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firestar5683
2026-10-19 22:25:46 -05:00
parent 0ef9458408
commit 72de373447
52 changed files with 1356 additions and 1361 deletions
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openpilot/common/libcommon.a
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openpilot/common/libparams_c.so
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openpilot/selfdrive/locationd/models/generated/car.cpp
+342 -342
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@@ -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_5451371327471294677) {
out_5451371327471294677[0] = delta_x[0] + nom_x[0];
out_5451371327471294677[1] = delta_x[1] + nom_x[1];
out_5451371327471294677[2] = delta_x[2] + nom_x[2];
out_5451371327471294677[3] = delta_x[3] + nom_x[3];
out_5451371327471294677[4] = delta_x[4] + nom_x[4];
out_5451371327471294677[5] = delta_x[5] + nom_x[5];
out_5451371327471294677[6] = delta_x[6] + nom_x[6];
out_5451371327471294677[7] = delta_x[7] + nom_x[7];
out_5451371327471294677[8] = delta_x[8] + nom_x[8];
void err_fun(double *nom_x, double *delta_x, double *out_1207077157841363728) {
out_1207077157841363728[0] = delta_x[0] + nom_x[0];
out_1207077157841363728[1] = delta_x[1] + nom_x[1];
out_1207077157841363728[2] = delta_x[2] + nom_x[2];
out_1207077157841363728[3] = delta_x[3] + nom_x[3];
out_1207077157841363728[4] = delta_x[4] + nom_x[4];
out_1207077157841363728[5] = delta_x[5] + nom_x[5];
out_1207077157841363728[6] = delta_x[6] + nom_x[6];
out_1207077157841363728[7] = delta_x[7] + nom_x[7];
out_1207077157841363728[8] = delta_x[8] + nom_x[8];
}
void inv_err_fun(double *nom_x, double *true_x, double *out_8522218724742075239) {
out_8522218724742075239[0] = -nom_x[0] + true_x[0];
out_8522218724742075239[1] = -nom_x[1] + true_x[1];
out_8522218724742075239[2] = -nom_x[2] + true_x[2];
out_8522218724742075239[3] = -nom_x[3] + true_x[3];
out_8522218724742075239[4] = -nom_x[4] + true_x[4];
out_8522218724742075239[5] = -nom_x[5] + true_x[5];
out_8522218724742075239[6] = -nom_x[6] + true_x[6];
out_8522218724742075239[7] = -nom_x[7] + true_x[7];
out_8522218724742075239[8] = -nom_x[8] + true_x[8];
void inv_err_fun(double *nom_x, double *true_x, double *out_5167403064917713258) {
out_5167403064917713258[0] = -nom_x[0] + true_x[0];
out_5167403064917713258[1] = -nom_x[1] + true_x[1];
out_5167403064917713258[2] = -nom_x[2] + true_x[2];
out_5167403064917713258[3] = -nom_x[3] + true_x[3];
out_5167403064917713258[4] = -nom_x[4] + true_x[4];
out_5167403064917713258[5] = -nom_x[5] + true_x[5];
out_5167403064917713258[6] = -nom_x[6] + true_x[6];
out_5167403064917713258[7] = -nom_x[7] + true_x[7];
out_5167403064917713258[8] = -nom_x[8] + true_x[8];
}
void H_mod_fun(double *state, double *out_8466627282619758941) {
out_8466627282619758941[0] = 1.0;
out_8466627282619758941[1] = 0.0;
out_8466627282619758941[2] = 0.0;
out_8466627282619758941[3] = 0.0;
out_8466627282619758941[4] = 0.0;
out_8466627282619758941[5] = 0.0;
out_8466627282619758941[6] = 0.0;
out_8466627282619758941[7] = 0.0;
out_8466627282619758941[8] = 0.0;
out_8466627282619758941[9] = 0.0;
out_8466627282619758941[10] = 1.0;
out_8466627282619758941[11] = 0.0;
out_8466627282619758941[12] = 0.0;
out_8466627282619758941[13] = 0.0;
out_8466627282619758941[14] = 0.0;
out_8466627282619758941[15] = 0.0;
out_8466627282619758941[16] = 0.0;
out_8466627282619758941[17] = 0.0;
out_8466627282619758941[18] = 0.0;
out_8466627282619758941[19] = 0.0;
out_8466627282619758941[20] = 1.0;
out_8466627282619758941[21] = 0.0;
out_8466627282619758941[22] = 0.0;
out_8466627282619758941[23] = 0.0;
out_8466627282619758941[24] = 0.0;
out_8466627282619758941[25] = 0.0;
out_8466627282619758941[26] = 0.0;
out_8466627282619758941[27] = 0.0;
out_8466627282619758941[28] = 0.0;
out_8466627282619758941[29] = 0.0;
out_8466627282619758941[30] = 1.0;
