Chestnut Diagnostics

cereal/log.capnp

@@ -774,6 +774,7 @@ struct ChestnutState {
   pcieLtssm @7 :UInt8;
   supplyVoltage @8 :UInt16;  # mV
   supplyCurrent @9 :Int16;  # mA
+  supplyFault @10 :Bool;
 }
 
 struct RadarState @0x9a185389d6fdd05f {

common/params_keys.h

@@ -113,6 +113,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-a5d7db3b-DEBUG";
+const uint8_t gitversion[19] = "DEV-c03d06b4-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-a5d7db3b-DEBUG
+DEV-c03d06b4-DEBUG

selfdrive/locationd/models/generated/car.cpp

@@ -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_7751375231448978305) {
-   out_7751375231448978305[0] = delta_x[0] + nom_x[0];
-   out_7751375231448978305[1] = delta_x[1] + nom_x[1];
-   out_7751375231448978305[2] = delta_x[2] + nom_x[2];
-   out_7751375231448978305[3] = delta_x[3] + nom_x[3];
-   out_7751375231448978305[4] = delta_x[4] + nom_x[4];
-   out_7751375231448978305[5] = delta_x[5] + nom_x[5];
-   out_7751375231448978305[6] = delta_x[6] + nom_x[6];
-   out_7751375231448978305[7] = delta_x[7] + nom_x[7];
-   out_7751375231448978305[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_789804740016769707) {
+   out_789804740016769707[0] = delta_x[0] + nom_x[0];
+   out_789804740016769707[1] = delta_x[1] + nom_x[1];
+   out_789804740016769707[2] = delta_x[2] + nom_x[2];
+   out_789804740016769707[3] = delta_x[3] + nom_x[3];
+   out_789804740016769707[4] = delta_x[4] + nom_x[4];
+   out_789804740016769707[5] = delta_x[5] + nom_x[5];
+   out_789804740016769707[6] = delta_x[6] + nom_x[6];
+   out_789804740016769707[7] = delta_x[7] + nom_x[7];
+   out_789804740016769707[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_1186045100449225538) {
-   out_1186045100449225538[0] = -nom_x[0] + true_x[0];
-   out_1186045100449225538[1] = -nom_x[1] + true_x[1];
-   out_1186045100449225538[2] = -nom_x[2] + true_x[2];
-   out_1186045100449225538[3] = -nom_x[3] + true_x[3];
-   out_1186045100449225538[4] = -nom_x[4] + true_x[4];
-   out_1186045100449225538[5] = -nom_x[5] + true_x[5];
-   out_1186045100449225538[6] = -nom_x[6] + true_x[6];
-   out_1186045100449225538[7] = -nom_x[7] + true_x[7];
-   out_1186045100449225538[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509) {
+   out_385986033898548509[0] = -nom_x[0] + true_x[0];
+   out_385986033898548509[1] = -nom_x[1] + true_x[1];
+   out_385986033898548509[2] = -nom_x[2] + true_x[2];
+   out_385986033898548509[3] = -nom_x[3] + true_x[3];
+   out_385986033898548509[4] = -nom_x[4] + true_x[4];
+   out_385986033898548509[5] = -nom_x[5] + true_x[5];
+   out_385986033898548509[6] = -nom_x[6] + true_x[6];
+   out_385986033898548509[7] = -nom_x[7] + true_x[7];
+   out_385986033898548509[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_5403210608595880924) {
-   out_5403210608595880924[0] = 1.0;
-   out_5403210608595880924[1] = 0.0;
-   out_5403210608595880924[2] = 0.0;
-   out_5403210608595880924[3] = 0.0;
-   out_5403210608595880924[4] = 0.0;
-   out_5403210608595880924[5] = 0.0;
-   out_5403210608595880924[6] = 0.0;
-   out_5403210608595880924[7] = 0.0;
-   out_5403210608595880924[8] = 0.0;
-   out_5403210608595880924[9] = 0.0;
-   out_5403210608595880924[10] = 1.0;
-   out_5403210608595880924[11] = 0.0;
-   out_5403210608595880924[12] = 0.0;
-   out_5403210608595880924[13] = 0.0;
-   out_5403210608595880924[14] = 0.0;
-   out_5403210608595880924[15] = 0.0;
-   out_5403210608595880924[16] = 0.0;
-   out_5403210608595880924[17] = 0.0;
-   out_5403210608595880924[18] = 0.0;
-   out_5403210608595880924[19] = 0.0;
-   out_5403210608595880924[20] = 1.0;
-   out_5403210608595880924[21] = 0.0;
-   out_5403210608595880924[22] = 0.0;
-   out_5403210608595880924[23] = 0.0;
-   out_5403210608595880924[24] = 0.0;
-   out_5403210608595880924[25] = 0.0;
-   out_5403210608595880924[26] = 0.0;
-   out_5403210608595880924[27] = 0.0;
-   out_5403210608595880924[28] = 0.0;
-   out_5403210608595880924[29] = 0.0;
-   out_5403210608595880924[30] = 1.0;
-   out_5403210608595880924[31] = 0.0;
-   out_5403210608595880924[32] = 0.0;
-   out_5403210608595880924[33] = 0.0;
-   out_5403210608595880924[34] = 0.0;
-   out_5403210608595880924[35] = 0.0;
-   out_5403210608595880924[36] = 0.0;
-   out_5403210608595880924[37] = 0.0;
-   out_5403210608595880924[38] = 0.0;
-   out_5403210608595880924[39] = 0.0;
-   out_5403210608595880924[40] = 1.0;
-   out_5403210608595880924[41] = 0.0;
-   out_5403210608595880924[42] = 0.0;
-   out_5403210608595880924[43] = 0.0;
-   out_5403210608595880924[44] = 0.0;
-   out_5403210608595880924[45] = 0.0;
-   out_5403210608595880924[46] = 0.0;
-   out_5403210608595880924[47] = 0.0;
-   out_5403210608595880924[48] = 0.0;
-   out_5403210608595880924[49] = 0.0;
-   out_5403210608595880924[50] = 1.0;
-   out_5403210608595880924[51] = 0.0;
-   out_5403210608595880924[52] = 0.0;
-   out_5403210608595880924[53] = 0.0;
-   out_5403210608595880924[54] = 0.0;
-   out_5403210608595880924[55] = 0.0;
-   out_5403210608595880924[56] = 0.0;
-   out_5403210608595880924[57] = 0.0;
-   out_5403210608595880924[58] = 0.0;
-   out_5403210608595880924[59] = 0.0;
-   out_5403210608595880924[60] = 1.0;
-   out_5403210608595880924[61] = 0.0;
-   out_5403210608595880924[62] = 0.0;
-   out_5403210608595880924[63] = 0.0;
-   out_5403210608595880924[64] = 0.0;
-   out_5403210608595880924[65] = 0.0;
-   out_5403210608595880924[66] = 0.0;
-   out_5403210608595880924[67] = 0.0;
-   out_5403210608595880924[68] = 0.0;
-   out_5403210608595880924[69] = 0.0;
-   out_5403210608595880924[70] = 1.0;
-   out_5403210608595880924[71] = 0.0;
-   out_5403210608595880924[72] = 0.0;
-   out_5403210608595880924[73] = 0.0;
-   out_5403210608595880924[74] = 0.0;
-   out_5403210608595880924[75] = 0.0;
-   out_5403210608595880924[76] = 0.0;
-   out_5403210608595880924[77] = 0.0;
-   out_5403210608595880924[78] = 0.0;
-   out_5403210608595880924[79] = 0.0;
-   out_5403210608595880924[80] = 1.0;
+void H_mod_fun(double *state, double *out_4046004184415297016) {
+   out_4046004184415297016[0] = 1.0;
+   out_4046004184415297016[1] = 0.0;
+   out_4046004184415297016[2] = 0.0;
+   out_4046004184415297016[3] = 0.0;
+   out_4046004184415297016[4] = 0.0;
+   out_4046004184415297016[5] = 0.0;
+   out_4046004184415297016[6] = 0.0;
+   out_4046004184415297016[7] = 0.0;
+   out_4046004184415297016[8] = 0.0;
+   out_4046004184415297016[9] = 0.0;
+   out_4046004184415297016[10] = 1.0;
+   out_4046004184415297016[11] = 0.0;
+   out_4046004184415297016[12] = 0.0;
+   out_4046004184415297016[13] = 0.0;
+   out_4046004184415297016[14] = 0.0;
+   out_4046004184415297016[15] = 0.0;
+   out_4046004184415297016[16] = 0.0;
+   out_4046004184415297016[17] = 0.0;
+   out_4046004184415297016[18] = 0.0;
+   out_4046004184415297016[19] = 0.0;
+   out_4046004184415297016[20] = 1.0;
+   out_4046004184415297016[21] = 0.0;
+   out_4046004184415297016[22] = 0.0;
+   out_4046004184415297016[23] = 0.0;
+   out_4046004184415297016[24] = 0.0;
+   out_4046004184415297016[25] = 0.0;
+   out_4046004184415297016[26] = 0.0;
+   out_4046004184415297016[27] = 0.0;
+   out_4046004184415297016[28] = 0.0;
+   out_4046004184415297016[29] = 0.0;
+   out_4046004184415297016[30] = 1.0;
+   out_4046004184415297016[31] = 0.0;
+   out_4046004184415297016[32] = 0.0;
+   out_4046004184415297016[33] = 0.0;
+   out_4046004184415297016[34] = 0.0;
+   out_4046004184415297016[35] = 0.0;
+   out_4046004184415297016[36] = 0.0;
+   out_4046004184415297016[37] = 0.0;
+   out_4046004184415297016[38] = 0.0;
+   out_4046004184415297016[39] = 0.0;
+   out_4046004184415297016[40] = 1.0;
+   out_4046004184415297016[41] = 0.0;
+   out_4046004184415297016[42] = 0.0;
+   out_4046004184415297016[43] = 0.0;
+   out_4046004184415297016[44] = 0.0;
+   out_4046004184415297016[45] = 0.0;
+   out_4046004184415297016[46] = 0.0;
+   out_4046004184415297016[47] = 0.0;
+   out_4046004184415297016[48] = 0.0;
+   out_4046004184415297016[49] = 0.0;
