calibrationd: add offroad alert when remount detected (#28073)

* calibrationd: add offroad alert for recalibration

* Update common/params.cc

common/params.cc

@@ -202,6 +202,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
 };
 
 } // namespace

selfdrive/controls/controlsd.py

@@ -286,6 +286,7 @@ class Controls:
       if cal_status == log.LiveCalibrationData.Status.uncalibrated:
         self.events.add(EventName.calibrationIncomplete)
       elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+        set_offroad_alert("Offroad_Recalibration", True)
         self.events.add(EventName.calibrationRecalibrating)
       else:
         self.events.add(EventName.calibrationInvalid)

selfdrive/controls/lib/alerts_offroad.json

@@ -48,5 +48,9 @@
   "Offroad_NoFirmware": {
     "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.",
     "severity": 0
+  },
+  "Offroad_Recalibration": {
+    "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
+    "severity": 0
   }
 }