out_8466627282619758941[31] = 0.0;
out_8466627282619758941[32] = 0.0;
out_8466627282619758941[33] = 0.0;
out_8466627282619758941[34] = 0.0;
out_8466627282619758941[35] = 0.0;
out_8466627282619758941[36] = 0.0;
out_8466627282619758941[37] = 0.0;
out_8466627282619758941[38] = 0.0;
out_8466627282619758941[39] = 0.0;
out_8466627282619758941[40] = 1.0;
out_8466627282619758941[41] = 0.0;
out_8466627282619758941[42] = 0.0;
out_8466627282619758941[43] = 0.0;
out_8466627282619758941[44] = 0.0;
out_8466627282619758941[45] = 0.0;
out_8466627282619758941[46] = 0.0;
out_8466627282619758941[47] = 0.0;
out_8466627282619758941[48] = 0.0;
out_8466627282619758941[49] = 0.0;
out_8466627282619758941[50] = 1.0;
out_8466627282619758941[51] = 0.0;
out_8466627282619758941[52] = 0.0;
out_8466627282619758941[53] = 0.0;
out_8466627282619758941[54] = 0.0;
out_8466627282619758941[55] = 0.0;
out_8466627282619758941[56] = 0.0;
out_8466627282619758941[57] = 0.0;
out_8466627282619758941[58] = 0.0;
out_8466627282619758941[59] = 0.0;
out_8466627282619758941[60] = 1.0;
out_8466627282619758941[61] = 0.0;
out_8466627282619758941[62] = 0.0;
out_8466627282619758941[63] = 0.0;
out_8466627282619758941[64] = 0.0;
out_8466627282619758941[65] = 0.0;
out_8466627282619758941[66] = 0.0;
out_8466627282619758941[67] = 0.0;
out_8466627282619758941[68] = 0.0;
out_8466627282619758941[69] = 0.0;
out_8466627282619758941[70] = 1.0;
out_8466627282619758941[71] = 0.0;
out_8466627282619758941[72] = 0.0;
out_8466627282619758941[73] = 0.0;
out_8466627282619758941[74] = 0.0;
out_8466627282619758941[75] = 0.0;
out_8466627282619758941[76] = 0.0;
out_8466627282619758941[77] = 0.0;
out_8466627282619758941[78] = 0.0;
out_8466627282619758941[79] = 0.0;
out_8466627282619758941[80] = 1.0;
void H_mod_fun(double *state, double *out_5732271557167151234) {
out_5732271557167151234[0] = 1.0;
out_5732271557167151234[1] = 0.0;
out_5732271557167151234[2] = 0.0;
out_5732271557167151234[3] = 0.0;
out_5732271557167151234[4] = 0.0;
out_5732271557167151234[5] = 0.0;
out_5732271557167151234[6] = 0.0;
out_5732271557167151234[7] = 0.0;
out_5732271557167151234[8] = 0.0;
out_5732271557167151234[9] = 0.0;
out_5732271557167151234[10] = 1.0;
out_5732271557167151234[11] = 0.0;
out_5732271557167151234[12] = 0.0;
out_5732271557167151234[13] = 0.0;
out_5732271557167151234[14] = 0.0;
out_5732271557167151234[15] = 0.0;
out_5732271557167151234[16] = 0.0;
out_5732271557167151234[17] = 0.0;
out_5732271557167151234[18] = 0.0;
out_5732271557167151234[19] = 0.0;
out_5732271557167151234[20] = 1.0;
out_5732271557167151234[21] = 0.0;
out_5732271557167151234[22] = 0.0;
out_5732271557167151234[23] = 0.0;
out_5732271557167151234[24] = 0.0;
out_5732271557167151234[25] = 0.0;
out_5732271557167151234[26] = 0.0;
out_5732271557167151234[27] = 0.0;
out_5732271557167151234[28] = 0.0;
out_5732271557167151234[29] = 0.0;
out_5732271557167151234[30] = 1.0;
out_5732271557167151234[31] = 0.0;
out_5732271557167151234[32] = 0.0;
out_5732271557167151234[33] = 0.0;
out_5732271557167151234[34] = 0.0;
out_5732271557167151234[35] = 0.0;
out_5732271557167151234[36] = 0.0;
out_5732271557167151234[37] = 0.0;
out_5732271557167151234[38] = 0.0;
out_5732271557167151234[39] = 0.0;
out_5732271557167151234[40] = 1.0;
out_5732271557167151234[41] = 0.0;
out_5732271557167151234[42] = 0.0;
out_5732271557167151234[43] = 0.0;
out_5732271557167151234[44] = 0.0;
out_5732271557167151234[45] = 0.0;
out_5732271557167151234[46] = 0.0;
out_5732271557167151234[47] = 0.0;
out_5732271557167151234[48] = 0.0;
out_5732271557167151234[49] = 0.0;
out_5732271557167151234[50] = 1.0;
out_5732271557167151234[51] = 0.0;
out_5732271557167151234[52] = 0.0;
out_5732271557167151234[53] = 0.0;
out_5732271557167151234[54] = 0.0;
out_5732271557167151234[55] = 0.0;
out_5732271557167151234[56] = 0.0;
out_5732271557167151234[57] = 0.0;
out_5732271557167151234[58] = 0.0;
