restore driving logic to pre-variable-fps baseline
Wholesale revert of driving-relevant files to the snapshot in
/projects/openpilot/archive/clearpilot (HEAD 980f0aa). Goal: get
known-good driving behavior back, then re-introduce optimizations
slowly to track down a "feels like the wheel pulls right" regression.
Files restored from baseline:
- selfdrive/controls/controlsd.py
- selfdrive/controls/lib/events.py
- selfdrive/controls/lib/longitudinal_planner.py
- selfdrive/modeld/modeld.py
- selfdrive/modeld/dmonitoringmodeld.py
- selfdrive/locationd/calibrationd.py
- selfdrive/locationd/paramsd.py
- selfdrive/locationd/torqued.py
- selfdrive/car/interfaces.py
- selfdrive/car/hyundai/carstate.py (CAN-FD telemetry preserved as a
commented block for future re-enable)
- selfdrive/monitoring/dmonitoringd.py
- selfdrive/frogpilot/controls/frogpilot_planner.py
- common/realtime.py
Intentionally NOT restored (kept as current):
- selfdrive/thermald/* (fan/power tuning kept)
- selfdrive/car/hyundai/carcontroller.py + hyundaicanfd.py (perf-only
hoist of no_lat_lane_change Params read; behavior-equivalent)
- cereal/services.py, cereal/custom.capnp (additive only)
- selfdrive/manager/*, common/params.cc (heavy ClearPilot
infrastructure: bench mode, log dir, dashcamd, gpsd, params)
- All selfdrive/ui/, selfdrive/clearpilot/, system/clearpilot/
UI features will be re-wired in a follow-up commit.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
brianhansonxyz
47321e3867