Big Pass

2026-07-09 15:42:11 +08:00 · 2026-07-08 14:04:50 -04:00
parent 3aa2801ce7
commit 30245e7d34
94 changed files with 1428 additions and 1402 deletions
@@ -589,6 +589,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SteerOffsetStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"SteerRatio", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"SteerRatioStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
+    {"EnableTorqueBarWidget", {PERSISTENT, BOOL, "1", "0", 0}},
    {"StockConfidenceBallWidget", {PERSISTENT, BOOL, "0", "0", 0}},
    {"StockDongleId", {PERSISTENT, STRING, "", ""}},
    {"StopAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-cb82059d-DEBUG";
+const uint8_t gitversion[19] = "DEV-231eb68f-DEBUG";
@@ -1 +1 @@
-DEV-cb82059d-DEBUG
+DEV-231eb68f-DEBUG
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
 *                                                                            *
 *                         This file is part of 'ekf'                         *
 ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664) {
-   out_6125726627663246664[0] = delta_x[0] + nom_x[0];
-   out_6125726627663246664[1] = delta_x[1] + nom_x[1];
-   out_6125726627663246664[2] = delta_x[2] + nom_x[2];
-   out_6125726627663246664[3] = delta_x[3] + nom_x[3];
-   out_6125726627663246664[4] = delta_x[4] + nom_x[4];
-   out_6125726627663246664[5] = delta_x[5] + nom_x[5];
-   out_6125726627663246664[6] = delta_x[6] + nom_x[6];
-   out_6125726627663246664[7] = delta_x[7] + nom_x[7];
-   out_6125726627663246664[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_1393219424364542669) {
+   out_1393219424364542669[0] = delta_x[0] + nom_x[0];
+   out_1393219424364542669[1] = delta_x[1] + nom_x[1];
+   out_1393219424364542669[2] = delta_x[2] + nom_x[2];
+   out_1393219424364542669[3] = delta_x[3] + nom_x[3];
+   out_1393219424364542669[4] = delta_x[4] + nom_x[4];
+   out_1393219424364542669[5] = delta_x[5] + nom_x[5];
+   out_1393219424364542669[6] = delta_x[6] + nom_x[6];
+   out_1393219424364542669[7] = delta_x[7] + nom_x[7];
+   out_1393219424364542669[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672) {
-   out_87606233557452672[0] = -nom_x[0] + true_x[0];
-   out_87606233557452672[1] = -nom_x[1] + true_x[1];
-   out_87606233557452672[2] = -nom_x[2] + true_x[2];
-   out_87606233557452672[3] = -nom_x[3] + true_x[3];
-   out_87606233557452672[4] = -nom_x[4] + true_x[4];
-   out_87606233557452672[5] = -nom_x[5] + true_x[5];
-   out_87606233557452672[6] = -nom_x[6] + true_x[6];
-   out_87606233557452672[7] = -nom_x[7] + true_x[7];
-   out_87606233557452672[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) {
+   out_8544281472794776121[0] = -nom_x[0] + true_x[0];
+   out_8544281472794776121[1] = -nom_x[1] + true_x[1];
+   out_8544281472794776121[2] = -nom_x[2] + true_x[2];
+   out_8544281472794776121[3] = -nom_x[3] + true_x[3];
+   out_8544281472794776121[4] = -nom_x[4] + true_x[4];
+   out_8544281472794776121[5] = -nom_x[5] + true_x[5];
+   out_8544281472794776121[6] = -nom_x[6] + true_x[6];
+   out_8544281472794776121[7] = -nom_x[7] + true_x[7];
+   out_8544281472794776121[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_1571740516032572076) {
-   out_1571740516032572076[0] = 1.0;
-   out_1571740516032572076[1] = 0.0;
-   out_1571740516032572076[2] = 0.0;
-   out_1571740516032572076[3] = 0.0;
-   out_1571740516032572076[4] = 0.0;
-   out_1571740516032572076[5] = 0.0;
-   out_1571740516032572076[6] = 0.0;
-   out_1571740516032572076[7] = 0.0;
-   out_1571740516032572076[8] = 0.0;
-   out_1571740516032572076[9] = 0.0;
-   out_1571740516032572076[10] = 1.0;
-   out_1571740516032572076[11] = 0.0;
-   out_1571740516032572076[12] = 0.0;
-   out_1571740516032572076[13] = 0.0;
-   out_1571740516032572076[14] = 0.0;
-   out_1571740516032572076[15] = 0.0;
-   out_1571740516032572076[16] = 0.0;
-   out_1571740516032572076[17] = 0.0;
-   out_1571740516032572076[18] = 0.0;
-   out_1571740516032572076[19] = 0.0;
-   out_1571740516032572076[20] = 1.0;
-   out_1571740516032572076[21] = 0.0;
-   out_1571740516032572076[22] = 0.0;
-   out_1571740516032572076[23] = 0.0;
-   out_1571740516032572076[24] = 0.0;
-   out_1571740516032572076[25] = 0.0;
-   out_1571740516032572076[26] = 0.0;
-   out_1571740516032572076[27] = 0.0;
-   out_1571740516032572076[28] = 0.0;
-   out_1571740516032572076[29] = 0.0;
-   out_1571740516032572076[30] = 1.0;
-   out_1571740516032572076[31] = 0.0;
-   out_1571740516032572076[32] = 0.0;
-   out_1571740516032572076[33] = 0.0;
-   out_1571740516032572076[34] = 0.0;
-   out_1571740516032572076[35] = 0.0;
-   out_1571740516032572076[36] = 0.0;
-   out_1571740516032572076[37] = 0.0;
-   out_1571740516032572076[38] = 0.0;
-   out_1571740516032572076[39] = 0.0;
-   out_1571740516032572076[40] = 1.0;
-   out_1571740516032572076[41] = 0.0;
-   out_1571740516032572076[42] = 0.0;
-   out_1571740516032572076[43] = 0.0;
-   out_1571740516032572076[44] = 0.0;
-   out_1571740516032572076[45] = 0.0;
-   out_1571740516032572076[46] = 0.0;
-   out_1571740516032572076[47] = 0.0;
-   out_1571740516032572076[48] = 0.0;
-   out_1571740516032572076[49] = 0.0;
-   out_1571740516032572076[50] = 1.0;
-   out_1571740516032572076[51] = 0.0;
-   out_1571740516032572076[52] = 0.0;
-   out_1571740516032572076[53] = 0.0;
-   out_1571740516032572076[54] = 0.0;
-   out_1571740516032572076[55] = 0.0;
-   out_1571740516032572076[56] = 0.0;
-   out_1571740516032572076[57] = 0.0;
-   out_1571740516032572076[58] = 0.0;
-   out_1571740516032572076[59] = 0.0;
-   out_1571740516032572076[60] = 1.0;
-   out_1571740516032572076[61] = 0.0;
-   out_1571740516032572076[62] = 0.0;
-   out_1571740516032572076[63] = 0.0;
-   out_1571740516032572076[64] = 0.0;
-   out_1571740516032572076[65] = 0.0;
-   out_1571740516032572076[66] = 0.0;
-   out_1571740516032572076[67] = 0.0;
-   out_1571740516032572076[68] = 0.0;
-   out_1571740516032572076[69] = 0.0;
-   out_1571740516032572076[70] = 1.0;
-   out_1571740516032572076[71] = 0.0;
-   out_1571740516032572076[72] = 0.0;
-   out_1571740516032572076[73] = 0.0;
-   out_1571740516032572076[74] = 0.0;
-   out_1571740516032572076[75] = 0.0;
-   out_1571740516032572076[76] = 0.0;
-   out_1571740516032572076[77] = 0.0;
-   out_1571740516032572076[78] = 0.0;
-   out_1571740516032572076[79] = 0.0;
-   out_1571740516032572076[80] = 1.0;
+void H_mod_fun(double *state, double *out_542719001883324995) {
+   out_542719001883324995[0] = 1.0;
+   out_542719001883324995[1] = 0.0;
+   out_542719001883324995[2] = 0.0;
+   out_542719001883324995[3] = 0.0;
+   out_542719001883324995[4] = 0.0;
+   out_542719001883324995[5] = 0.0;
+   out_542719001883324995[6] = 0.0;
+   out_542719001883324995[7] = 0.0;
+   out_542719001883324995[8] = 0.0;
+   out_542719001883324995[9] = 0.0;
+   out_542719001883324995[10] = 1.0;
+   out_542719001883324995[11] = 0.0;
+   out_542719001883324995[12] = 0.0;
+   out_542719001883324995[13] = 0.0;
+   out_542719001883324995[14] = 0.0;
+   out_542719001883324995[15] = 0.0;
+   out_542719001883324995[16] = 0.0;
+   out_542719001883324995[17] = 0.0;
+   out_542719001883324995[18] = 0.0;
+   out_542719001883324995[19] = 0.0;
+   out_542719001883324995[20] = 1.0;
+   out_542719001883324995[21] = 0.0;
+   out_542719001883324995[22] = 0.0;
+   out_542719001883324995[23] = 0.0;
+   out_542719001883324995[24] = 0.0;
+   out_542719001883324995[25] = 0.0;
+   out_542719001883324995[26] = 0.0;
+   out_542719001883324995[27] = 0.0;
+   out_542719001883324995[28] = 0.0;
+   out_542719001883324995[29] = 0.0;
+   out_542719001883324995[30] = 1.0;
+   out_542719001883324995[31] = 0.0;
+   out_542719001883324995[32] = 0.0;
+   out_542719001883324995[33] = 0.0;