out_5732271557167151234[59] = 0.0;
out_5732271557167151234[60] = 1.0;
out_5732271557167151234[61] = 0.0;
out_5732271557167151234[62] = 0.0;
out_5732271557167151234[63] = 0.0;
out_5732271557167151234[64] = 0.0;
out_5732271557167151234[65] = 0.0;
out_5732271557167151234[66] = 0.0;
out_5732271557167151234[67] = 0.0;
out_5732271557167151234[68] = 0.0;
out_5732271557167151234[69] = 0.0;
out_5732271557167151234[70] = 1.0;
out_5732271557167151234[71] = 0.0;
out_5732271557167151234[72] = 0.0;
out_5732271557167151234[73] = 0.0;
out_5732271557167151234[74] = 0.0;
out_5732271557167151234[75] = 0.0;
out_5732271557167151234[76] = 0.0;
out_5732271557167151234[77] = 0.0;
out_5732271557167151234[78] = 0.0;
out_5732271557167151234[79] = 0.0;
out_5732271557167151234[80] = 1.0;
}
void f_fun(double *state, double dt, double *out_2258902101046555831) {
out_2258902101046555831[0] = state[0];
out_2258902101046555831[1] = state[1];
out_2258902101046555831[2] = state[2];
out_2258902101046555831[3] = state[3];
out_2258902101046555831[4] = state[4];
out_2258902101046555831[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_2258902101046555831[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_2258902101046555831[7] = state[7];
out_2258902101046555831[8] = state[8];
void f_fun(double *state, double dt, double *out_4596155381636715650) {
out_4596155381636715650[0] = state[0];
out_4596155381636715650[1] = state[1];
out_4596155381636715650[2] = state[2];
out_4596155381636715650[3] = state[3];
out_4596155381636715650[4] = state[4];
out_4596155381636715650[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_4596155381636715650[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_4596155381636715650[7] = state[7];
out_4596155381636715650[8] = state[8];
}
void F_fun(double *state, double dt, double *out_6156202546407203168) {
out_6156202546407203168[0] = 1;
out_6156202546407203168[1] = 0;
out_6156202546407203168[2] = 0;
out_6156202546407203168[3] = 0;
out_6156202546407203168[4] = 0;
out_6156202546407203168[5] = 0;
out_6156202546407203168[6] = 0;
out_6156202546407203168[7] = 0;
out_6156202546407203168[8] = 0;
out_6156202546407203168[9] = 0;
out_6156202546407203168[10] = 1;
out_6156202546407203168[11] = 0;
out_6156202546407203168[12] = 0;
out_6156202546407203168[13] = 0;
out_6156202546407203168[14] = 0;
out_6156202546407203168[15] = 0;
out_6156202546407203168[16] = 0;
out_6156202546407203168[17] = 0;
out_6156202546407203168[18] = 0;
out_6156202546407203168[19] = 0;
out_6156202546407203168[20] = 1;
out_6156202546407203168[21] = 0;
out_6156202546407203168[22] = 0;
out_6156202546407203168[23] = 0;
out_6156202546407203168[24] = 0;
out_6156202546407203168[25] = 0;
out_6156202546407203168[26] = 0;
out_6156202546407203168[27] = 0;
out_6156202546407203168[28] = 0;
out_6156202546407203168[29] = 0;
out_6156202546407203168[30] = 1;
out_6156202546407203168[31] = 0;
out_6156202546407203168[32] = 0;
out_6156202546407203168[33] = 0;
out_6156202546407203168[34] = 0;
out_6156202546407203168[35] = 0;
out_6156202546407203168[36] = 0;
out_6156202546407203168[37] = 0;
out_6156202546407203168[38] = 0;
out_6156202546407203168[39] = 0;
out_6156202546407203168[40] = 1;
out_6156202546407203168[41] = 0;
out_6156202546407203168[42] = 0;
out_6156202546407203168[43] = 0;
out_6156202546407203168[44] = 0;
out_6156202546407203168[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_6156202546407203168[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_6156202546407203168[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_6156202546407203168[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_6156202546407203168[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_6156202546407203168[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_6156202546407203168[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_6156202546407203168[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_6156202546407203168[53] = -9.8100000000000005*dt;