+   out_4046004184415297016[50] = 1.0;
+   out_4046004184415297016[51] = 0.0;
+   out_4046004184415297016[52] = 0.0;
+   out_4046004184415297016[53] = 0.0;
+   out_4046004184415297016[54] = 0.0;
+   out_4046004184415297016[55] = 0.0;
+   out_4046004184415297016[56] = 0.0;
+   out_4046004184415297016[57] = 0.0;
+   out_4046004184415297016[58] = 0.0;
+   out_4046004184415297016[59] = 0.0;
+   out_4046004184415297016[60] = 1.0;
+   out_4046004184415297016[61] = 0.0;
+   out_4046004184415297016[62] = 0.0;
+   out_4046004184415297016[63] = 0.0;
+   out_4046004184415297016[64] = 0.0;
+   out_4046004184415297016[65] = 0.0;
+   out_4046004184415297016[66] = 0.0;
+   out_4046004184415297016[67] = 0.0;
+   out_4046004184415297016[68] = 0.0;
+   out_4046004184415297016[69] = 0.0;
+   out_4046004184415297016[70] = 1.0;
+   out_4046004184415297016[71] = 0.0;
+   out_4046004184415297016[72] = 0.0;
+   out_4046004184415297016[73] = 0.0;
+   out_4046004184415297016[74] = 0.0;
+   out_4046004184415297016[75] = 0.0;
+   out_4046004184415297016[76] = 0.0;
+   out_4046004184415297016[77] = 0.0;
+   out_4046004184415297016[78] = 0.0;
+   out_4046004184415297016[79] = 0.0;
+   out_4046004184415297016[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_3846473641327680019) {
-   out_3846473641327680019[0] = state[0];
-   out_3846473641327680019[1] = state[1];
-   out_3846473641327680019[2] = state[2];
-   out_3846473641327680019[3] = state[3];
-   out_3846473641327680019[4] = state[4];
-   out_3846473641327680019[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_3846473641327680019[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_3846473641327680019[7] = state[7];
-   out_3846473641327680019[8] = state[8];
+void f_fun(double *state, double dt, double *out_467921565295650481) {
+   out_467921565295650481[0] = state[0];
+   out_467921565295650481[1] = state[1];
+   out_467921565295650481[2] = state[2];
+   out_467921565295650481[3] = state[3];
+   out_467921565295650481[4] = state[4];
+   out_467921565295650481[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_467921565295650481[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_467921565295650481[7] = state[7];
+   out_467921565295650481[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_6505574540477860652) {
-   out_6505574540477860652[0] = 1;
-   out_6505574540477860652[1] = 0;
-   out_6505574540477860652[2] = 0;
-   out_6505574540477860652[3] = 0;
-   out_6505574540477860652[4] = 0;
-   out_6505574540477860652[5] = 0;
-   out_6505574540477860652[6] = 0;
-   out_6505574540477860652[7] = 0;
-   out_6505574540477860652[8] = 0;
-   out_6505574540477860652[9] = 0;
-   out_6505574540477860652[10] = 1;
-   out_6505574540477860652[11] = 0;
-   out_6505574540477860652[12] = 0;
-   out_6505574540477860652[13] = 0;
-   out_6505574540477860652[14] = 0;
-   out_6505574540477860652[15] = 0;
-   out_6505574540477860652[16] = 0;
-   out_6505574540477860652[17] = 0;
-   out_6505574540477860652[18] = 0;
-   out_6505574540477860652[19] = 0;
-   out_6505574540477860652[20] = 1;
-   out_6505574540477860652[21] = 0;
-   out_6505574540477860652[22] = 0;
-   out_6505574540477860652[23] = 0;
-   out_6505574540477860652[24] = 0;
-   out_6505574540477860652[25] = 0;
-   out_6505574540477860652[26] = 0;
-   out_6505574540477860652[27] = 0;
-   out_6505574540477860652[28] = 0;
-   out_6505574540477860652[29] = 0;
-   out_6505574540477860652[30] = 1;
-   out_6505574540477860652[31] = 0;
-   out_6505574540477860652[32] = 0;
-   out_6505574540477860652[33] = 0;
-   out_6505574540477860652[34] = 0;
-   out_6505574540477860652[35] = 0;
-   out_6505574540477860652[36] = 0;
-   out_6505574540477860652[37] = 0;
-   out_6505574540477860652[38] = 0;
-   out_6505574540477860652[39] = 0;
-   out_6505574540477860652[40] = 1;
-   out_6505574540477860652[41] = 0;
-   out_6505574540477860652[42] = 0;
-   out_6505574540477860652[43] = 0;
-   out_6505574540477860652[44] = 0;
-   out_6505574540477860652[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_6505574540477860652[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_6505574540477860652[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6505574540477860652[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6505574540477860652[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_6505574540477860652[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_6505574540477860652[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_6505574540477860652[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6505574540477860652[53] = -9.8100000000000005*dt;
-   out_6505574540477860652[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_6505574540477860652[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_6505574540477860652[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6505574540477860652[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6505574540477860652[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_6505574540477860652[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_6505574540477860652[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_6505574540477860652[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6505574540477860652[62] = 0;
-   out_6505574540477860652[63] = 0;
-   out_6505574540477860652[64] = 0;
-   out_6505574540477860652[65] = 0;
-   out_6505574540477860652[66] = 0;
-   out_6505574540477860652[67] = 0;
-   out_6505574540477860652[68] = 0;
-   out_6505574540477860652[69] = 0;
-   out_6505574540477860652[70] = 1;
-   out_6505574540477860652[71] = 0;
-   out_6505574540477860652[72] = 0;
-   out_6505574540477860652[73] = 0;
-   out_6505574540477860652[74] = 0;
-   out_6505574540477860652[75] = 0;
-   out_6505574540477860652[76] = 0;
-   out_6505574540477860652[77] = 0;
-   out_6505574540477860652[78] = 0;
-   out_6505574540477860652[79] = 0;
-   out_6505574540477860652[80] = 1;
+void F_fun(double *state, double dt, double *out_2429260194375294140) {
+   out_2429260194375294140[0] = 1;
+   out_2429260194375294140[1] = 0;
+   out_2429260194375294140[2] = 0;
+   out_2429260194375294140[3] = 0;
+   out_2429260194375294140[4] = 0;
+   out_2429260194375294140[5] = 0;
+   out_2429260194375294140[6] = 0;
+   out_2429260194375294140[7] = 0;
+   out_2429260194375294140[8] = 0;
+   out_2429260194375294140[9] = 0;
+   out_2429260194375294140[10] = 1;
+   out_2429260194375294140[11] = 0;
+   out_2429260194375294140[12] = 0;
+   out_2429260194375294140[13] = 0;
+   out_2429260194375294140[14] = 0;
+   out_2429260194375294140[15] = 0;
+   out_2429260194375294140[16] = 0;
+   out_2429260194375294140[17] = 0;
+   out_2429260194375294140[18] = 0;
+   out_2429260194375294140[19] = 0;
+   out_2429260194375294140[20] = 1;
+   out_2429260194375294140[21] = 0;
+   out_2429260194375294140[22] = 0;
+   out_2429260194375294140[23] = 0;
+   out_2429260194375294140[24] = 0;
+   out_2429260194375294140[25] = 0;
+   out_2429260194375294140[26] = 0;
+   out_2429260194375294140[27] = 0;
+   out_2429260194375294140[28] = 0;
+   out_2429260194375294140[29] = 0;
+   out_2429260194375294140[30] = 1;
+   out_2429260194375294140[31] = 0;
+   out_2429260194375294140[32] = 0;
+   out_2429260194375294140[33] = 0;
+   out_2429260194375294140[34] = 0;
+   out_2429260194375294140[35] = 0;
+   out_2429260194375294140[36] = 0;
+   out_2429260194375294140[37] = 0;
+   out_2429260194375294140[38] = 0;
+   out_2429260194375294140[39] = 0;
+   out_2429260194375294140[40] = 1;
+   out_2429260194375294140[41] = 0;
+   out_2429260194375294140[42] = 0;
+   out_2429260194375294140[43] = 0;
+   out_2429260194375294140[44] = 0;
+   out_2429260194375294140[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_2429260194375294140[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2429260194375294140[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2429260194375294140[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2429260194375294140[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_2429260194375294140[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2429260194375294140[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2429260194375294140[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2429260194375294140[53] = -9.8100000000000005*dt;
