Two related fixes for the post-engage lag spike:
1. controlsdLagging suppressed during lat_engage_suppress window.
Ratekeeper.lagging triggers when avg cycle duration over 100 cycles
exceeds 11.1ms (90% of 10ms budget). The modeld 10→20fps ramp causes
a legitimate transient where downstream services (plannerd, locationd,
calibrationd, paramsd) each drain 2x the message rate, briefly pushing
avg cycle time past the threshold. The underlying system isn't broken —
it's correctly absorbing a scheduled workload transition.
2. frogpilotCarControl now sends only on change (+ 1Hz keepalive) instead
of every 10ms. The message has 3 bool fields, of which speedLimitChanged
code is entirely commented out, trafficModeActive flips only on UI
button press, and alwaysOnLateral changes only on cruise/gear/brake
edges. plannerd doesn't include frogpilotCarControl in its all_checks
list so stale-freq detection isn't a concern. Saves ~7ms/sec of
capnp build + zmq send work.
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
Brian Hanson
83aed16a35