out_6156202546407203168[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_6156202546407203168[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_6156202546407203168[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_6156202546407203168[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_6156202546407203168[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_6156202546407203168[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_6156202546407203168[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_6156202546407203168[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_6156202546407203168[62] = 0;
out_6156202546407203168[63] = 0;
out_6156202546407203168[64] = 0;
out_6156202546407203168[65] = 0;
out_6156202546407203168[66] = 0;
out_6156202546407203168[67] = 0;
out_6156202546407203168[68] = 0;
out_6156202546407203168[69] = 0;
out_6156202546407203168[70] = 1;
out_6156202546407203168[71] = 0;
out_6156202546407203168[72] = 0;
out_6156202546407203168[73] = 0;
out_6156202546407203168[74] = 0;
out_6156202546407203168[75] = 0;
out_6156202546407203168[76] = 0;
out_6156202546407203168[77] = 0;
out_6156202546407203168[78] = 0;
out_6156202546407203168[79] = 0;
out_6156202546407203168[80] = 1;
void F_fun(double *state, double dt, double *out_8271283846288930916) {
out_8271283846288930916[0] = 1;
out_8271283846288930916[1] = 0;
out_8271283846288930916[2] = 0;
out_8271283846288930916[3] = 0;
out_8271283846288930916[4] = 0;
out_8271283846288930916[5] = 0;
out_8271283846288930916[6] = 0;
out_8271283846288930916[7] = 0;
out_8271283846288930916[8] = 0;
out_8271283846288930916[9] = 0;
out_8271283846288930916[10] = 1;
out_8271283846288930916[11] = 0;
out_8271283846288930916[12] = 0;
out_8271283846288930916[13] = 0;
out_8271283846288930916[14] = 0;
out_8271283846288930916[15] = 0;
out_8271283846288930916[16] = 0;
out_8271283846288930916[17] = 0;
out_8271283846288930916[18] = 0;
out_8271283846288930916[19] = 0;
out_8271283846288930916[20] = 1;
out_8271283846288930916[21] = 0;
out_8271283846288930916[22] = 0;
out_8271283846288930916[23] = 0;
out_8271283846288930916[24] = 0;
out_8271283846288930916[25] = 0;
out_8271283846288930916[26] = 0;
out_8271283846288930916[27] = 0;
out_8271283846288930916[28] = 0;
out_8271283846288930916[29] = 0;
out_8271283846288930916[30] = 1;
out_8271283846288930916[31] = 0;
out_8271283846288930916[32] = 0;
out_8271283846288930916[33] = 0;
out_8271283846288930916[34] = 0;
out_8271283846288930916[35] = 0;
out_8271283846288930916[36] = 0;
out_8271283846288930916[37] = 0;
out_8271283846288930916[38] = 0;
out_8271283846288930916[39] = 0;
out_8271283846288930916[40] = 1;
out_8271283846288930916[41] = 0;
out_8271283846288930916[42] = 0;
out_8271283846288930916[43] = 0;
out_8271283846288930916[44] = 0;
out_8271283846288930916[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_8271283846288930916[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
out_8271283846288930916[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8271283846288930916[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
out_8271283846288930916[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_8271283846288930916[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
out_8271283846288930916[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
out_8271283846288930916[52] = dt*stiffness_front*state[0]/(mass*state[1]);
out_8271283846288930916[53] = -9.8100000000000005*dt;
out_8271283846288930916[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_8271283846288930916[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
out_8271283846288930916[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8271283846288930916[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8271283846288930916[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_8271283846288930916[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