+   out_2429260194375294140[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_2429260194375294140[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2429260194375294140[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2429260194375294140[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2429260194375294140[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_2429260194375294140[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2429260194375294140[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_2429260194375294140[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2429260194375294140[62] = 0;
+   out_2429260194375294140[63] = 0;
+   out_2429260194375294140[64] = 0;
+   out_2429260194375294140[65] = 0;
+   out_2429260194375294140[66] = 0;
+   out_2429260194375294140[67] = 0;
+   out_2429260194375294140[68] = 0;
+   out_2429260194375294140[69] = 0;
+   out_2429260194375294140[70] = 1;
+   out_2429260194375294140[71] = 0;
+   out_2429260194375294140[72] = 0;
+   out_2429260194375294140[73] = 0;
+   out_2429260194375294140[74] = 0;
+   out_2429260194375294140[75] = 0;
+   out_2429260194375294140[76] = 0;
+   out_2429260194375294140[77] = 0;
+   out_2429260194375294140[78] = 0;
+   out_2429260194375294140[79] = 0;
+   out_2429260194375294140[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_1325906349074366668) {
-   out_1325906349074366668[0] = state[6];
+void h_25(double *state, double *unused, double *out_4530459753918271082) {
+   out_4530459753918271082[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_693697758010493692) {
-   out_693697758010493692[0] = 0;
-   out_693697758010493692[1] = 0;
-   out_693697758010493692[2] = 0;
-   out_693697758010493692[3] = 0;
-   out_693697758010493692[4] = 0;
-   out_693697758010493692[5] = 0;
-   out_693697758010493692[6] = 1;
-   out_693697758010493692[7] = 0;
-   out_693697758010493692[8] = 0;
+void H_25(double *state, double *unused, double *out_4551338626615593728) {
+   out_4551338626615593728[0] = 0;
+   out_4551338626615593728[1] = 0;
+   out_4551338626615593728[2] = 0;
+   out_4551338626615593728[3] = 0;
+   out_4551338626615593728[4] = 0;
+   out_4551338626615593728[5] = 0;
+   out_4551338626615593728[6] = 1;
+   out_4551338626615593728[7] = 0;
+   out_4551338626615593728[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_7507130987037302702) {
-   out_7507130987037302702[0] = state[4];
-   out_7507130987037302702[1] = state[5];
+void h_24(double *state, double *unused, double *out_211848015086222289) {
+   out_211848015086222289[0] = state[4];
+   out_211848015086222289[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_2864227840791829444) {
-   out_2864227840791829444[0] = 0;
-   out_2864227840791829444[1] = 0;
-   out_2864227840791829444[2] = 0;
-   out_2864227840791829444[3] = 0;
-   out_2864227840791829444[4] = 1;
-   out_2864227840791829444[5] = 0;
-   out_2864227840791829444[6] = 0;
-   out_2864227840791829444[7] = 0;
-   out_2864227840791829444[8] = 0;
-   out_2864227840791829444[9] = 0;
-   out_2864227840791829444[10] = 0;
-   out_2864227840791829444[11] = 0;
-   out_2864227840791829444[12] = 0;
-   out_2864227840791829444[13] = 0;
-   out_2864227840791829444[14] = 1;
-   out_2864227840791829444[15] = 0;
-   out_2864227840791829444[16] = 0;
-   out_2864227840791829444[17] = 0;
+void H_24(double *state, double *unused, double *out_7319833640502439787) {
+   out_7319833640502439787[0] = 0;
+   out_7319833640502439787[1] = 0;
+   out_7319833640502439787[2] = 0;
+   out_7319833640502439787[3] = 0;
+   out_7319833640502439787[4] = 1;
+   out_7319833640502439787[5] = 0;
+   out_7319833640502439787[6] = 0;
+   out_7319833640502439787[7] = 0;
+   out_7319833640502439787[8] = 0;
+   out_7319833640502439787[9] = 0;
+   out_7319833640502439787[10] = 0;
+   out_7319833640502439787[11] = 0;
+   out_7319833640502439787[12] = 0;
+   out_7319833640502439787[13] = 0;
+   out_7319833640502439787[14] = 1;
+   out_7319833640502439787[15] = 0;
+   out_7319833640502439787[16] = 0;
+   out_7319833640502439787[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_6134652415174521657) {
-   out_6134652415174521657[0] = state[4];
+void h_30(double *state, double *unused, double *out_4687646422269400227) {
+   out_4687646422269400227[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_1824635200496754935) {
-   out_1824635200496754935[0] = 0;
-   out_1824635200496754935[1] = 0;
-   out_1824635200496754935[2] = 0;
-   out_1824635200496754935[3] = 0;
-   out_1824635200496754935[4] = 1;
-   out_1824635200496754935[5] = 0;
-   out_1824635200496754935[6] = 0;
-   out_1824635200496754935[7] = 0;
-   out_1824635200496754935[8] = 0;
+void H_30(double *state, double *unused, double *out_4421999679472353658) {
+   out_4421999679472353658[0] = 0;
+   out_4421999679472353658[1] = 0;
+   out_4421999679472353658[2] = 0;
+   out_4421999679472353658[3] = 0;
+   out_4421999679472353658[4] = 1;
+   out_4421999679472353658[5] = 0;
+   out_4421999679472353658[6] = 0;
+   out_4421999679472353658[7] = 0;
+   out_4421999679472353658[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_3515782194269032819) {
-   out_3515782194269032819[0] = state[7];
+void h_26(double *state, double *unused, double *out_1875094318999546844) {
+   out_1875094318999546844[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_4435201076884549916) {
-   out_4435201076884549916[0] = 0;
-   out_4435201076884549916[1] = 0;
-   out_4435201076884549916[2] = 0;
-   out_4435201076884549916[3] = 0;
-   out_4435201076884549916[4] = 0;
-   out_4435201076884549916[5] = 0;
-   out_4435201076884549916[6] = 0;
-   out_4435201076884549916[7] = 1;
-   out_4435201076884549916[8] = 0;
+void H_26(double *state, double *unused, double *out_809835307741537504) {
+   out_809835307741537504[0] = 0;
+   out_809835307741537504[1] = 0;
+   out_809835307741537504[2] = 0;
+   out_809835307741537504[3] = 0;
+   out_809835307741537504[4] = 0;
+   out_809835307741537504[5] = 0;
+   out_809835307741537504[6] = 0;
+   out_809835307741537504[7] = 1;
+   out_809835307741537504[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_5073135168339482478) {
-   out_5073135168339482478[0] = state[3];
+void h_27(double *state, double *unused, double *out_8953904322109987302) {
+   out_8953904322109987302[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_4048229271680698152) {
-   out_4048229271680698152[0] = 0;
-   out_4048229271680698152[1] = 0;
-   out_4048229271680698152[2] = 0;
-   out_4048229271680698152[3] = 1;
-   out_4048229271680698152[4] = 0;
-   out_4048229271680698152[5] = 0;
-   out_4048229271680698152[6] = 0;
-   out_4048229271680698152[7] = 0;
-   out_4048229271680698152[8] = 0;
+void H_27(double *state, double *unused, double *out_2247236367671928747) {
+   out_2247236367671928747[0] = 0;
+   out_2247236367671928747[1] = 0;
+   out_2247236367671928747[2] = 0;
+   out_2247236367671928747[3] = 1;
+   out_2247236367671928747[4] = 0;
+   out_2247236367671928747[5] = 0;
+   out_2247236367671928747[6] = 0;
+   out_2247236367671928747[7] = 0;
+   out_2247236367671928747[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_9171438466618854342) {
-   out_9171438466618854342[0] = state[1];
+void h_29(double *state, double *unused, double *out_5855390223345541964) {
+   out_5855390223345541964[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_2334866544811147119) {
-   out_2334866544811147119[0] = 0;
-   out_2334866544811147119[1] = 1;
-   out_2334866544811147119[2] = 0;
-   out_2334866544811147119[3] = 0;
-   out_2334866544811147119[4] = 0;
-   out_2334866544811147119[5] = 0;
-   out_2334866544811147119[6] = 0;
-   out_2334866544811147119[7] = 0;
