Brian Hanson ba4176ffd0 controlsd: suppress freq-only cascade; modeld: variable rate w/ republish cache ...

- commIssue now fires only on real comms failure (not_alive or CAN RX
  timeout), not on self-declared valid=False cascades from MSGQ-conflate +
  slow-polling freq_ok artifacts. Car drives fine through these and the
  banner was false-positive.
- Add 5-cycle hysteresis (50ms) on commIssue / posenetInvalid /
  locationdTemporaryError / paramsdTemporaryError.
- Cascade-aware suppression: skip posenet/locationd/paramsd temporary
  errors when the only problem is freq_only_cascade (all alive, just
  freq/valid tripped).
- Remove debug _dbg_dump_alert_triggers helper and EVENTS/EVENT_NAME
  imports.
- Re-enable variable-rate modeld (4/10fps idle, 20fps when lat_active /
  lane_changing / calibrating) with republish caching so consumers get
  constant publish rate.
- Split lat_requested (modeld signal) from lat_engaged (actuator gate).
  Momentary steerFaultTemporary no longer drops modeld rate, preventing
  stale-prediction feedback loop on MDPS recovery. CC.latActive still
  respects the fault.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

2026-04-17 21:11:52 -05:00

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