out_8271283846288930916[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_8271283846288930916[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
out_8271283846288930916[62] = 0;
out_8271283846288930916[63] = 0;
out_8271283846288930916[64] = 0;
out_8271283846288930916[65] = 0;
out_8271283846288930916[66] = 0;
out_8271283846288930916[67] = 0;
out_8271283846288930916[68] = 0;
out_8271283846288930916[69] = 0;
out_8271283846288930916[70] = 1;
out_8271283846288930916[71] = 0;
out_8271283846288930916[72] = 0;
out_8271283846288930916[73] = 0;
out_8271283846288930916[74] = 0;
out_8271283846288930916[75] = 0;
out_8271283846288930916[76] = 0;
out_8271283846288930916[77] = 0;
out_8271283846288930916[78] = 0;
out_8271283846288930916[79] = 0;
out_8271283846288930916[80] = 1;
}
void h_25(double *state, double *unused, double *out_653631558110655492) {
out_653631558110655492[0] = state[6];
void h_25(double *state, double *unused, double *out_1071579631746279652) {
out_1071579631746279652[0] = state[6];
}
void H_25(double *state, double *unused, double *out_5076424965905127835) {
out_5076424965905127835[0] = 0;
out_5076424965905127835[1] = 0;
out_5076424965905127835[2] = 0;
out_5076424965905127835[3] = 0;
out_5076424965905127835[4] = 0;
out_5076424965905127835[5] = 0;
out_5076424965905127835[6] = 1;
out_5076424965905127835[7] = 0;
out_5076424965905127835[8] = 0;
void H_25(double *state, double *unused, double *out_947424562669153677) {
out_947424562669153677[0] = 0;
out_947424562669153677[1] = 0;
out_947424562669153677[2] = 0;
out_947424562669153677[3] = 0;
out_947424562669153677[4] = 0;
out_947424562669153677[5] = 0;
out_947424562669153677[6] = 1;
out_947424562669153677[7] = 0;
out_947424562669153677[8] = 0;
}
void h_24(double *state, double *unused, double *out_3887391113902346836) {
out_3887391113902346836[0] = state[4];
out_3887391113902346836[1] = state[5];
void h_24(double *state, double *unused, double *out_3648611834353910669) {
out_3648611834353910669[0] = state[4];
out_3648611834353910669[1] = state[5];
}
void H_24(double *state, double *unused, double *out_2899210542297977862) {
out_2899210542297977862[0] = 0;
out_2899210542297977862[1] = 0;
out_2899210542297977862[2] = 0;
out_2899210542297977862[3] = 0;
out_2899210542297977862[4] = 1;
out_2899210542297977862[5] = 0;
out_2899210542297977862[6] = 0;
out_2899210542297977862[7] = 0;
out_2899210542297977862[8] = 0;
out_2899210542297977862[9] = 0;
out_2899210542297977862[10] = 0;
out_2899210542297977862[11] = 0;
out_2899210542297977862[12] = 0;
out_2899210542297977862[13] = 0;
out_2899210542297977862[14] = 1;
out_2899210542297977862[15] = 0;
out_2899210542297977862[16] = 0;
out_2899210542297977862[17] = 0;
void H_24(double *state, double *unused, double *out_1225225036336345889) {
out_1225225036336345889[0] = 0;
out_1225225036336345889[1] = 0;
out_1225225036336345889[2] = 0;
out_1225225036336345889[3] = 0;
out_1225225036336345889[4] = 1;
out_1225225036336345889[5] = 0;
out_1225225036336345889[6] = 0;
out_1225225036336345889[7] = 0;
out_1225225036336345889[8] = 0;
out_1225225036336345889[9] = 0;
out_1225225036336345889[10] = 0;
out_1225225036336345889[11] = 0;
out_1225225036336345889[12] = 0;
out_1225225036336345889[13] = 0;
out_1225225036336345889[14] = 1;
out_1225225036336345889[15] = 0;
out_1225225036336345889[16] = 0;
out_1225225036336345889[17] = 0;
}
void h_30(double *state, double *unused, double *out_378437495826149603) {
out_378437495826149603[0] = state[4];
void h_30(double *state, double *unused, double *out_8237447157279420782) {
out_8237447157279420782[0] = state[4];
}
void H_30(double *state, double *unused, double *out_2558092007397879208) {
out_2558092007397879208[0] = 0;
out_2558092007397879208[1] = 0;
out_2558092007397879208[2] = 0;
