thermald: publish immediately after ignition (commaai#31981)

* thermald: publish immediately after ignition

* fix

selfdrive/thermald/thermald.py

@@ -207,17 +207,10 @@ def thermald_thread(end_event, hw_queue) -> None:
  while not end_event.is_set():
  sm.update(PANDA_STATES_TIMEOUT)
 
- # Run at 2Hz
- if sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0:
- continue
-
  pandaStates = sm['pandaStates']
  peripheralState = sm['peripheralState']
  peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
- msg = read_thermal(thermal_config)
- msg.deviceState.deviceType = HARDWARE.get_device_type()
-
  if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
  # Set ignition based on any panda connected
@@ -237,6 +230,14 @@ def thermald_thread(end_event, hw_queue) -> None:
  onroad_conditions["ignition"] = False
  cloudlog.error("panda timed out onroad")
 
+ # Run at 2Hz, plus rising edge of ignition
+ ign_edge = started_ts is None and onroad_conditions["ignition"]
+ if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_TRML) != 0) and not ign_edge:
+ continue
+
+ msg = read_thermal(thermal_config)
+ msg.deviceState.deviceType = HARDWARE.get_device_type()
+
  try:
  last_hw_state = hw_queue.get_nowait()
  except queue.Empty: