When the car is in park (ignition still on), pause everything that
isn't strictly needed and keep controlsd in a minimal-cycle keepalive
mode so the car's steering ECU keeps seeing the LFA/LKAS CAN-FD
messages and stays in tester mode (no steering fault on shift to drive).
controlsd:
- Detects park gear, writes ParkMode to /dev/shm/params.
- park_mode_tick(): publishes a do-nothing CarControl through
self.card (CarController.update unconditionally appends the
steering messages every cycle, which is the actual heartbeat).
Still runs clearpilot_state_control so the LFA/debug button +
ScreenDisplayMode keep working in park.
- After park→drive, stay in keepalive-tick mode until SubMaster
reports all services healthy (an 8s hard cap as safety net).
Avoids the burst of commIssue alerts that would otherwise fire
while modeld/plannerd/paramsd/torqued/dmonitoringd/calibrationd/
frogpilot_process spin back up from cold.
manager / process_config:
- New gating helpers _park_mode(), only_onroad_active,
driverview_active, always_run_unless_parked.
- Re-gated to only_onroad_active: modeld, sensord, soundd, locationd,
calibrationd, torqued, paramsd, plannerd, radard, speed_logicd.
- Re-gated to driverview_active: dmonitoringmodeld, dmonitoringd.
- frogpilot_process → always_run_unless_parked (preserves offroad
behavior, only pauses when ignition+parked).
- controlsd stays plain only_onroad — it's the writer + heartbeat.
- ParkMode registered in params.cc, defaulted to "0" in manager_init.
thermald + fan_controller (broken-tree rule, ported):
- thermald subscribes to carState; passes standstill, is_parked,
cruise_engaged into fan_controller.update.
- New fan range rules:
parked → 0-100% (no floor, full cooling)
cruise on → 30-100%
standstill → 10-100%
moving → 30-100%
ignition off → 0-30% (existing)
dashcamd: already park-aware via gear-driven trip lifecycle — no
change needed.
Verified: build clean. Launched on bench: park mode kicks in on
startup (gearShifter=unknown initially → eventually park),
modeld/plannerd/paramsd/torqued/calibrationd/frogpilot_process
correctly disappear from the manager process list, gpsd/dashcamd/
ui/controlsd/pandad stay alive, ParkMode=1 in /dev/shm/params.
brianhansonxyz
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