Brian Hanson 2d819c784b feat: ramp-up delay on lat engagement to prevent commIssue flash ...

Decouples "tell modeld to go fast" from "steering actually active":
- New LatRequested memory param — controlsd writes when lat would be active
- modeld reads LatRequested (not carControl.latActive) for FPS decision,
  so it switches to 20fps immediately on engage request
- controlsd delays CC.latActive becoming true by 250ms (5 frames @ 20fps)
  after LatRequested goes true, giving downstream services
  (longitudinalPlan, liveCalibration, etc.) time to stabilize at the new rate

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

2026-04-16 16:46:37 -05:00

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