+   out_542719001883324995[34] = 0.0;
+   out_542719001883324995[35] = 0.0;
+   out_542719001883324995[36] = 0.0;
+   out_542719001883324995[37] = 0.0;
+   out_542719001883324995[38] = 0.0;
+   out_542719001883324995[39] = 0.0;
+   out_542719001883324995[40] = 1.0;
+   out_542719001883324995[41] = 0.0;
+   out_542719001883324995[42] = 0.0;
+   out_542719001883324995[43] = 0.0;
+   out_542719001883324995[44] = 0.0;
+   out_542719001883324995[45] = 0.0;
+   out_542719001883324995[46] = 0.0;
+   out_542719001883324995[47] = 0.0;
+   out_542719001883324995[48] = 0.0;
+   out_542719001883324995[49] = 0.0;
+   out_542719001883324995[50] = 1.0;
+   out_542719001883324995[51] = 0.0;
+   out_542719001883324995[52] = 0.0;
+   out_542719001883324995[53] = 0.0;
+   out_542719001883324995[54] = 0.0;
+   out_542719001883324995[55] = 0.0;
+   out_542719001883324995[56] = 0.0;
+   out_542719001883324995[57] = 0.0;
+   out_542719001883324995[58] = 0.0;
+   out_542719001883324995[59] = 0.0;
+   out_542719001883324995[60] = 1.0;
+   out_542719001883324995[61] = 0.0;
+   out_542719001883324995[62] = 0.0;
+   out_542719001883324995[63] = 0.0;
+   out_542719001883324995[64] = 0.0;
+   out_542719001883324995[65] = 0.0;
+   out_542719001883324995[66] = 0.0;
+   out_542719001883324995[67] = 0.0;
+   out_542719001883324995[68] = 0.0;
+   out_542719001883324995[69] = 0.0;
+   out_542719001883324995[70] = 1.0;
+   out_542719001883324995[71] = 0.0;
+   out_542719001883324995[72] = 0.0;
+   out_542719001883324995[73] = 0.0;
+   out_542719001883324995[74] = 0.0;
+   out_542719001883324995[75] = 0.0;
+   out_542719001883324995[76] = 0.0;
+   out_542719001883324995[77] = 0.0;
+   out_542719001883324995[78] = 0.0;
+   out_542719001883324995[79] = 0.0;
+   out_542719001883324995[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_7904413896065989389) {
-   out_7904413896065989389[0] = state[0];
-   out_7904413896065989389[1] = state[1];
-   out_7904413896065989389[2] = state[2];
-   out_7904413896065989389[3] = state[3];
-   out_7904413896065989389[4] = state[4];
-   out_7904413896065989389[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_7904413896065989389[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
-   out_7904413896065989389[7] = state[7];
-   out_7904413896065989389[8] = state[8];
+void f_fun(double *state, double dt, double *out_9203753821438188332) {
+   out_9203753821438188332[0] = state[0];
+   out_9203753821438188332[1] = state[1];
+   out_9203753821438188332[2] = state[2];
+   out_9203753821438188332[3] = state[3];
+   out_9203753821438188332[4] = state[4];
+   out_9203753821438188332[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_9203753821438188332[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_9203753821438188332[7] = state[7];
+   out_9203753821438188332[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_6516583174049416628) {
-   out_6516583174049416628[0] = 1;
-   out_6516583174049416628[1] = 0;
-   out_6516583174049416628[2] = 0;
-   out_6516583174049416628[3] = 0;
-   out_6516583174049416628[4] = 0;
-   out_6516583174049416628[5] = 0;
-   out_6516583174049416628[6] = 0;
-   out_6516583174049416628[7] = 0;
-   out_6516583174049416628[8] = 0;
-   out_6516583174049416628[9] = 0;
-   out_6516583174049416628[10] = 1;
-   out_6516583174049416628[11] = 0;
-   out_6516583174049416628[12] = 0;
-   out_6516583174049416628[13] = 0;
-   out_6516583174049416628[14] = 0;
-   out_6516583174049416628[15] = 0;
-   out_6516583174049416628[16] = 0;
-   out_6516583174049416628[17] = 0;
-   out_6516583174049416628[18] = 0;
-   out_6516583174049416628[19] = 0;
-   out_6516583174049416628[20] = 1;
-   out_6516583174049416628[21] = 0;
-   out_6516583174049416628[22] = 0;
-   out_6516583174049416628[23] = 0;
-   out_6516583174049416628[24] = 0;
-   out_6516583174049416628[25] = 0;
-   out_6516583174049416628[26] = 0;
-   out_6516583174049416628[27] = 0;
-   out_6516583174049416628[28] = 0;
-   out_6516583174049416628[29] = 0;
-   out_6516583174049416628[30] = 1;
-   out_6516583174049416628[31] = 0;
-   out_6516583174049416628[32] = 0;
-   out_6516583174049416628[33] = 0;
-   out_6516583174049416628[34] = 0;
-   out_6516583174049416628[35] = 0;
-   out_6516583174049416628[36] = 0;
-   out_6516583174049416628[37] = 0;
-   out_6516583174049416628[38] = 0;
-   out_6516583174049416628[39] = 0;
-   out_6516583174049416628[40] = 1;
-   out_6516583174049416628[41] = 0;
-   out_6516583174049416628[42] = 0;
-   out_6516583174049416628[43] = 0;
-   out_6516583174049416628[44] = 0;
-   out_6516583174049416628[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
-   out_6516583174049416628[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_6516583174049416628[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6516583174049416628[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6516583174049416628[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
-   out_6516583174049416628[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_6516583174049416628[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_6516583174049416628[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6516583174049416628[53] = -9.8100000000000005*dt;
-   out_6516583174049416628[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
-   out_6516583174049416628[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_6516583174049416628[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6516583174049416628[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6516583174049416628[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
-   out_6516583174049416628[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_6516583174049416628[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
-   out_6516583174049416628[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6516583174049416628[62] = 0;
-   out_6516583174049416628[63] = 0;
-   out_6516583174049416628[64] = 0;
-   out_6516583174049416628[65] = 0;
-   out_6516583174049416628[66] = 0;
-   out_6516583174049416628[67] = 0;
-   out_6516583174049416628[68] = 0;
-   out_6516583174049416628[69] = 0;
-   out_6516583174049416628[70] = 1;
-   out_6516583174049416628[71] = 0;
-   out_6516583174049416628[72] = 0;
-   out_6516583174049416628[73] = 0;
-   out_6516583174049416628[74] = 0;
-   out_6516583174049416628[75] = 0;
-   out_6516583174049416628[76] = 0;
-   out_6516583174049416628[77] = 0;
-   out_6516583174049416628[78] = 0;
-   out_6516583174049416628[79] = 0;
-   out_6516583174049416628[80] = 1;
+void F_fun(double *state, double dt, double *out_1821220582526959893) {
+   out_1821220582526959893[0] = 1;
+   out_1821220582526959893[1] = 0;
+   out_1821220582526959893[2] = 0;
+   out_1821220582526959893[3] = 0;
+   out_1821220582526959893[4] = 0;
+   out_1821220582526959893[5] = 0;
+   out_1821220582526959893[6] = 0;
+   out_1821220582526959893[7] = 0;
+   out_1821220582526959893[8] = 0;
+   out_1821220582526959893[9] = 0;
+   out_1821220582526959893[10] = 1;
+   out_1821220582526959893[11] = 0;
+   out_1821220582526959893[12] = 0;
+   out_1821220582526959893[13] = 0;
+   out_1821220582526959893[14] = 0;
+   out_1821220582526959893[15] = 0;
+   out_1821220582526959893[16] = 0;
+   out_1821220582526959893[17] = 0;
+   out_1821220582526959893[18] = 0;
+   out_1821220582526959893[19] = 0;
+   out_1821220582526959893[20] = 1;
+   out_1821220582526959893[21] = 0;
+   out_1821220582526959893[22] = 0;
+   out_1821220582526959893[23] = 0;
+   out_1821220582526959893[24] = 0;
+   out_1821220582526959893[25] = 0;
+   out_1821220582526959893[26] = 0;
+   out_1821220582526959893[27] = 0;
+   out_1821220582526959893[28] = 0;
+   out_1821220582526959893[29] = 0;
+   out_1821220582526959893[30] = 1;
