
-        <translation>更新</translation>
+        <translation type="vanished">更新</translation>
     </message>
     <message>
         <source> ALERTS</source>
-        <translation> 提醒</translation>
+        <translation type="vanished"> 提醒</translation>
     </message>
     <message>
         <source> ALERT</source>
-        <translation> 提醒</translation>
+        <translation type="vanished"> 提醒</translation>
     </message>
 </context>
 <context>

selfdrive/ui/ui.cc

@@ -93,6 +93,9 @@ void update_model(UIState *s,
   if (plan_position.getX().size() < model.getPosition().getX().size()) {
     plan_position = model.getPosition();
   }
+  // CLEARPILOT: guard against empty model data (bench mode, no modeld running)
+  if (plan_position.getX().size() == 0) return;
+
   float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) :
                        std::clamp(*(plan_position.getX().end() - 1),
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
@@ -115,8 +118,11 @@ void update_model(UIState *s,
   }
 
   // update path
+  // CLEARPILOT: read from paramsMemory; controlsd writes "no_lat_lane_change"
+  // there. (Broken used a custom cereal field; we keep the param-based wiring.)
+  bool no_lat_lane_change = paramsMemory.getBool("no_lat_lane_change");
   float path;
-  if (paramsMemory.getBool("no_lat_lane_change")) {
+  if (no_lat_lane_change) {
     path = (float)LANE_CHANGE_NO_LAT_PATH_WIDTH / 20;  // Release: better calc for EU users
   } else {
     path = (float)CENTER_LANE_WIDTH / 20; // Release: better calc for EU users
@@ -391,6 +397,7 @@ void ui_update_frogpilot_params(UIState *s) {
   scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101;
   scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101;
   scene.screen_recorder = screen_management && params.getBool("ScreenRecorder");
+  scene.screen_recorder_debug = params.getBool("ScreenRecorderDebug");
   scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 120;
   scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
   scene.standby_mode = screen_management && params.getBool("StandbyMode");
@@ -435,9 +442,10 @@ void UIState::updateStatus() {
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
+    "pandaStates", "peripheralState", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
     "wideRoadCameraState", "managerState", "uiPlan", "liveTorqueParameters",
     "frogpilotCarControl", "frogpilotDeviceState", "frogpilotPlan",
+    "gpsLocation",
   });
 
   Params params;
@@ -551,7 +559,10 @@ void Device::updateWakefulness(const UIState &s) {
   }
 
   if (ignition_state_changed) {
-    if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
+    if (!ignition_on) {
+      // CLEARPILOT: ignition on→off blanks the screen immediately (tap still wakes).
+      resetInteractiveTimeout(0, 0);
+    } else if (s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) {
       resetInteractiveTimeout(0, 0);
     } else {
       resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad);
@@ -560,7 +571,10 @@ void Device::updateWakefulness(const UIState &s) {
     emit interactiveTimeout();
   }
 
-  if (s.scene.screen_brightness_onroad != 0) {
+  // CLEARPILOT: ScreenDisplayMode 3 = screen off — override awake state
+  if (paramsMemory.getInt("ScreenDisplayMode") == 3) {
+    setAwake(false);
+  } else if (s.scene.screen_brightness_onroad != 0) {
     setAwake(s.scene.ignition || interactive_timeout > 0);
   } else {
     setAwake(interactive_timeout > 0);

selfdrive/ui/ui.h

@@ -231,6 +231,7 @@ typedef struct UIScene {
   bool road_name_ui;
   bool rotating_wheel;
   bool screen_recorder;
+  bool screen_recorder_debug;
   bool show_aol_status_bar;
   bool show_cem_status_bar;
   bool show_jerk;