-   out_2334866544811147119[8] = 0;
+void H_29(double *state, double *unused, double *out_4932231023786745842) {
+   out_4932231023786745842[0] = 0;
+   out_4932231023786745842[1] = 1;
+   out_4932231023786745842[2] = 0;
+   out_4932231023786745842[3] = 0;
+   out_4932231023786745842[4] = 0;
+   out_4932231023786745842[5] = 0;
+   out_4932231023786745842[6] = 0;
+   out_4932231023786745842[7] = 0;
+   out_4932231023786745842[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_6016645021241144913) {
-   out_6016645021241144913[0] = state[0];
+void h_28(double *state, double *unused, double *out_8510755658264266202) {
+   out_8510755658264266202[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_2747532472258383455) {
-   out_2747532472258383455[0] = 1;
-   out_2747532472258383455[1] = 0;
-   out_2747532472258383455[2] = 0;
-   out_2747532472258383455[3] = 0;
-   out_2747532472258383455[4] = 0;
-   out_2747532472258383455[5] = 0;
-   out_2747532472258383455[6] = 0;
-   out_2747532472258383455[7] = 0;
-   out_2747532472258383455[8] = 0;
+void H_28(double *state, double *unused, double *out_6895861295352072093) {
+   out_6895861295352072093[0] = 1;
+   out_6895861295352072093[1] = 0;
+   out_6895861295352072093[2] = 0;
+   out_6895861295352072093[3] = 0;
+   out_6895861295352072093[4] = 0;
+   out_6895861295352072093[5] = 0;
+   out_6895861295352072093[6] = 0;
+   out_6895861295352072093[7] = 0;
+   out_6895861295352072093[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_2311543179179655682) {
-   out_2311543179179655682[0] = state[8];
+void h_31(double *state, double *unused, double *out_3677036992164635768) {
+   out_3677036992164635768[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_5061409179117901392) {
-   out_5061409179117901392[0] = 0;
-   out_5061409179117901392[1] = 0;
-   out_5061409179117901392[2] = 0;
-   out_5061409179117901392[3] = 0;
-   out_5061409179117901392[4] = 0;
-   out_5061409179117901392[5] = 0;
-   out_5061409179117901392[6] = 0;
-   out_5061409179117901392[7] = 0;
-   out_5061409179117901392[8] = 1;
+void H_31(double *state, double *unused, double *out_4581984588492554156) {
+   out_4581984588492554156[0] = 0;
+   out_4581984588492554156[1] = 0;
+   out_4581984588492554156[2] = 0;
+   out_4581984588492554156[3] = 0;
+   out_4581984588492554156[4] = 0;
+   out_4581984588492554156[5] = 0;
+   out_4581984588492554156[6] = 0;
+   out_4581984588492554156[7] = 0;
+   out_4581984588492554156[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_7751375231448978305) {
-  err_fun(nom_x, delta_x, out_7751375231448978305);
+void car_err_fun(double *nom_x, double *delta_x, double *out_789804740016769707) {
+  err_fun(nom_x, delta_x, out_789804740016769707);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1186045100449225538) {
-  inv_err_fun(nom_x, true_x, out_1186045100449225538);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509) {
+  inv_err_fun(nom_x, true_x, out_385986033898548509);
 }
-void car_H_mod_fun(double *state, double *out_5403210608595880924) {
-  H_mod_fun(state, out_5403210608595880924);
+void car_H_mod_fun(double *state, double *out_4046004184415297016) {
+  H_mod_fun(state, out_4046004184415297016);
 }
-void car_f_fun(double *state, double dt, double *out_3846473641327680019) {
-  f_fun(state,  dt, out_3846473641327680019);
+void car_f_fun(double *state, double dt, double *out_467921565295650481) {
+  f_fun(state,  dt, out_467921565295650481);
 }
-void car_F_fun(double *state, double dt, double *out_6505574540477860652) {
-  F_fun(state,  dt, out_6505574540477860652);
+void car_F_fun(double *state, double dt, double *out_2429260194375294140) {
+  F_fun(state,  dt, out_2429260194375294140);
 }
-void car_h_25(double *state, double *unused, double *out_1325906349074366668) {
-  h_25(state, unused, out_1325906349074366668);
+void car_h_25(double *state, double *unused, double *out_4530459753918271082) {
+  h_25(state, unused, out_4530459753918271082);
 }
-void car_H_25(double *state, double *unused, double *out_693697758010493692) {
-  H_25(state, unused, out_693697758010493692);
+void car_H_25(double *state, double *unused, double *out_4551338626615593728) {
+  H_25(state, unused, out_4551338626615593728);
 }
-void car_h_24(double *state, double *unused, double *out_7507130987037302702) {
-  h_24(state, unused, out_7507130987037302702);
+void car_h_24(double *state, double *unused, double *out_211848015086222289) {
+  h_24(state, unused, out_211848015086222289);
 }
-void car_H_24(double *state, double *unused, double *out_2864227840791829444) {
-  H_24(state, unused, out_2864227840791829444);
+void car_H_24(double *state, double *unused, double *out_7319833640502439787) {
+  H_24(state, unused, out_7319833640502439787);
 }
-void car_h_30(double *state, double *unused, double *out_6134652415174521657) {
-  h_30(state, unused, out_6134652415174521657);
+void car_h_30(double *state, double *unused, double *out_4687646422269400227) {
+  h_30(state, unused, out_4687646422269400227);
 }
-void car_H_30(double *state, double *unused, double *out_1824635200496754935) {
-  H_30(state, unused, out_1824635200496754935);
+void car_H_30(double *state, double *unused, double *out_4421999679472353658) {
+  H_30(state, unused, out_4421999679472353658);
 }
-void car_h_26(double *state, double *unused, double *out_3515782194269032819) {
-  h_26(state, unused, out_3515782194269032819);
+void car_h_26(double *state, double *unused, double *out_1875094318999546844) {
+  h_26(state, unused, out_1875094318999546844);
 }
-void car_H_26(double *state, double *unused, double *out_4435201076884549916) {
-  H_26(state, unused, out_4435201076884549916);
+void car_H_26(double *state, double *unused, double *out_809835307741537504) {
+  H_26(state, unused, out_809835307741537504);
 }
-void car_h_27(double *state, double *unused, double *out_5073135168339482478) {
-  h_27(state, unused, out_5073135168339482478);
+void car_h_27(double *state, double *unused, double *out_8953904322109987302) {
+  h_27(state, unused, out_8953904322109987302);
 }
-void car_H_27(double *state, double *unused, double *out_4048229271680698152) {
-  H_27(state, unused, out_4048229271680698152);
+void car_H_27(double *state, double *unused, double *out_2247236367671928747) {
+  H_27(state, unused, out_2247236367671928747);
 }
-void car_h_29(double *state, double *unused, double *out_9171438466618854342) {
-  h_29(state, unused, out_9171438466618854342);
+void car_h_29(double *state, double *unused, double *out_5855390223345541964) {
+  h_29(state, unused, out_5855390223345541964);
 }
-void car_H_29(double *state, double *unused, double *out_2334866544811147119) {
-  H_29(state, unused, out_2334866544811147119);
+void car_H_29(double *state, double *unused, double *out_4932231023786745842) {
+  H_29(state, unused, out_4932231023786745842);
 }
-void car_h_28(double *state, double *unused, double *out_6016645021241144913) {
-  h_28(state, unused, out_6016645021241144913);
+void car_h_28(double *state, double *unused, double *out_8510755658264266202) {
+  h_28(state, unused, out_8510755658264266202);
 }
-void car_H_28(double *state, double *unused, double *out_2747532472258383455) {
-  H_28(state, unused, out_2747532472258383455);
+void car_H_28(double *state, double *unused, double *out_6895861295352072093) {
+  H_28(state, unused, out_6895861295352072093);
 }
-void car_h_31(double *state, double *unused, double *out_2311543179179655682) {
-  h_31(state, unused, out_2311543179179655682);
+void car_h_31(double *state, double *unused, double *out_3677036992164635768) {
+  h_31(state, unused, out_3677036992164635768);
 }
-void car_H_31(double *state, double *unused, double *out_5061409179117901392) {
-  H_31(state, unused, out_5061409179117901392);
+void car_H_31(double *state, double *unused, double *out_4581984588492554156) {
+  H_31(state, unused, out_4581984588492554156);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