+   out_1821220582526959893[31] = 0;
+   out_1821220582526959893[32] = 0;
+   out_1821220582526959893[33] = 0;
+   out_1821220582526959893[34] = 0;
+   out_1821220582526959893[35] = 0;
+   out_1821220582526959893[36] = 0;
+   out_1821220582526959893[37] = 0;
+   out_1821220582526959893[38] = 0;
+   out_1821220582526959893[39] = 0;
+   out_1821220582526959893[40] = 1;
+   out_1821220582526959893[41] = 0;
+   out_1821220582526959893[42] = 0;
+   out_1821220582526959893[43] = 0;
+   out_1821220582526959893[44] = 0;
+   out_1821220582526959893[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_1821220582526959893[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_1821220582526959893[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1821220582526959893[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1821220582526959893[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_1821220582526959893[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_1821220582526959893[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_1821220582526959893[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1821220582526959893[53] = -9.8100000000000005*dt;
+   out_1821220582526959893[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_1821220582526959893[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_1821220582526959893[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1821220582526959893[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1821220582526959893[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_1821220582526959893[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_1821220582526959893[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_1821220582526959893[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1821220582526959893[62] = 0;
+   out_1821220582526959893[63] = 0;
+   out_1821220582526959893[64] = 0;
+   out_1821220582526959893[65] = 0;
+   out_1821220582526959893[66] = 0;
+   out_1821220582526959893[67] = 0;
+   out_1821220582526959893[68] = 0;
+   out_1821220582526959893[69] = 0;
+   out_1821220582526959893[70] = 1;
+   out_1821220582526959893[71] = 0;
+   out_1821220582526959893[72] = 0;
+   out_1821220582526959893[73] = 0;
+   out_1821220582526959893[74] = 0;
+   out_1821220582526959893[75] = 0;
+   out_1821220582526959893[76] = 0;
+   out_1821220582526959893[77] = 0;
+   out_1821220582526959893[78] = 0;
+   out_1821220582526959893[79] = 0;
+   out_1821220582526959893[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_6845996924949086281) {
-   out_6845996924949086281[0] = state[6];
+void h_25(double *state, double *unused, double *out_7848411301120641124) {
+   out_7848411301120641124[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_4925282443857457875) {
-   out_4925282443857457875[0] = 0;
-   out_4925282443857457875[1] = 0;
-   out_4925282443857457875[2] = 0;
-   out_4925282443857457875[3] = 0;
-   out_4925282443857457875[4] = 0;
-   out_4925282443857457875[5] = 0;
-   out_4925282443857457875[6] = 1;
-   out_4925282443857457875[7] = 0;
-   out_4925282443857457875[8] = 0;
+void H_25(double *state, double *unused, double *out_6136977117952979916) {
+   out_6136977117952979916[0] = 0;
+   out_6136977117952979916[1] = 0;
+   out_6136977117952979916[2] = 0;
+   out_6136977117952979916[3] = 0;
+   out_6136977117952979916[4] = 0;
+   out_6136977117952979916[5] = 0;
+   out_6136977117952979916[6] = 1;
+   out_6136977117952979916[7] = 0;
+   out_6136977117952979916[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_76787194833890602) {
-   out_76787194833890602[0] = state[4];
-   out_76787194833890602[1] = state[5];
+void h_24(double *state, double *unused, double *out_8292657587405145092) {
+   out_8292657587405145092[0] = state[4];
+   out_8292657587405145092[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_2493109189819469018) {
-   out_2493109189819469018[0] = 0;
-   out_2493109189819469018[1] = 0;
-   out_2493109189819469018[2] = 0;
-   out_2493109189819469018[3] = 0;
-   out_2493109189819469018[4] = 1;
-   out_2493109189819469018[5] = 0;
-   out_2493109189819469018[6] = 0;
-   out_2493109189819469018[7] = 0;
-   out_2493109189819469018[8] = 0;
-   out_2493109189819469018[9] = 0;
-   out_2493109189819469018[10] = 0;
-   out_2493109189819469018[11] = 0;
-   out_2493109189819469018[12] = 0;
-   out_2493109189819469018[13] = 0;
-   out_2493109189819469018[14] = 1;
-   out_2493109189819469018[15] = 0;
-   out_2493109189819469018[16] = 0;
-   out_2493109189819469018[17] = 0;
+void H_24(double *state, double *unused, double *out_3964327518947480350) {
+   out_3964327518947480350[0] = 0;
+   out_3964327518947480350[1] = 0;
+   out_3964327518947480350[2] = 0;
+   out_3964327518947480350[3] = 0;
+   out_3964327518947480350[4] = 1;
+   out_3964327518947480350[5] = 0;
+   out_3964327518947480350[6] = 0;
+   out_3964327518947480350[7] = 0;
+   out_3964327518947480350[8] = 0;
+   out_3964327518947480350[9] = 0;
+   out_3964327518947480350[10] = 0;
+   out_3964327518947480350[11] = 0;
+   out_3964327518947480350[12] = 0;
+   out_3964327518947480350[13] = 0;
+   out_3964327518947480350[14] = 1;
+   out_3964327518947480350[15] = 0;
+   out_3964327518947480350[16] = 0;
+   out_3964327518947480350[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_7304198287107647943) {
-   out_7304198287107647943[0] = state[4];
+void h_30(double *state, double *unused, double *out_1692964105279980995) {
+   out_1692964105279980995[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_8993765299724485543) {
-   out_8993765299724485543[0] = 0;
-   out_8993765299724485543[1] = 0;
-   out_8993765299724485543[2] = 0;
-   out_8993765299724485543[3] = 0;
-   out_8993765299724485543[4] = 1;
-   out_8993765299724485543[5] = 0;
-   out_8993765299724485543[6] = 0;
-   out_8993765299724485543[7] = 0;
-   out_8993765299724485543[8] = 0;
+void H_30(double *state, double *unused, double *out_8655310076460228543) {
+   out_8655310076460228543[0] = 0;
+   out_8655310076460228543[1] = 0;
+   out_8655310076460228543[2] = 0;
+   out_8655310076460228543[3] = 0;
+   out_8655310076460228543[4] = 1;
+   out_8655310076460228543[5] = 0;
+   out_8655310076460228543[6] = 0;
+   out_8655310076460228543[7] = 0;
+   out_8655310076460228543[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_6360688434205985508) {
-   out_6360688434205985508[0] = state[7];
+void h_26(double *state, double *unused, double *out_6694637372940826640) {
+   out_6694637372940826640[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_8666785762731514099) {
-   out_8666785762731514099[0] = 0;
-   out_8666785762731514099[1] = 0;
-   out_8666785762731514099[2] = 0;
-   out_8666785762731514099[3] = 0;
-   out_8666785762731514099[4] = 0;
-   out_8666785762731514099[5] = 0;
-   out_8666785762731514099[6] = 0;
-   out_8666785762731514099[7] = 1;
-   out_8666785762731514099[8] = 0;
+void H_26(double *state, double *unused, double *out_2395473799078923692) {
+   out_2395473799078923692[0] = 0;
+   out_2395473799078923692[1] = 0;
+   out_2395473799078923692[2] = 0;
+   out_2395473799078923692[3] = 0;
+   out_2395473799078923692[4] = 0;
+   out_2395473799078923692[5] = 0;
+   out_2395473799078923692[6] = 0;
+   out_2395473799078923692[7] = 1;
+   out_2395473799078923692[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_2448044843667457269) {
-   out_2448044843667457269[0] = state[3];
+void h_27(double *state, double *unused, double *out_3658606002300167844) {
+   out_3658606002300167844[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_6819001987924060632) {
-   out_6819001987924060632[0] = 0;
-   out_6819001987924060632[1] = 0;
-   out_6819001987924060632[2] = 0;
-   out_6819001987924060632[3] = 1;
-   out_6819001987924060632[4] = 0;
-   out_6819001987924060632[5] = 0;
-   out_6819001987924060632[6] = 0;
-   out_6819001987924060632[7] = 0;
-   out_6819001987924060632[8] = 0;
+void H_27(double *state, double *unused, double *out_6480546764659803632) {
+   out_6480546764659803632[0] = 0;
+   out_6480546764659803632[1] = 0;
+   out_6480546764659803632[2] = 0;
+   out_6480546764659803632[3] = 1;
+   out_6480546764659803632[4] = 0;
+   out_6480546764659803632[5] = 0;
+   out_6480546764659803632[6] = 0;
+   out_6480546764659803632[7] = 0;
+   out_6480546764659803632[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_2302525019446802298) {
-   out_2302525019446802298[0] = state[1];
+void h_29(double *state, double *unused, double *out_3383411940015661955) {
+   out_3383411940015661955[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_8942747429670673889) {
-   out_8942747429670673889[0] = 0;
-   out_8942747429670673889[1] = 1;
-   out_8942747429670673889[2] = 0;
-   out_8942747429670673889[3] = 0;
-   out_8942747429670673889[4] = 0;
-   out_8942747429670673889[5] = 0;
-   out_8942747429670673889[6] = 0;
-   out_8942747429670673889[7] = 0;
-   out_8942747429670673889[8] = 0;
+void H_29(double *state, double *unused, double *out_9165541420774620727) {
+   out_9165541420774620727[0] = 0;
+   out_9165541420774620727[1] = 1;
+   out_9165541420774620727[2] = 0;
+   out_9165541420774620727[3] = 0;
+   out_9165541420774620727[4] = 0;
+   out_9165541420774620727[5] = 0;
+   out_9165541420774620727[6] = 0;
+   out_9165541420774620727[7] = 0;
+   out_9165541420774620727[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_2553628423993388376) {
-   out_2553628423993388376[0] = state[0];
+void h_28(double *state, double *unused, double *out_2219679485258547244) {
+   out_2219679485258547244[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_4421597626969347153) {
-   out_4421597626969347153[0] = 1;
-   out_4421597626969347153[1] = 0;
-   out_4421597626969347153[2] = 0;
-   out_4421597626969347153[3] = 0;
-   out_4421597626969347153[4] = 0;
-   out_4421597626969347153[5] = 0;
-   out_4421597626969347153[6] = 0;
-   out_4421597626969347153[7] = 0;
-   out_4421597626969347153[8] = 0;
+void H_28(double *state, double *unused, double *out_4083142403705090153) {
+   out_4083142403705090153[0] = 1;
+   out_4083142403705090153[1] = 0;
+   out_4083142403705090153[2] = 0;
+   out_4083142403705090153[3] = 0;
+   out_4083142403705090153[4] = 0;
+   out_4083142403705090153[5] = 0;
+   out_4083142403705090153[6] = 0;
+   out_4083142403705090153[7] = 0;
+   out_4083142403705090153[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_7359576434127226352) {
-   out_7359576434127226352[0] = state[8];
+void h_31(double *state, double *unused, double *out_8123605363405147013) {
+   out_8123605363405147013[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_9153750208744686041) {
-   out_9153750208744686041[0] = 0;
-   out_9153750208744686041[1] = 0;
-   out_9153750208744686041[2] = 0;
-   out_9153750208744686041[3] = 0;
-   out_9153750208744686041[4] = 0;
-   out_9153750208744686041[5] = 0;
-   out_9153750208744686041[6] = 0;
-   out_9153750208744686041[7] = 0;
-   out_9153750208744686041[8] = 1;
+void H_31(double *state, double *unused, double *out_1769265696845572216) {
+   out_1769265696845572216[0] = 0;
+   out_1769265696845572216[1] = 0;
+   out_1769265696845572216[2] = 0;
+   out_1769265696845572216[3] = 0;
+   out_1769265696845572216[4] = 0;
+   out_1769265696845572216[5] = 0;
+   out_1769265696845572216[6] = 0;
+   out_1769265696845572216[7] = 0;
+   out_1769265696845572216[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
  update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
 }
-void car_err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664) {
-  err_fun(nom_x, delta_x, out_6125726627663246664);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1393219424364542669) {
+  err_fun(nom_x, delta_x, out_1393219424364542669);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672) {
-  inv_err_fun(nom_x, true_x, out_87606233557452672);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121) {
+  inv_err_fun(nom_x, true_x, out_8544281472794776121);
 }
-void car_H_mod_fun(double *state, double *out_1571740516032572076) {
-  H_mod_fun(state, out_1571740516032572076);
+void car_H_mod_fun(double *state, double *out_542719001883324995) {
+  H_mod_fun(state, out_542719001883324995);
 }
-void car_f_fun(double *state, double dt, double *out_7904413896065989389) {
-  f_fun(state,  dt, out_7904413896065989389);
+void car_f_fun(double *state, double dt, double *out_9203753821438188332) {
+  f_fun(state,  dt, out_9203753821438188332);
 }
-void car_F_fun(double *state, double dt, double *out_6516583174049416628) {
-  F_fun(state,  dt, out_6516583174049416628);
+void car_F_fun(double *state, double dt, double *out_1821220582526959893) {
+  F_fun(state,  dt, out_1821220582526959893);
 }
-void car_h_25(double *state, double *unused, double *out_6845996924949086281) {
-  h_25(state, unused, out_6845996924949086281);
+void car_h_25(double *state, double *unused, double *out_7848411301120641124) {
+  h_25(state, unused, out_7848411301120641124);
 }
-void car_H_25(double *state, double *unused, double *out_4925282443857457875) {
-  H_25(state, unused, out_4925282443857457875);
+void car_H_25(double *state, double *unused, double *out_6136977117952979916) {
+  H_25(state, unused, out_6136977117952979916);
 }
-void car_h_24(double *state, double *unused, double *out_76787194833890602) {
-  h_24(state, unused, out_76787194833890602);
+void car_h_24(double *state, double *unused, double *out_8292657587405145092) {
+  h_24(state, unused, out_8292657587405145092);
 }
-void car_H_24(double *state, double *unused, double *out_2493109189819469018) {
-  H_24(state, unused, out_2493109189819469018);
+void car_H_24(double *state, double *unused, double *out_3964327518947480350) {
+  H_24(state, unused, out_3964327518947480350);
 }
-void car_h_30(double *state, double *unused, double *out_7304198287107647943) {
-  h_30(state, unused, out_7304198287107647943);
+void car_h_30(double *state, double *unused, double *out_1692964105279980995) {
+  h_30(state, unused, out_1692964105279980995);
 }
-void car_H_30(double *state, double *unused, double *out_8993765299724485543) {
-  H_30(state, unused, out_8993765299724485543);
+void car_H_30(double *state, double *unused, double *out_8655310076460228543) {
+  H_30(state, unused, out_8655310076460228543);
 }
-void car_h_26(double *state, double *unused, double *out_6360688434205985508) {
-  h_26(state, unused, out_6360688434205985508);
+void car_h_26(double *state, double *unused, double *out_6694637372940826640) {
+  h_26(state, unused, out_6694637372940826640);
 }
-void car_H_26(double *state, double *unused, double *out_8666785762731514099) {
-  H_26(state, unused, out_8666785762731514099);
+void car_H_26(double *state, double *unused, double *out_2395473799078923692) {
+  H_26(state, unused, out_2395473799078923692);
 }
-void car_h_27(double *state, double *unused, double *out_2448044843667457269) {
-  h_27(state, unused, out_2448044843667457269);
+void car_h_27(double *state, double *unused, double *out_3658606002300167844) {
+  h_27(state, unused, out_3658606002300167844);
 }
-void car_H_27(double *state, double *unused, double *out_6819001987924060632) {
-  H_27(state, unused, out_6819001987924060632);
+void car_H_27(double *state, double *unused, double *out_6480546764659803632) {
+  H_27(state, unused, out_6480546764659803632);
 }
-void car_h_29(double *state, double *unused, double *out_2302525019446802298) {
-  h_29(state, unused, out_2302525019446802298);
+void car_h_29(double *state, double *unused, double *out_3383411940015661955) {