system/clearpilot/gpsd.py

@@ -0,0 +1,261 @@
+#!/usr/bin/env python3
+"""
+ClearPilot GPS daemon — reads GPS from Quectel EC25 modem via AT commands
+and publishes gpsLocation messages.
+
+Replaces qcomgpsd (which uses the diag interface — broken on this device).
+
+Used solely for: setting system clock on first fix, an on-screen UI
+speed indicator, per-segment GPS metadata for the dashcam, and driving
+the auto day/night display-mode switch (ScreenDisplayMode 0 ↔ 1) via
+NOAA solar-position calc against the current fix.
+
+Self-driving code does NOT consume this output — locationd is patched
+to not subscribe to gpsLocation, so liveLocationKalman.gpsOK stays false.
+"""
+import math
+import os
+import subprocess
+import sys
+import time
+import datetime
+
+from cereal import log
+import cereal.messaging as messaging
+from openpilot.common.gpio import gpio_init, gpio_set
+from openpilot.common.params import Params
+from openpilot.common.time import system_time_valid
+from openpilot.system.hardware.tici.pins import GPIO
+
+
+def _sunrise_sunset_min(lat: float, lon: float, utc_dt: datetime.datetime):
+  """Compute (sunrise_min, sunset_min) in UTC minutes since midnight of utc_dt's day.
+  Values can be negative or >1440 for western/eastern longitudes. Returns
+  (None, None) for polar night, ('always', 'always') for midnight sun."""
+  n = utc_dt.timetuple().tm_yday
+  gamma = 2 * math.pi / 365 * (n - 1 + (utc_dt.hour - 12) / 24)
+  eqtime = 229.18 * (0.000075 + 0.001868 * math.cos(gamma)
+           - 0.032077 * math.sin(gamma)
+           - 0.014615 * math.cos(2 * gamma)
+           - 0.040849 * math.sin(2 * gamma))
+  decl = (0.006918 - 0.399912 * math.cos(gamma)
+          + 0.070257 * math.sin(gamma)
+          - 0.006758 * math.cos(2 * gamma)
+          + 0.000907 * math.sin(2 * gamma)
+          - 0.002697 * math.cos(3 * gamma)
+          + 0.00148 * math.sin(3 * gamma))
+  lat_rad = math.radians(lat)
+  zenith = math.radians(90.833)
+  cos_ha = (math.cos(zenith) / (math.cos(lat_rad) * math.cos(decl))
+            - math.tan(lat_rad) * math.tan(decl))
+  if cos_ha < -1:
+    return ('always', 'always')   # midnight sun
+  if cos_ha > 1:
+    return (None, None)           # polar night
+  ha = math.degrees(math.acos(cos_ha))
+  sunrise_min = 720 - 4 * (lon + ha) - eqtime
+  sunset_min = 720 - 4 * (lon - ha) - eqtime
+  return (sunrise_min, sunset_min)
+
+
+def is_daylight(lat: float, lon: float, utc_dt: datetime.datetime) -> bool:
+  """Return True if the sun is currently above the horizon at (lat, lon).
+
+  Handles west-of-Greenwich correctly: at UTC midnight it may still be
+  evening local time, and the relevant sunset is the PREVIOUS UTC day's
+  value (which is >1440 min if we re-ref to that day, i.e. it's past
+  midnight UTC). Symmetric case for east-of-Greenwich at the other end.
+
+  Strategy: compute sunrise/sunset for yesterday, today, and tomorrow (each
+  relative to its own UTC midnight), shift them all onto today's clock
+  (yesterday = -1440, tomorrow = +1440), and check if now_min falls inside
+  any of the three [sunrise, sunset] intervals.
+  """
+  now_min = utc_dt.hour * 60 + utc_dt.minute + utc_dt.second / 60
+  for day_offset in (-1, 0, 1):
+    d = utc_dt + datetime.timedelta(days=day_offset)
+    sr, ss = _sunrise_sunset_min(lat, lon, d)
+    if sr == 'always':
+      return True
+    if sr is None:
+      continue  # polar night this day
+    sr += day_offset * 1440
+    ss += day_offset * 1440
+    if sr <= now_min <= ss:
+      return True
+  return False
+
+
+def at_cmd(cmd: str) -> str:
+  try:
+    result = subprocess.check_output(
+      f"mmcli -m any --timeout 10 --command='{cmd}'",
+      shell=True, encoding='utf8', stderr=subprocess.DEVNULL
+    ).strip()
+    # mmcli wraps AT responses: response: '+QGPSLOC: ...' — strip the wrapper
+    if result.startswith("response: '") and result.endswith("'"):
+      result = result[len("response: '"):-1]
+    return result
+  except subprocess.CalledProcessError:
+    return ""
+
+
+def wait_for_modem():
+  print("CLP gpsd: waiting for modem", file=sys.stderr, flush=True)
+  while True:
+    ret = subprocess.call(
+      "mmcli -m any --timeout 10 --command='AT+QGPS?'",
+      stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True
+    )
+    if ret == 0:
+      return
+    time.sleep(0.5)
+
+
+def parse_qgpsloc(response: str):
+  """Parse AT+QGPSLOC=2 response into a dict.
+  Format: +QGPSLOC: UTC,lat,lon,hdop,alt,fix,cog,spkm,spkn,date,nsat
+  """
+  if "+QGPSLOC:" not in response:
+    return None
+  try:
+    data = response.split("+QGPSLOC:")[1].strip()
+    fields = data.split(",")
+    if len(fields) < 11:
+      return None
+
+    utc = fields[0]       # HHMMSS.S
+    lat = float(fields[1])
+    lon = float(fields[2])
+    hdop = float(fields[3])
+    alt = float(fields[4])
+    fix = int(fields[5])  # 2=2D, 3=3D
+    cog = float(fields[6])  # course over ground
+    spkm = float(fields[7])  # speed km/h
+    date = fields[9]      # DDMMYY
+    nsat = int(fields[10])
+
+    # Build unix timestamp from UTC + date
+    hh, mm = int(utc[0:2]), int(utc[2:4])
+    ss = float(utc[4:])
+    dd, mo, yy = int(date[0:2]), int(date[2:4]), 2000 + int(date[4:6])
+    dt = datetime.datetime(yy, mo, dd, hh, mm, int(ss),
+                           int((ss % 1) * 1e6), datetime.timezone.utc)
+
+    return {
+      "latitude": lat,
+      "longitude": lon,
+      "altitude": alt,
+      "speed": spkm / 3.6,  # km/h -> m/s
+      "bearing": cog,
+      "accuracy": hdop * 5,  # rough HDOP -> meters
+      "timestamp_ms": dt.timestamp() * 1e3,
+      "satellites": nsat,
+      "fix": fix,
+    }
+  except (ValueError, IndexError) as e:
+    print(f"CLP gpsd: parse error: {e}", file=sys.stderr, flush=True)
+    return None
+
+
+def main():
+  print("CLP gpsd: starting", file=sys.stderr, flush=True)
+
+  # Kill system gpsd which may respawn and interfere with modem access
+  subprocess.run("pkill -f /usr/sbin/gpsd", shell=True,
+                 stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
+
+  wait_for_modem()
+  print("CLP gpsd: modem ready", file=sys.stderr, flush=True)
+
+  # Enable GPS antenna power
+  gpio_init(GPIO.GNSS_PWR_EN, True)
+  gpio_set(GPIO.GNSS_PWR_EN, True)
+  print("CLP gpsd: GPIO power enabled", file=sys.stderr, flush=True)
+
+  # Don't restart GPS if already running (preserve existing fix)
+  resp = at_cmd("AT+QGPS?")
+  print(f"CLP gpsd: QGPS status: {resp}", file=sys.stderr, flush=True)
+  if "QGPS: 1" not in resp:
+    at_cmd('AT+QGPSCFG="dpoenable",0')
+    at_cmd('AT+QGPSCFG="outport","none"')
+    at_cmd("AT+QGPS=1")
+    print("CLP gpsd: GPS started fresh", file=sys.stderr, flush=True)
+  else:
+    print("CLP gpsd: GPS already running, keeping fix", file=sys.stderr, flush=True)
+
+  pm = messaging.PubMaster(["gpsLocation"])
+  clock_set = system_time_valid()
+  params_memory = Params("/dev/shm/params")
+  last_daylight_check = 0.0
+  daylight_computed = False
+  prev_daylight = None  # gate IsDaylight write on change (twice/day, no point rewriting every 30s)
+  print("CLP gpsd: entering main loop", file=sys.stderr, flush=True)
+
+  while True:
+    resp = at_cmd("AT+QGPSLOC=2")
+    fix = parse_qgpsloc(resp)
+
+    if fix:
+      # Set system clock from GPS on first valid fix if clock is invalid
+      if not clock_set:
+        gps_dt = datetime.datetime.utcfromtimestamp(fix["timestamp_ms"] / 1000)
+        ret = subprocess.run(["date", "-s", gps_dt.strftime("%Y-%m-%d %H:%M:%S")],
+                             env={**os.environ, "TZ": "UTC"},
+                             capture_output=True)
+        if ret.returncode == 0:
+          clock_set = True
+          print(f"CLP gpsd: system clock set from GPS: {gps_dt}", file=sys.stderr, flush=True)
+        else:
+          print(f"CLP gpsd: failed to set clock: {ret.stderr.decode().strip()}", file=sys.stderr, flush=True)
+
+      msg = messaging.new_message("gpsLocation", valid=True)
+      gps = msg.gpsLocation
+      gps.latitude = fix["latitude"]
+      gps.longitude = fix["longitude"]
+      gps.altitude = fix["altitude"]
+      gps.speed = fix["speed"]
+      gps.bearingDeg = fix["bearing"]
+      gps.horizontalAccuracy = fix["accuracy"]
+      gps.unixTimestampMillis = int(fix["timestamp_ms"])
+      gps.source = log.GpsLocationData.SensorSource.qcomdiag
+      gps.hasFix = fix["fix"] >= 2
+      gps.flags = 1
+      gps.vNED = [0.0, 0.0, 0.0]
+      gps.verticalAccuracy = fix["accuracy"]
+      gps.bearingAccuracyDeg = 10.0
+      gps.speedAccuracy = 1.0
+      pm.send("gpsLocation", msg)
+
+      # Daylight calc + auto display-mode switch (only touches modes 0 and 1).
+      # First calc happens immediately once clock is set; thereafter every 30s.
+      if clock_set:
+        now_mono = time.monotonic()
+        interval = 1.0 if not daylight_computed else 30.0
+        if (now_mono - last_daylight_check) >= interval:
+          last_daylight_check = now_mono
+          utc_now = datetime.datetime.utcfromtimestamp(fix["timestamp_ms"] / 1000)
+          daylight = is_daylight(fix["latitude"], fix["longitude"], utc_now)
+          if daylight != prev_daylight:
+            params_memory.put_bool("IsDaylight", daylight)
+            prev_daylight = daylight
+
+          if not daylight_computed:
+            daylight_computed = True
+            print(f"CLP gpsd: initial daylight calc: {'day' if daylight else 'night'}",
+                  file=sys.stderr, flush=True)
+
+          # Auto-transition: only touch states 0 and 1 (manual modes 2/3/4 stay)
+          current_mode = params_memory.get_int("ScreenDisplayMode")
+          if current_mode == 0 and not daylight:
+            params_memory.put_int("ScreenDisplayMode", 1)
+            print("CLP gpsd: auto-switch to nightrider (sunset)", file=sys.stderr, flush=True)
+          elif current_mode == 1 and daylight:
+            params_memory.put_int("ScreenDisplayMode", 0)
+            print("CLP gpsd: auto-switch to normal (sunrise)", file=sys.stderr, flush=True)
+
+    time.sleep(0.5)  # 2 Hz polling
+
+
+if __name__ == "__main__":
+  main()

