Two fixes that reinstate the pre-revert defenses against the "TAKE CONTROL
IMMEDIATELY / Communication Issue" banner that fires when self-driving
on the baseline modelrevert stack:
calibrationd: publish valid based on calStatus == calibrated, not
sm.all_checks(). Original gate cascaded upstream freq glitches into
liveCalibration.valid=False, which kept locationd.filterInitialized
False, which fed garbage into paramsd, which corrupted steerRatio
(erratic steering). "valid" here is a question about convergence, not
input freshness.
controlsd: narrow the commIssue trigger to genuine comm failures —
not_alive OR can_rcv_timeout. The `not sm.all_checks()` branch also
picked up valid=False, but paramsd / torqued / plannerd / frogpilot_planner
/ dmonitoringd all propagate their sm.all_checks() into msg.valid via
a polling-pattern artifact (freq_ok inside poll='...' subscribers
tracks gaps between drain bursts rather than the publish rate), so
the whole stack flaps valid and trips the banner during normal
driving. Content and rate are fine; just the flag.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
brianhansonxyz
dc7e0a2db7