+  h_29(state, unused, out_3383411940015661955);
 }
-void car_H_29(double *state, double *unused, double *out_8942747429670673889) {
-  H_29(state, unused, out_8942747429670673889);
+void car_H_29(double *state, double *unused, double *out_9165541420774620727) {
+  H_29(state, unused, out_9165541420774620727);
 }
-void car_h_28(double *state, double *unused, double *out_2553628423993388376) {
-  h_28(state, unused, out_2553628423993388376);
+void car_h_28(double *state, double *unused, double *out_2219679485258547244) {
+  h_28(state, unused, out_2219679485258547244);
 }
-void car_H_28(double *state, double *unused, double *out_4421597626969347153) {
-  H_28(state, unused, out_4421597626969347153);
+void car_H_28(double *state, double *unused, double *out_4083142403705090153) {
+  H_28(state, unused, out_4083142403705090153);
 }
-void car_h_31(double *state, double *unused, double *out_7359576434127226352) {
-  h_31(state, unused, out_7359576434127226352);
+void car_h_31(double *state, double *unused, double *out_8123605363405147013) {
+  h_31(state, unused, out_8123605363405147013);
 }
-void car_H_31(double *state, double *unused, double *out_9153750208744686041) {
-  H_31(state, unused, out_9153750208744686041);
+void car_H_31(double *state, double *unused, double *out_1769265696845572216) {
+  H_31(state, unused, out_1769265696845572216);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_6125726627663246664);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_87606233557452672);
-void car_H_mod_fun(double *state, double *out_1571740516032572076);
-void car_f_fun(double *state, double dt, double *out_7904413896065989389);
-void car_F_fun(double *state, double dt, double *out_6516583174049416628);
-void car_h_25(double *state, double *unused, double *out_6845996924949086281);
-void car_H_25(double *state, double *unused, double *out_4925282443857457875);
-void car_h_24(double *state, double *unused, double *out_76787194833890602);
-void car_H_24(double *state, double *unused, double *out_2493109189819469018);
-void car_h_30(double *state, double *unused, double *out_7304198287107647943);
-void car_H_30(double *state, double *unused, double *out_8993765299724485543);
-void car_h_26(double *state, double *unused, double *out_6360688434205985508);
-void car_H_26(double *state, double *unused, double *out_8666785762731514099);
-void car_h_27(double *state, double *unused, double *out_2448044843667457269);
-void car_H_27(double *state, double *unused, double *out_6819001987924060632);
-void car_h_29(double *state, double *unused, double *out_2302525019446802298);
-void car_H_29(double *state, double *unused, double *out_8942747429670673889);
-void car_h_28(double *state, double *unused, double *out_2553628423993388376);
-void car_H_28(double *state, double *unused, double *out_4421597626969347153);
-void car_h_31(double *state, double *unused, double *out_7359576434127226352);
-void car_H_31(double *state, double *unused, double *out_9153750208744686041);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1393219424364542669);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8544281472794776121);
+void car_H_mod_fun(double *state, double *out_542719001883324995);
+void car_f_fun(double *state, double dt, double *out_9203753821438188332);
+void car_F_fun(double *state, double dt, double *out_1821220582526959893);
+void car_h_25(double *state, double *unused, double *out_7848411301120641124);
+void car_H_25(double *state, double *unused, double *out_6136977117952979916);
+void car_h_24(double *state, double *unused, double *out_8292657587405145092);
+void car_H_24(double *state, double *unused, double *out_3964327518947480350);
+void car_h_30(double *state, double *unused, double *out_1692964105279980995);
+void car_H_30(double *state, double *unused, double *out_8655310076460228543);
+void car_h_26(double *state, double *unused, double *out_6694637372940826640);
+void car_H_26(double *state, double *unused, double *out_2395473799078923692);
+void car_h_27(double *state, double *unused, double *out_3658606002300167844);
+void car_H_27(double *state, double *unused, double *out_6480546764659803632);
+void car_h_29(double *state, double *unused, double *out_3383411940015661955);
+void car_H_29(double *state, double *unused, double *out_9165541420774620727);
+void car_h_28(double *state, double *unused, double *out_2219679485258547244);
+void car_H_28(double *state, double *unused, double *out_4083142403705090153);
+void car_h_31(double *state, double *unused, double *out_8123605363405147013);
+void car_H_31(double *state, double *unused, double *out_1769265696845572216);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_5340642756295943636);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6968876690248087810);
-void pose_H_mod_fun(double *state, double *out_3389862186663429553);
-void pose_f_fun(double *state, double dt, double *out_4802700997878092668);
-void pose_F_fun(double *state, double dt, double *out_8725044315227912670);
-void pose_h_4(double *state, double *unused, double *out_1359340648735360631);
-void pose_H_4(double *state, double *unused, double *out_4587809668546327657);
-void pose_h_10(double *state, double *unused, double *out_6036145492114111302);
-void pose_H_10(double *state, double *unused, double *out_7466880812702133914);
-void pose_h_13(double *state, double *unused, double *out_863073697323037062);
-void pose_H_13(double *state, double *unused, double *out_7800083493878660458);
-void pose_h_14(double *state, double *unused, double *out_1770197321873156194);
-void pose_H_14(double *state, double *unused, double *out_1505021236250955361);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_4967863734907407968);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_554301816764323460);
+void pose_H_mod_fun(double *state, double *out_3047027985808074405);
+void pose_f_fun(double *state, double dt, double *out_986492010673501731);
+void pose_F_fun(double *state, double dt, double *out_4336070434649428420);
+void pose_h_4(double *state, double *unused, double *out_5526642384709914880);
+void pose_H_4(double *state, double *unused, double *out_5691168246274914733);
+void pose_h_10(double *state, double *unused, double *out_6728942981811315921);
+void pose_H_10(double *state, double *unused, double *out_4278506402956144046);
+void pose_h_13(double *state, double *unused, double *out_1205451540469147746);
+void pose_H_13(double *state, double *unused, double *out_8903442071607247534);
+void pose_h_14(double *state, double *unused, double *out_3303339494882182614);
+void pose_H_14(double *state, double *unused, double *out_8792334971095152354);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
@@ -309,6 +309,11 @@ class StarPilotAppearanceLayout(_SettingsPage):
                       get_state=lambda: self._params.get_bool("ShowSteering"),
                       set_state=lambda s: self._params.put_bool("ShowSteering", s),
                       visible=hud_on),
+            SettingRow("EnableTorqueBarWidget", "toggle", tr_noop("Torque Bar"),
+                       subtitle=tr_noop("Show a curved torque-utilization indicator at the bottom of the driving screen."),
+                       get_state=lambda: self._params.get_bool("EnableTorqueBarWidget"),
+                       set_state=lambda s: self._params.put_bool("EnableTorqueBarWidget", s),
+                       visible=hud_on),
            SettingRow("SignalMetrics", "toggle", tr_noop("Turn Signal Borders"),
                       subtitle="",
                       get_state=lambda: self._params.get_bool("SignalMetrics"),
@@ -2,9 +2,20 @@ from __future__ import annotations

 import math

+import pyray as rl
+
 from openpilot.common.params import Params


+def blend_colors(a: rl.Color, b: rl.Color, f: float) -> rl.Color:
+  h0, s0, v0 = (hsv0 := rl.color_to_hsv(a)).x, hsv0.y, hsv0.z
+  h1, s1, v1 = (hsv1 := rl.color_to_hsv(b)).x, hsv1.y, hsv1.z
+  dh = ((h1 - h0 + 180) % 360) - 180  # shortest hue delta
+  return rl.color_from_hsv((h0 + f * dh) % 360,
+                           s0 + f * (s1 - s0),
+                           v0 + f * (v1 - v0))
+
+
 def get_border_width(base_width: int, params: Params | None = None) -> int:
  active_params = params if params is not None else Params()

@@ -60,6 +60,7 @@ class VisualsLayoutMici(NavScroller):
    self._driver_camera_btn = BigParamControl("driver camera on reverse", "DriverCamera")
    self._stopped_timer_btn = BigParamControl("stopped timer", "StoppedTimer")
    self._stock_confidence_ball_btn = BigParamControl("stock confidence ball", "StockConfidenceBallWidget")
+    self._torque_bar_btn = BigParamControl("torque bar", "EnableTorqueBarWidget")
    self._rainbow_path_btn = BigParamControl("rainbow road", "RainbowPath")
    self._lead_indicator_btn = LeadIndicatorBigButton()
    self._speed_limit_signs_btn = BigParamControl("speed limit signs", "ShowSpeedLimits")
@@ -72,6 +73,7 @@ class VisualsLayoutMici(NavScroller):
      self._driver_camera_btn,
      self._stopped_timer_btn,
      self._stock_confidence_ball_btn,
+      self._torque_bar_btn,
      self._rainbow_path_btn,
      self._lead_indicator_btn,
      self._speed_limit_signs_btn,
@@ -1,12 +1 @@
-import pyray as rl
-
 SIDE_PANEL_WIDTH = 60
-
-
-def blend_colors(a: rl.Color, b: rl.Color, f: float) -> rl.Color:
-  h0, s0, v0 = (hsv0 := rl.color_to_hsv(a)).x, hsv0.y, hsv0.z
-  h1, s1, v1 = (hsv1 := rl.color_to_hsv(b)).x, hsv1.y, hsv1.z
-  dh = ((h1 - h0 + 180) % 360) - 180  # shortest hue delta
-  return rl.color_from_hsv((h0 + f * dh) % 360,
-                           s0 + f * (s1 - s0),
-                           v0 + f * (v1 - v0))
@@ -3,7 +3,7 @@ import math
 import pyray as rl
 from dataclasses import dataclass
 from openpilot.common.constants import CV
-from openpilot.selfdrive.ui.mici.onroad.torque_bar import TorqueBar
+from openpilot.selfdrive.ui.onroad.starpilot.torque_bar import TorqueBar
 from openpilot.selfdrive.ui.mici.onroad.speed_limit_utils import resolve_display_speed_limit_ms
 from openpilot.selfdrive.ui.onroad.starpilot.navigation_card import NavigationCardRenderer
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
@@ -269,7 +269,8 @@ class HudRenderer(Widget):

  def render_foreground(self) -> None:
    """Draw HUD elements that should sit above alerts."""
-    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState':
+    if ui_state.sm['controlsState'].lateralControlState.which() != 'angleState' and \
+       ui_state.params.get_bool("EnableTorqueBarWidget", default=True):
      self._torque_bar.render(self._rect)

    if self.is_cruise_set:
@@ -9,9 +9,8 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
 from openpilot.selfdrive.ui.lib.starpilot_theme import get_param_color, get_theme_color, get_visual_color, is_stock_color_scheme, with_alpha
 from openpilot.selfdrive.ui.onroad.starpilot.rainbow_path import RainbowPath
-from openpilot.selfdrive.ui.lib.starpilot_visuals import lead_indicator_enabled
+from openpilot.selfdrive.ui.lib.starpilot_visuals import blend_colors, lead_indicator_enabled
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
-from openpilot.selfdrive.ui.mici.onroad import blend_colors
 from openpilot.selfdrive.ui.mici.onroad.starpilot_status import get_border_color
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
@@ -15,7 +15,6 @@ from openpilot.system.ui.widgets import Widget
 ASSETS_PATH = Path(__file__).resolve().parents[4] / "starpilot" / "assets" / "navigation"
 FALLBACK_ICON = "direction_turn_straight.png"
 NAV_CANCEL_HOLD_SECONDS = 0.65
-_LEFT_UI_EXTENT = 424  # left UI (DM icon + personality button) extent from content_rect.x: offset(126) + x_shift(202) + radius(96)


 def _format_distance(distance_m: float, is_metric: bool) -> str:
@@ -58,6 +57,7 @@ def _normalize_maneuver_type(maneuver_type: str) -> str:

 class NavigationCardRenderer(Widget):
  def __init__(self, layout_variant: str = "default"):
+    """layout_variant: "default" (tici/tizi) or "mici"."""
    super().__init__()
    self._font_bold = gui_app.font(FontWeight.BOLD)
    self._font_medium = gui_app.font(FontWeight.MEDIUM)
@@ -278,31 +278,31 @@ class NavigationCardRenderer(Widget):
      line_y = y + index * (font_size + line_gap)
      rl.draw_text_ex(self._font_bold, line, rl.Vector2(x, line_y), font_size, 0, rl.WHITE)

-  def _render_default(self, rect: rl.Rectangle) -> None:
-    container_width = min(int(rect.width - 2 * _LEFT_UI_EXTENT - 20), 1080)
-    container_width = max(container_width, 760)
-    container_height = 225 if rect.width >= 1200 else 195
-    container_x = int(rect.x + (rect.width - container_width) / 2)
-    container_y = int(rect.y + rect.height - container_height - 80)
-    border_radius = 42 if container_height == 225 else 34
-    icon_size = 150 if container_height == 225 else 122
-    icon_padding = 30 if container_height == 225 else 24
-    then_section_width = 180 if container_height == 225 else 144
-    then_icon_size = 105 if container_height == 225 else 82
-    preferred_font_size = 75 if container_height == 225 else 58
-    minimum_font_size = 60 if container_height == 225 else 46
-    distance_font_size = 48 if container_height == 225 else 40
+  def _render_default(self, rect: rl.Rectangle) -> None:  # tici/tizi expanded card
+    right_margin = 40
+    card_width = 560
+    card_height = 195
+    container_x = int(rect.x + rect.width - card_width - right_margin)
+    container_y = int(rect.y + rect.height - card_height - 440)

-    container = rl.Rectangle(container_x, container_y, container_width, container_height)
+    icon_size = 100
+    icon_padding = 24
+    then_section_width = 130
+    then_icon_size = 72
+    preferred_font_size = 48
+    minimum_font_size = 38
+    distance_font_size = 32
+
+    container = rl.Rectangle(container_x, container_y, card_width, card_height)
    self._interactive_rect = container
-    rl.draw_rectangle_rounded(container, border_radius / container_height, 10, rl.Color(0, 0, 0, 192))
+    rl.draw_rectangle_rounded(container, 34 / card_height, 10, rl.Color(0, 0, 0, 192))

    icon_x = container_x + icon_padding
    icon = self._get_icon(self._maneuver_type, self._modifier)

    distance_size = measure_text_cached(self._font_bold, self._distance, distance_font_size)
    icon_block_height = icon_size + 8 + int(distance_size.y)
-    icon_y = container_y + (container_height - icon_block_height) // 2
+    icon_y = container_y + (card_height - icon_block_height) // 2
    dest_rect = rl.Rectangle(icon_x, icon_y, icon_size, icon_size)
    rl.draw_texture_pro(icon, rl.Rectangle(0, 0, icon.width, icon.height), dest_rect, rl.Vector2(0, 0), 0, rl.WHITE)

@@ -311,16 +311,17 @@ class NavigationCardRenderer(Widget):
    rl.draw_text_ex(self._font_bold, self._distance, rl.Vector2(distance_x, distance_y), distance_font_size, 0, rl.WHITE)

    show_next = self._has_next
-    text_x = icon_x + icon_size + 53
+    gap_after_icon = 32
+    text_x = icon_x + icon_size + gap_after_icon
    right_gutter = icon_padding + (then_section_width if show_next else 0)
-    text_area_width = container_width - (text_x - container_x) - right_gutter
+    text_area_width = card_width - (text_x - container_x) - right_gutter
    title_lines, title_font_size = self._fit_title(self._primary_text, text_area_width, preferred_font_size, minimum_font_size)

-    secondary_font_size = 38 if container_height == 225 else 30
+    secondary_font_size = 26
    text_block_h = len(title_lines) * title_font_size
    if self._secondary_text:
      text_block_h += 8 + secondary_font_size
-    text_block_y = container_y + (container_height - text_block_h) // 2
+    text_block_y = container_y + (card_height - text_block_h) // 2

    for index, line in enumerate(title_lines[:2]):
      rl.draw_text_ex(self._font_bold, line, rl.Vector2(text_x, text_block_y + index * title_font_size), title_font_size, 0, rl.WHITE)
@@ -340,24 +341,24 @@ class NavigationCardRenderer(Widget):
    if not show_next:
      return