system/loggerd/deleter.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import os
 import shutil
+import sys
 import threading
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
@@ -8,11 +9,17 @@ from openpilot.system.loggerd.config import get_available_bytes, get_available_p
 from openpilot.system.loggerd.uploader import listdir_by_creation
 from openpilot.system.loggerd.xattr_cache import getxattr
 
-MIN_BYTES = 5 * 1024 * 1024 * 1024
+# CLEARPILOT: bumped from 5 GB to 9 GB so dashcam footage has headroom
+MIN_BYTES = 9 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
 
 DELETE_LAST = ['boot', 'crash']
 
+# CLEARPILOT: dashcam footage directory (trip dirs YYYYMMDD-HHMMSS/ with .mp4 segments)
+VIDEOS_DIR = '/data/media/0/videos'
+# CLEARPILOT: max total size for /data/log2 session logs
+LOG2_MAX_BYTES = 4 * 1024 * 1024 * 1024
+
 PRESERVE_ATTR_NAME = 'user.preserve'
 PRESERVE_ATTR_VALUE = b'1'
 PRESERVE_COUNT = 5
@@ -44,12 +51,105 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
   return preserved
 
 
+def delete_oldest_video():
+  """CLEARPILOT: prune dashcam footage when disk space is low.
+  Trip directories are /data/media/0/videos/YYYYMMDD-HHMMSS/ containing .mp4
+  segments. Deletes entire oldest trip directory first. If only one trip
+  remains (the active one), deletes individual segments oldest-first within
+  it. Also cleans up legacy flat .mp4 files.
+  Returns True if something was deleted."""
+  try:
+    if not os.path.isdir(VIDEOS_DIR):
+      return False
+
+    legacy_files = []
+    trip_dirs = []
+    for entry in os.listdir(VIDEOS_DIR):
+      path = os.path.join(VIDEOS_DIR, entry)
+      if os.path.isfile(path) and entry.endswith('.mp4'):
+        legacy_files.append(entry)
+      elif os.path.isdir(path):
+        trip_dirs.append(entry)
+
+    if legacy_files:
+      legacy_files.sort()
+      delete_path = os.path.join(VIDEOS_DIR, legacy_files[0])
+      print(f"CLP deleter: deleting legacy video {delete_path}", file=sys.stderr, flush=True)
+      os.remove(delete_path)
+      return True
+
+    if not trip_dirs:
+      return False
+
+    trip_dirs.sort()  # timestamp names = chronological order
+
+    if len(trip_dirs) > 1:
+      delete_path = os.path.join(VIDEOS_DIR, trip_dirs[0])
+      print(f"CLP deleter: deleting trip {delete_path}", file=sys.stderr, flush=True)
+      shutil.rmtree(delete_path)
+      return True
+
+    # Only one trip left (likely active) — drop its oldest segment
+    trip_path = os.path.join(VIDEOS_DIR, trip_dirs[0])
+    segments = sorted(f for f in os.listdir(trip_path) if f.endswith('.mp4'))
+    if not segments:
+      return False
+    delete_path = os.path.join(trip_path, segments[0])
+    print(f"CLP deleter: deleting segment {delete_path}", file=sys.stderr, flush=True)
+    os.remove(delete_path)
+    return True
+  except OSError as e:
+    print(f"CLP deleter: issue deleting video from {VIDEOS_DIR}: {e}", file=sys.stderr, flush=True)
+    return False
+
+
+def cleanup_log2():
+  """CLEARPILOT: keep /data/log2 session logs under LOG2_MAX_BYTES total.
+  Deletes oldest dated session directories first (the 'current' symlink/dir
+  is preserved). Runs even when disk space is fine."""
+  log_base = "/data/log2"
+  if not os.path.isdir(log_base):
+    return
+  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):
+      try:
+        size = sum(f.stat().st_size for f in os.scandir(path) if f.is_file())
+      except OSError:
+        size = 0
+      dirs.append((entry, path, size))
+  total = sum(s for _, _, s in dirs)
+  current = os.path.join(log_base, "current")
+  if os.path.isdir(current):
+    try:
+      total += sum(f.stat().st_size for f in os.scandir(current) if f.is_file())
+    except OSError:
+      pass
+  while total > LOG2_MAX_BYTES and dirs:
+    entry, path, size = dirs.pop(0)
+    try:
+      print(f"CLP deleter: deleting log session {path} ({size // 1024 // 1024} MB)",
+            file=sys.stderr, flush=True)
+      shutil.rmtree(path)
+      total -= size
+    except OSError as e:
+      print(f"CLP deleter: issue deleting log {path}: {e}", file=sys.stderr, flush=True)
+
+
 def deleter_thread(exit_event):
   while not exit_event.is_set():
     out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
     out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
 
     if out_of_percent or out_of_bytes:
+      # CLEARPILOT: drop oldest dashcam footage first, fall back to log segments
+      if delete_oldest_video():
+        exit_event.wait(.1)
+        continue
+
       dirs = listdir_by_creation(Paths.log_root())
 
       # skip deleting most recent N preserved segments (and their prior segment)
@@ -73,6 +173,8 @@ def deleter_thread(exit_event):
           cloudlog.exception(f"issue deleting {delete_path}")
       exit_event.wait(.1)
     else:
+      # CLEARPILOT: keep /data/log2 quota even when disk space is fine
+      cleanup_log2()
       exit_event.wait(30)