selfdrive/locationd/models/generated/car.h

@@ -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_7751375231448978305);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1186045100449225538);
-void car_H_mod_fun(double *state, double *out_5403210608595880924);
-void car_f_fun(double *state, double dt, double *out_3846473641327680019);
-void car_F_fun(double *state, double dt, double *out_6505574540477860652);
-void car_h_25(double *state, double *unused, double *out_1325906349074366668);
-void car_H_25(double *state, double *unused, double *out_693697758010493692);
-void car_h_24(double *state, double *unused, double *out_7507130987037302702);
-void car_H_24(double *state, double *unused, double *out_2864227840791829444);
-void car_h_30(double *state, double *unused, double *out_6134652415174521657);
-void car_H_30(double *state, double *unused, double *out_1824635200496754935);
-void car_h_26(double *state, double *unused, double *out_3515782194269032819);
-void car_H_26(double *state, double *unused, double *out_4435201076884549916);
-void car_h_27(double *state, double *unused, double *out_5073135168339482478);
-void car_H_27(double *state, double *unused, double *out_4048229271680698152);
-void car_h_29(double *state, double *unused, double *out_9171438466618854342);
-void car_H_29(double *state, double *unused, double *out_2334866544811147119);
-void car_h_28(double *state, double *unused, double *out_6016645021241144913);
-void car_H_28(double *state, double *unused, double *out_2747532472258383455);
-void car_h_31(double *state, double *unused, double *out_2311543179179655682);
-void car_H_31(double *state, double *unused, double *out_5061409179117901392);
+void car_err_fun(double *nom_x, double *delta_x, double *out_789804740016769707);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_385986033898548509);
+void car_H_mod_fun(double *state, double *out_4046004184415297016);
+void car_f_fun(double *state, double dt, double *out_467921565295650481);
+void car_F_fun(double *state, double dt, double *out_2429260194375294140);
+void car_h_25(double *state, double *unused, double *out_4530459753918271082);
+void car_H_25(double *state, double *unused, double *out_4551338626615593728);
+void car_h_24(double *state, double *unused, double *out_211848015086222289);
+void car_H_24(double *state, double *unused, double *out_7319833640502439787);
+void car_h_30(double *state, double *unused, double *out_4687646422269400227);
+void car_H_30(double *state, double *unused, double *out_4421999679472353658);
+void car_h_26(double *state, double *unused, double *out_1875094318999546844);
+void car_H_26(double *state, double *unused, double *out_809835307741537504);
+void car_h_27(double *state, double *unused, double *out_8953904322109987302);
+void car_H_27(double *state, double *unused, double *out_2247236367671928747);
+void car_h_29(double *state, double *unused, double *out_5855390223345541964);
+void car_H_29(double *state, double *unused, double *out_4932231023786745842);
+void car_h_28(double *state, double *unused, double *out_8510755658264266202);
+void car_H_28(double *state, double *unused, double *out_6895861295352072093);
+void car_h_31(double *state, double *unused, double *out_3677036992164635768);
+void car_H_31(double *state, double *unused, double *out_4581984588492554156);
 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);

selfdrive/locationd/models/generated/pose.h

@@ -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_5867685499485526905);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7496427572072330735);
-void pose_H_mod_fun(double *state, double *out_4599731282943687674);
-void pose_f_fun(double *state, double dt, double *out_8448766243959956852);
-void pose_F_fun(double *state, double dt, double *out_3524034210859456461);
-void pose_h_4(double *state, double *unused, double *out_1468084297579901706);
-void pose_H_4(double *state, double *unused, double *out_552787102095393061);
-void pose_h_10(double *state, double *unused, double *out_1051779536617211070);
-void pose_H_10(double *state, double *unused, double *out_7440841037325716699);
-void pose_h_13(double *state, double *unused, double *out_4266757043601180240);
-void pose_H_13(double *state, double *unused, double *out_3765060927427725862);
-void pose_h_14(double *state, double *unused, double *out_1847032621455587499);
-void pose_H_14(double *state, double *unused, double *out_117670575450509462);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_7754318151462489406);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5172808168415891616);
+void pose_H_mod_fun(double *state, double *out_2254475305049299983);
+void pose_f_fun(double *state, double dt, double *out_9187930556967356165);
+void pose_F_fun(double *state, double dt, double *out_1250378920670806697);
+void pose_h_4(double *state, double *unused, double *out_3431796064752050994);
+void pose_H_4(double *state, double *unused, double *out_1019746773741649270);
+void pose_h_10(double *state, double *unused, double *out_4742817048768310237);
+void pose_H_10(double *state, double *unused, double *out_7482829619336622044);
+void pose_h_13(double *state, double *unused, double *out_3124060736866225144);
+void pose_H_13(double *state, double *unused, double *out_2192527051590683531);
+void pose_h_14(double *state, double *unused, double *out_3873502266244196496);
+void pose_H_14(double *state, double *unused, double *out_2943494082597835259);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

selfdrive/modeld/modeld.py

@@ -5,6 +5,7 @@ from functools import cached_property
 import json
 import os
 import struct
+import usb1
 from openpilot.system.hardware import HARDWARE, TICI
 os.environ['GMMU'] = '0'
 os.environ['DEV'] = 'QCOM' if TICI else 'LLVM'
@@ -50,6 +51,7 @@ from openpilot.selfdrive.modeld.compile_modeld import (
 )
 from openpilot.selfdrive.modeld.helpers import get_tg_input_devices, load_oob, tinygrad_dev_config, usbgpu_present
 from openpilot.selfdrive.modeld.usbgpu_link import wait_usbgpu_link
+from openpilot.system.hardware.usb import CHESTNUT_USB_IDS
 from openpilot.starpilot.assets.model_manager import (
   ModelManager,
   get_model_profile,
@@ -212,6 +214,38 @@ class ChestnutState:
     self.valid = True
     self.sends = 0
     self.metrics = {}
+    self._asm_usb = None
+
+  def _close_asm_usb(self) -> None:
+    if self._asm_usb is not None:
+      self._asm_usb.close()
+      self._asm_usb = None
+
+  def _open_asm_usb(self):
+    context = usb1.USBContext()
+    for vendor_id, product_id in CHESTNUT_USB_IDS:
+      handle = context.openByVendorIDAndProductID(vendor_id, product_id, skip_on_error=True)
+      if handle is not None:
+        return handle
+    context.close()
+
+  def _read_ina(self) -> tuple[int, int, bool]:
+    if "AMD" in Device._opened_devices and self._asm_usb is None:
+      try:
+        raw = Device["AMD"].iface.pci_dev.usb.usb.control_read(0xC0, 5)
+        return struct.unpack("<Hh?", bytes(raw))
+      except Exception:
+        pass
+    if self._asm_usb is None:
+      self._asm_usb = self._open_asm_usb()
+    if self._asm_usb is None:
+      raise usb1.USBErrorNoDevice
+    try:
+      raw = self._asm_usb.controlRead(0xC0, 0xC0, 0, 0, 5, timeout=100)
+    except usb1.USBError:
+      self._close_asm_usb()
+      raise
+    return struct.unpack("<Hh?", bytes(raw))
 
   @cached_property
   def power_limit(self) -> int:
@@ -253,12 +287,14 @@ class ChestnutState:
         setattr(state, key, value)
 
     asm_valid = False
+    try:
+      state.supplyVoltage, state.supplyCurrent, state.supplyFault = self._read_ina()
+      asm_valid = True
+    except Exception:
+      pass
     if "AMD" in Device._opened_devices:
       try:
-        asm = Device["AMD"].iface.pci_dev.usb
-        state.pcieLtssm = asm.read(0xB450, 1)[0]
-        state.supplyVoltage, state.supplyCurrent = struct.unpack("<Hh", bytes(asm.usb.control_read(0xC0, 5))[:4])
-        asm_valid = True
+        state.pcieLtssm = Device["AMD"].iface.pci_dev.usb.read(0xB450, 1)[0]
       except Exception:
         pass
 

selfdrive/modeld/tests/test_usbgpu_helpers.py

@@ -1,4 +1,5 @@
 import io
+import struct
 from types import MethodType
 from types import SimpleNamespace
 
@@ -152,6 +153,42 @@ def test_chestnut_telemetry_is_bounded_when_amd_is_unavailable(monkeypatch):
   assert not message.valid
 
 
+def test_chestnut_power_telemetry_works_before_amd_initializes(monkeypatch):
+  class FakePubMaster:
+    def __init__(self):
+      self.sent = []
+
+    def send(self, service, message):
+      self.sent.append((service, message))
+
+  class FakeHandle:
+    def controlRead(self, *_args, **_kwargs):
+      return struct.pack("<Hh?", 12100, 850, True)
+
+    def close(self):
+      pass
+
+  class FakeContext:
+    def openByVendorIDAndProductID(self, *_args, **_kwargs):
+      return FakeHandle()
+
+    def close(self):
+      pass
+
+  publisher = FakePubMaster()
+  monkeypatch.setattr(modeld, "Device", SimpleNamespace(_opened_devices=set()))
+  monkeypatch.setattr(modeld.usb1, "USBContext", FakeContext)
+
+  telemetry = modeld.ChestnutState(publisher, big=False)
+  telemetry.send()
+
+  _, message = publisher.sent[0]
+  assert message.valid
+  assert message.chestnutState.supplyVoltage == 12100
+  assert message.chestnutState.supplyCurrent == 850
+  assert message.chestnutState.supplyFault
+
+
 def test_tinygrad_disk_cache_connection_is_closed_between_models(monkeypatch):
   import tinygrad.helpers as tinygrad_helpers
 

selfdrive/selfdrived/alerts_offroad.json

@@ -17,6 +17,30 @@
     "severity": 1,
     "_comment": "Set extra field to the failed reason."
   },
+  "Offroad_ChestnutNotDetected": {
+    "text": "Chestnut not detected. Check USB and 12V connections.",
+    "severity": 0
+  },
+  "Offroad_ChestnutOverheated": {
+    "text": "Chestnut overheated. Ensure good airflow. Current GPU temperature is %1.",
+    "severity": 0
+  },
+  "Offroad_ChestnutPcieUnavailable": {
+    "text": "%1",
+    "severity": 0
+  },
+  "Offroad_ChestnutUncompiled": {
+    "text": "The active Chestnut model is not installed. Download it in Model Manager.",
+    "severity": 0
+  },
+  "Offroad_ChestnutUpdateFailed": {
+    "text": "Chestnut update failed. Check the USB cable.",
+    "severity": 0
+  },
+  "Offroad_ChestnutUsbSlow": {
+    "text": "Chestnut USB link is slow. Check the USB cable. The current speed is %1.",
+    "severity": 0
+  },
   "Offroad_IsTakingSnapshot": {
     "text": "Taking camera snapshots. System won't start until finished.",
     "severity": 0

system/hardware/chestnut/status.py

@@ -0,0 +1,93 @@
+import time
+
+from openpilot.system.hardware.usb import CHESTNUT_USB_PRODUCT, is_chestnut_usb_id
+
+
+CHESTNUT_POWERED_VOLTAGE = 5000
+GPU_TEMP_LIMIT = 100.0
+MEMORY_TEMP_LIMIT = 95.0
+TEMP_HYSTERESIS = 5.0
+
+
+class ChestnutStatus:
+  def __init__(self):
+    self.started = time.monotonic()
+    self.offroad = True
+    self.pcie_failed = False
+    self.power_seen = False
+    self.power_unavailable = False
+    self.power_lost = False
+    self.power_restored = False
+    self.link_failures = 0
+    self.model_loading_seen = False
+    self.model_attempted = False
+    self.overheated = False
+    self.usb_seen = False
+    self.usb_failed = False
+
+  def update(self, offroad: bool, expected: bool, usb_state: list[dict], firmware_failed: bool,
+             model_loading: bool, model_active: bool | None, compiled: bool, state, set_alert) -> None:
+    detected = [d for d in usb_state if is_chestnut_usb_id(d["vendorId"], d["productId"], include_bootloader=True)]
+    devices = [d for d in detected if is_chestnut_usb_id(d["vendorId"], d["productId"])]
+    firmware_ok = len(devices) == 1 and devices[0]["product"] == CHESTNUT_USB_PRODUCT
+
+    if self.offroad and not offroad:
+      self.pcie_failed = False
+      self.power_seen = False
+      self.power_unavailable = False
+      self.power_lost = False
+      self.power_restored = False
+      self.link_failures = 0
+      self.model_loading_seen = False
+      self.model_attempted = False
+      self.usb_seen = firmware_ok
+      self.usb_failed = False
+
+    self.model_loading_seen |= model_loading
+    self.model_attempted |= self.model_loading_seen and not model_loading and model_active is not None
+
+    if expected and not offroad and self.usb_seen and not firmware_ok:
+      self.usb_failed = True
+
+    power_lost = False
+    if expected and not offroad and state is not None:
+      powered = state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
+      power_lost = state.supplyFault or not powered
+      if self.model_attempted and power_lost and not self.power_lost:
+        self.power_unavailable = not self.power_seen
+      self.power_seen |= powered
+
+    if expected and not offroad and self.model_attempted and state is not None:
+      self.link_failures = self.link_failures + 1 if state.pcieLtssm != 0x78 else 0
+      self.pcie_failed |= self.link_failures >= 2 or power_lost
+      self.power_lost |= power_lost
+
+    if self.pcie_failed and self.power_lost and state is not None:
+      self.power_restored |= not state.supplyFault and state.supplyVoltage >= CHESTNUT_POWERED_VOLTAGE
+    if self.usb_failed:
+      self.pcie_failed = False
+      self.power_seen = False
+      self.power_unavailable = False
+      self.power_lost = False
+      self.power_restored = False
+
+    if state is not None:
+      gpu_limit = GPU_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.0)
+      memory_limit = MEMORY_TEMP_LIMIT - (TEMP_HYSTERESIS if self.overheated else 0.0)
+      self.overheated = state.tempC >= gpu_limit or state.memoryTempC >= memory_limit
+
+    missing = expected and (self.usb_failed or (offroad and time.monotonic() - self.started > 10.0 and len(detected) != 1))
+    slow_usb = offroad and len(devices) == 1 and devices[0]["speedMbps"] < 5000
+    set_alert("Offroad_ChestnutNotDetected", missing)
+    set_alert("Offroad_ChestnutOverheated", self.overheated, f"{state.tempC:.0f} °C" if state is not None else None)
+    set_alert("Offroad_ChestnutUsbSlow", slow_usb, f"{devices[0]['speedMbps']} Mbps" if slow_usb else None)
+    if self.power_lost:
+      pcie_alert = ("Chestnut power restored. 12V is stable again, cycle ignition." if self.power_restored else
+                    "Chestnut power disconnected. Check 12V connection, then cycle ignition." if self.power_unavailable else
+                    "Chestnut power lost. Possibly caused by an engine-crank voltage drop. Check 12V connection, then cycle ignition.")
+    else:
+      pcie_alert = "Chestnut GPU unavailable. PCIe link is not up. Check the GPU is securely seated."
+    set_alert("Offroad_ChestnutPcieUnavailable", expected and self.pcie_failed, pcie_alert)
+    set_alert("Offroad_ChestnutUncompiled", offroad and expected and firmware_ok and not compiled)
+    set_alert("Offroad_ChestnutUpdateFailed", offroad and firmware_failed)
+    self.offroad = offroad

system/hardware/hardwared.py

@@ -29,12 +29,13 @@ from openpilot.system.hardware.power_monitoring import PowerMonitoring
 from openpilot.system.hardware.fan_controller import TiciFanController
 from openpilot.system.hardware.usb import (
   CHESTNUT_FW_VERSION,
-  CHESTNUT_ROM_USB_IDS,
-  CHESTNUT_USB_IDS,
+  CHESTNUT_USB_PRODUCT,
   get_usb_state,
   get_usb_topology,
+  is_chestnut_usb_id,
   set_usb_state,
 )
+from openpilot.system.hardware.chestnut.status import ChestnutStatus
 from openpilot.system.version import terms_version, training_version
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 
@@ -118,11 +119,15 @@ class Chestnut:
     self.attempts = 0
     self.last_attempt = 0.0
     self.flashed = False
+    self.mismatch = False
+
+  @property
+  def failed(self) -> bool:
+    return self.mismatch and self.attempts >= self.MAX_ATTEMPTS and self.thread is not None and not self.thread.is_alive() and not self.flashed
 
   def _firmware_mismatch(self, usb_state: list[dict]) -> bool:
-    expected = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
-    ids = CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS
-    return any((device["vendorId"], device["productId"]) in ids and device["product"] != expected for device in usb_state)
+    return any(is_chestnut_usb_id(device["vendorId"], device["productId"], include_bootloader=True) and
+               device["product"] != CHESTNUT_USB_PRODUCT for device in usb_state)
 
   def _flash(self) -> None:
     script = os.path.join(os.path.dirname(__file__), "chestnut", "flash.py")
@@ -137,7 +142,8 @@ class Chestnut:
     self.flashed = result.returncode == 0
 
   def update(self, offroad: bool, usb_state: list[dict]) -> None:
-    if not self._firmware_mismatch(usb_state):
+    self.mismatch = self._firmware_mismatch(usb_state)
+    if not self.mismatch:
       self.flashed = False
       return
     if not offroad or self.flashed or self.attempts >= self.MAX_ATTEMPTS:
@@ -295,7 +301,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def hardware_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates"], poll="pandaStates")
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "selfdriveState", "pandaStates", "chestnutState"], poll="pandaStates")
 
   count = 0
 
@@ -337,6 +343,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   params = Params()
   power_monitor = PowerMonitoring()
   chestnut = Chestnut() if AGNOS else None
+  chestnut_status = ChestnutStatus() if AGNOS else None
 
   uptime_offroad: float = params.get("UptimeOffroad", return_default=True)
   uptime_onroad: float = params.get("UptimeOnroad", return_default=True)
@@ -420,6 +427,23 @@ def hardware_thread(end_event, hw_queue) -> None:
     set_usb_state(msg.deviceState, last_hw_state.usb_state)
     if chestnut is not None:
       chestnut.update(started_ts is None, last_hw_state.usb_state)
+      model_lab_config = params.get("ModelLabConfig")
+      chestnut_expected = bool(params.get("ActiveBigModel")) or (
+        isinstance(model_lab_config, dict) and bool(model_lab_config.get("enabled"))
+      )
+      chestnut_state = sm["chestnutState"]
+      chestnut_valid = sm.alive["chestnutState"] and sm.valid["chestnutState"]
+      chestnut_status.update(
+        started_ts is None,
+        chestnut_expected,
+        last_hw_state.usb_state,
+        chestnut.failed,
+        params.get_bool("UsbGpuLoading"),
+        params.get("UsbGpuActive"),
+        params.get_bool("UsbGpuCompiled"),
+        chestnut_state if chestnut_valid else None,
+        set_offroad_alert_if_changed,
+      )
 