-    divider_x = container_x + container_width - then_section_width - 8
+    divider_x = container_x + card_width - then_section_width - 8
    rl.draw_line_ex(
      rl.Vector2(divider_x, container_y + 23),
-      rl.Vector2(divider_x, container_y + container_height - 23),
+      rl.Vector2(divider_x, container_y + card_height - 23),
      2,
      rl.Color(255, 255, 255, 50),
    )

    then_x = divider_x + 15
    then_label = "Then"
-    then_font_size = 53 if container_height == 225 else 40
+    then_font_size = 36
    then_size = measure_text_cached(self._font_medium, then_label, then_font_size)
    then_label_x = then_x + (then_section_width - 23 - then_size.x) / 2
    rl.draw_text_ex(self._font_medium, then_label, rl.Vector2(then_label_x, container_y + 30), then_font_size, 0, rl.WHITE)

    next_icon = self._get_icon(self._next_maneuver_type, self._next_modifier)
    then_icon_x = then_x + (then_section_width - 23 - then_icon_size) / 2
-    then_icon_y = container_y + (84 if container_height == 225 else 72)
+    then_icon_y = container_y + 72
    rl.draw_texture_pro(
      next_icon,
      rl.Rectangle(0, 0, next_icon.width, next_icon.height),
@@ -367,10 +368,10 @@ class NavigationCardRenderer(Widget):
      rl.WHITE,
    )

-  def _render_collapsed_default(self, rect: rl.Rectangle) -> None:
+  def _render_collapsed_default(self, rect: rl.Rectangle) -> None:  # tici/tizi collapsed chip
    chip_size = 94
-    chip_x = int(rect.x + rect.width - 126 - chip_size / 2)  # center-aligned with steering wheel icon horizontally
-    chip_y = int(rect.y + (rect.height - chip_size) / 2)  # half way down vertically
+    chip_x = int(rect.x + rect.width - chip_size - 40)  # right-aligned, 40px margin
+    chip_y = int(rect.y + 340)  # above expanded card
    chip_rect = rl.Rectangle(chip_x, chip_y, chip_size, chip_size)
    self._interactive_rect = chip_rect

@@ -390,7 +391,7 @@ class NavigationCardRenderer(Widget):
      rl.WHITE,
    )

-  def _render_mici(self, rect: rl.Rectangle) -> None:
+  def _render_mici(self, rect: rl.Rectangle) -> None:  # MICI expanded card
    left_safe = 96
    right_margin = 12
    available_width = max(260, int(rect.width - left_safe - right_margin))
@@ -485,7 +486,7 @@ class NavigationCardRenderer(Widget):
      rl.WHITE,
    )

-  def _render_collapsed_mici(self, rect: rl.Rectangle) -> None:
+  def _render_collapsed_mici(self, rect: rl.Rectangle) -> None:  # MICI collapsed chip
    chip_size = 72
    right_reserved = 160
    chip_x = int(rect.x + rect.width - chip_size - right_reserved)
@@ -515,11 +516,11 @@ class NavigationCardRenderer(Widget):
      return
    if self._collapsed:
      if self._layout_variant == "mici":
-        self._render_collapsed_mici(rect)
+        self._render_collapsed_mici(rect)        # MICI: top-right chip
      else:
-        self._render_collapsed_default(rect)
+        self._render_collapsed_default(rect)     # tici/tizi: right edge
      return
    if self._layout_variant == "mici":
-      self._render_mici(rect)
+      self._render_mici(rect)                     # MICI: top-left card
    else:
-      self._render_default(rect)
+      self._render_default(rect)                  # tici/tizi: right edge, bottom-aligned
@@ -12,6 +12,7 @@ from openpilot.selfdrive.ui.onroad.starpilot.slc_speed_limit import (
 )
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.selfdrive.ui.onroad.starpilot.aethergauge import AetherGauge
+from openpilot.selfdrive.ui.onroad.starpilot.torque_bar import TorqueBar
 from openpilot.selfdrive.ui.lib.starpilot_status import (
    get_screen_edge_color, ENGAGED_COLOR,
    EXPERIMENTAL_COLOR, TRAFFIC_COLOR,
@@ -30,6 +31,7 @@ class StarPilotOnroadView(AugmentedRoadView):
    self._font_medium = gui_app.font(FontWeight.MEDIUM)
    self._standstill_started_at = 0.0
    self._aethergauge = AetherGauge()
+    self._torque_bar = TorqueBar()

  def _render(self, rect: rl.Rectangle):
    self._position_personality_button()
@@ -72,9 +74,23 @@ class StarPilotOnroadView(AugmentedRoadView):
      )
    else:
      self._aethergauge.render(self._content_rect, self._font_bold, self._font_medium, current_speed=self._hud_renderer.speed)
+    self._render_torque_bar()
    self._render_bottom_row_widgets()
    self._render_pedals()

+  def _render_torque_bar(self) -> None:
+    """Draw the curved torque-utilization indicator at the bottom of the screen."""
+    if not self._params.get_bool("EnableTorqueBarWidget", default=True):
+      return
+    if ui_state.sm['controlsState'].lateralControlState.which() == 'angleState':
+      return
+    rl.begin_scissor_mode(
+      int(self._content_rect.x), int(self._content_rect.y),
+      int(self._content_rect.width), int(self._content_rect.height),
+    )
+    self._torque_bar.render(self._content_rect)
+    rl.end_scissor_mode()
+
  def _render_path_features(self, rect: rl.Rectangle):
    """Render path-related features (adjacent paths, blind spot, path edges)."""
    mr = self.model_renderer
@@ -6,7 +6,7 @@ from collections import OrderedDict
 import numpy as np
 import pyray as rl
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.selfdrive.ui.mici.onroad import blend_colors
+from openpilot.selfdrive.ui.lib.starpilot_visuals import blend_colors
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.shader_polygon import draw_polygon, Gradient
@@ -189,9 +189,10 @@ class TorqueBar(Widget):
      self._torque_filter.update(-ui_state.sm['carOutput'].actuatorsOutput.torque)

  def _render(self, rect: rl.Rectangle) -> None:
+    SCALE = rect.height / 240.0
    # adjust y pos with torque
-    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22, 26])
-    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14, 56])
+    torque_line_offset = np.interp(abs(self._torque_filter.x), [0.5, 1], [22 * SCALE, 26 * SCALE])
+    torque_line_height = np.interp(abs(self._torque_filter.x), [0.5, 1], [14 * SCALE, 56 * SCALE])
    lateral_ui_active = ui_state.status == UIStatus.ENGAGED or ui_state.always_on_lateral_active

    # animate alpha and angle span
@@ -206,7 +207,7 @@ class TorqueBar(Widget):
      torque_line_bg_color = rl.Color(255, 255, 255, int(255 * 0.15 * self._torque_line_alpha_filter.x))

    # draw curved line polygon torque bar
-    torque_line_radius = 1200
+    torque_line_radius = 1200 * SCALE
    top_angle = -90
    torque_bg_angle_span = self._torque_line_alpha_filter.x * TORQUE_ANGLE_SPAN
    torque_start_angle = top_angle - torque_bg_angle_span / 2
@@ -263,5 +264,5 @@ class TorqueBar(Widget):
    # draw center torque bar dot
    if abs(self._torque_filter.x) < 0.5:
      dot_y = self._rect.y + self._rect.height - torque_line_offset - torque_line_height / 2
-      rl.draw_circle(int(cx), int(dot_y), 10 // 2,
+      rl.draw_circle(int(cx), int(dot_y), (10 * SCALE) / 2,
                     rl.Color(182, 182, 182, int(255 * 0.9 * self._torque_line_alpha_filter.x)))