     # this subset is only used for offroad
     temp_sources = [

system/hardware/tests/test_chestnut_status.py

@@ -0,0 +1,118 @@
+from types import SimpleNamespace
+
+from openpilot.system.hardware.chestnut import status as chestnut_status
+from openpilot.system.hardware.chestnut.status import ChestnutStatus
+from openpilot.system.hardware.usb import CHESTNUT_USB_PRODUCT
+
+
+DEVICE = {
+  "vendorId": 0x3801,
+  "productId": 0x0001,
+  "product": CHESTNUT_USB_PRODUCT,
+  "speedMbps": 5000,
+}
+STATE = SimpleNamespace(
+  supplyVoltage=12000,
+  supplyFault=False,
+  pcieLtssm=0x78,
+  tempC=50.0,
+  memoryTempC=60.0,
+)
+
+
+class Alerts:
+  def __init__(self):
+    self.values = {}
+
+  def set(self, name, enabled, extra=None):
+    self.values[name] = (enabled, extra)
+
+  @property
+  def active(self):
+    return {name for name, (enabled, _) in self.values.items() if enabled}
+
+
+def update(status, alerts=None, *, offroad=True, expected=True, devices=None, firmware_failed=False,
+           loading=False, active=False, compiled=True, state=STATE):
+  alerts = alerts or Alerts()
+  status.update(
+    offroad,
+    expected,
+    [DEVICE] if devices is None else devices,
+    firmware_failed,
+    loading,
+    active,
+    compiled,
+    state,
+    alerts.set,
+  )
+  return alerts
+
+
+def test_missing_chestnut_only_alerts_when_expected(monkeypatch):
+  status = ChestnutStatus()
+  monkeypatch.setattr(chestnut_status.time, "monotonic", lambda: status.started + 11.0)
+  assert not update(status, expected=False, devices=[]).active
+  alerts = update(status, expected=True, devices=[])
+  assert alerts.active == {"Offroad_ChestnutNotDetected"}
+
+
+def test_slow_usb_and_uncompiled_alerts():
+  status = ChestnutStatus()
+  alerts = update(status, devices=[DEVICE | {"speedMbps": 480}])
+  assert alerts.active == {"Offroad_ChestnutUsbSlow"}
+  assert alerts.values["Offroad_ChestnutUsbSlow"][1] == "480 Mbps"
+
+  alerts = update(status, compiled=False)
+  assert alerts.active == {"Offroad_ChestnutUncompiled"}
+
+
+def test_firmware_failure_alert():
+  alerts = update(ChestnutStatus(), firmware_failed=True)
+  assert alerts.active == {"Offroad_ChestnutUpdateFailed"}
+
+
+def test_overheat_hysteresis():
+  status = ChestnutStatus()
+  hot = SimpleNamespace(**(vars(STATE) | {"tempC": 101.0}))
+  alerts = update(status, state=hot)
+  assert alerts.active == {"Offroad_ChestnutOverheated"}
+  assert alerts.values["Offroad_ChestnutOverheated"][1] == "101 °C"
+
+  warm = SimpleNamespace(**(vars(STATE) | {"tempC": 97.0}))
+  assert "Offroad_ChestnutOverheated" in update(status, state=warm).active
+  assert "Offroad_ChestnutOverheated" not in update(status).active
+
+
+def test_pcie_failure_after_model_load():
+  status, alerts = ChestnutStatus(), Alerts()
+  update(status, alerts, offroad=False, loading=True)
+  update(status, alerts, offroad=False, loading=False, active=False)
+  link_down = SimpleNamespace(**(vars(STATE) | {"pcieLtssm": 0x00}))
+  update(status, alerts, offroad=False, state=link_down)
+  assert "Offroad_ChestnutPcieUnavailable" not in alerts.active
+  update(status, alerts, offroad=False, state=link_down)
+  assert alerts.active == {"Offroad_ChestnutPcieUnavailable"}
+  assert "PCIe link is not up" in alerts.values["Offroad_ChestnutPcieUnavailable"][1]
+
+
+def test_power_loss_reports_cause_and_recovery():
+  status, alerts = ChestnutStatus(), Alerts()
+  update(status, alerts, offroad=False, loading=True)
+  update(status, alerts, offroad=False, loading=False, active=True)
+  low = SimpleNamespace(**(vars(STATE) | {"supplyVoltage": 3000, "supplyFault": True, "pcieLtssm": 0x00}))
+  update(status, alerts, offroad=False, state=low)
+  assert alerts.active == {"Offroad_ChestnutPcieUnavailable"}
+  assert "power lost" in alerts.values["Offroad_ChestnutPcieUnavailable"][1]
+
+  update(status, alerts, offroad=False, state=STATE)
+  assert "power restored" in alerts.values["Offroad_ChestnutPcieUnavailable"][1]
+
+
+def test_onroad_usb_disconnect_is_latched():
+  status, alerts = ChestnutStatus(), Alerts()
+  update(status, alerts, offroad=False)
+  update(status, alerts, offroad=False, devices=[], state=None)
+  assert alerts.active == {"Offroad_ChestnutNotDetected"}
+  update(status, alerts, offroad=False)
+  assert "Offroad_ChestnutNotDetected" in alerts.active

system/hardware/tests/test_usb.py

@@ -24,6 +24,13 @@ def test_chestnut_present_with_comma_vendor_id(tmp_path, monkeypatch):
   assert usb.chestnut_present()
 
 
+def test_chestnut_usb_ids_include_runtime_and_bootloader():
+  assert usb.is_chestnut_usb_id(0x3801, 0x0001)
+  assert usb.is_chestnut_usb_id(0xADD1, 0x0001)
+  assert not usb.is_chestnut_usb_id(0x174C, 0x2464)
+  assert usb.is_chestnut_usb_id(0x174C, 0x2464, include_bootloader=True)
+
+
 def test_chestnut_absent_for_other_usb_device(tmp_path, monkeypatch):
   monkeypatch.setattr(usb, "USB_DEVICES_PATH", tmp_path)
   device = tmp_path / "1-1"

system/hardware/usb.py

@@ -7,11 +7,17 @@ CHESTNUT_PRODUCT_ID = 0x0001
 CHESTNUT_USB_IDS = tuple((vendor_id, CHESTNUT_PRODUCT_ID) for vendor_id in CHESTNUT_VENDOR_IDS)
 CHESTNUT_FW_VERSION = "ed4e39b7"
 CHESTNUT_ROM_USB_IDS = ((0x174C, 0x2464), (0x174C, 0x2463))
+CHESTNUT_USB_PRODUCT = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
 USB_DEVICES_PATH = Path("/sys/bus/usb/devices")
 TYPEC_CC_ORIENTATION_PATH = Path("/sys/class/power_supply/usb/typec_cc_orientation")
 PRIMARY_USB_CONTROLLER = "a600000.ssusb"
 
 
+def is_chestnut_usb_id(vendor_id: int, product_id: int, include_bootloader: bool = False) -> bool:
+  ids = CHESTNUT_USB_IDS + CHESTNUT_ROM_USB_IDS if include_bootloader else CHESTNUT_USB_IDS
+  return (vendor_id, product_id) in ids
+
+
 def get_usb_topology() -> set[str]:
   try:
     return set(os.listdir(USB_DEVICES_PATH))
@@ -47,16 +53,15 @@ def usb_devices() -> list[Path]:
 
 def chestnut_present() -> bool:
   return any(
-    (read_int(device / "idVendor", 16), read_int(device / "idProduct", 16)) in CHESTNUT_USB_IDS
+    is_chestnut_usb_id(read_int(device / "idVendor", 16), read_int(device / "idProduct", 16))
     for device in usb_devices()
   )
 
 
 def chestnut_firmware_ready() -> bool:
-  expected = f"custom {CHESTNUT_FW_VERSION}-CLEAN"
   return any(
-    (read_int(device / "idVendor", 16), read_int(device / "idProduct", 16)) in CHESTNUT_USB_IDS and
-    read_text(device / "product") == expected
+    is_chestnut_usb_id(read_int(device / "idVendor", 16), read_int(device / "idProduct", 16)) and
+    read_text(device / "product") == CHESTNUT_USB_PRODUCT
     for device in usb_devices()
   )
 
@@ -103,7 +108,7 @@ def set_usb_state(device_state, devices: list[dict]) -> None:
     entry.linkErrorCount = device["linkErrorCount"]
     entry.usb3Lane = device.get("usb3Lane", "unknown")
 
-    if (entry.vendorId, entry.productId) in CHESTNUT_USB_IDS:
+    if is_chestnut_usb_id(entry.vendorId, entry.productId):
       chestnut_found = True
 
   device_state.chestnutPresent = chestnut_found