out_2558092007397879208[3] = 0;
out_2558092007397879208[4] = 1;
out_2558092007397879208[5] = 0;
out_2558092007397879208[6] = 0;
out_2558092007397879208[7] = 0;
out_2558092007397879208[8] = 0;
void H_30(double *state, double *unused, double *out_3465757521176402304) {
out_3465757521176402304[0] = 0;
out_3465757521176402304[1] = 0;
out_3465757521176402304[2] = 0;
out_3465757521176402304[3] = 0;
out_3465757521176402304[4] = 1;
out_3465757521176402304[5] = 0;
out_3465757521176402304[6] = 0;
out_3465757521176402304[7] = 0;
out_3465757521176402304[8] = 0;
}
void h_26(double *state, double *unused, double *out_6480956931559343993) {
out_6480956931559343993[0] = state[7];
void h_26(double *state, double *unused, double *out_5927733075186470326) {
out_5927733075186470326[0] = state[7];
}
void H_26(double *state, double *unused, double *out_8817928284779184059) {
out_8817928284779184059[0] = 0;
out_8817928284779184059[1] = 0;
out_8817928284779184059[2] = 0;
out_8817928284779184059[3] = 0;
out_8817928284779184059[4] = 0;
out_8817928284779184059[5] = 0;
out_8817928284779184059[6] = 0;
out_8817928284779184059[7] = 1;
out_8817928284779184059[8] = 0;
void H_26(double *state, double *unused, double *out_4251950532429954278) {
out_4251950532429954278[0] = 0;
out_4251950532429954278[1] = 0;
out_4251950532429954278[2] = 0;
out_4251950532429954278[3] = 0;
out_4251950532429954278[4] = 0;
out_4251950532429954278[5] = 0;
out_4251950532429954278[6] = 0;
out_4251950532429954278[7] = 1;
out_4251950532429954278[8] = 0;
}
void h_27(double *state, double *unused, double *out_50315673434177975) {
out_50315673434177975[0] = state[3];
void h_27(double *state, double *unused, double *out_3930093635914565993) {
out_3930093635914565993[0] = state[3];
}
void H_27(double *state, double *unused, double *out_4732855319198304119) {
out_4732855319198304119[0] = 0;
out_4732855319198304119[1] = 0;
out_4732855319198304119[2] = 0;
out_4732855319198304119[3] = 1;
out_4732855319198304119[4] = 0;
out_4732855319198304119[5] = 0;
out_4732855319198304119[6] = 0;
out_4732855319198304119[7] = 0;
out_4732855319198304119[8] = 0;
void H_27(double *state, double *unused, double *out_1290994209375977393) {
out_1290994209375977393[0] = 0;
out_1290994209375977393[1] = 0;
out_1290994209375977393[2] = 0;
out_1290994209375977393[3] = 1;
out_1290994209375977393[4] = 0;
out_1290994209375977393[5] = 0;
out_1290994209375977393[6] = 0;
out_1290994209375977393[7] = 0;
out_1290994209375977393[8] = 0;
}
void h_29(double *state, double *unused, double *out_7813580930254850416) {
out_7813580930254850416[0] = state[1];
void h_29(double *state, double *unused, double *out_2479462243285682826) {
out_2479462243285682826[0] = state[1];
}
void H_29(double *state, double *unused, double *out_2047860663083487024) {
out_2047860663083487024[0] = 0;
out_2047860663083487024[1] = 1;
out_2047860663083487024[2] = 0;
out_2047860663083487024[3] = 0;
out_2047860663083487024[4] = 0;
out_2047860663083487024[5] = 0;
out_2047860663083487024[6] = 0;
out_2047860663083487024[7] = 0;
out_2047860663083487024[8] = 0;
void H_29(double *state, double *unused, double *out_3975988865490794488) {
out_3975988865490794488[0] = 0;
out_3975988865490794488[1] = 1;
out_3975988865490794488[2] = 0;
out_3975988865490794488[3] = 0;
out_3975988865490794488[4] = 0;
out_3975988865490794488[5] = 0;
out_3975988865490794488[6] = 0;
out_3975988865490794488[7] = 0;
out_3975988865490794488[8] = 0;
}
void h_28(double *state, double *unused, double *out_5175591542401146972) {
out_5175591542401146972[0] = state[0];
void h_28(double *state, double *unused, double *out_6296653325891602595) {
out_6296653325891602595[0] = state[0];
}
void H_28(double *state, double *unused, double *out_7130259680153017598) {
out_7130259680153017598[0] = 1;
out_7130259680153017598[1] = 0;
out_7130259680153017598[2] = 0;
out_7130259680153017598[3] = 0;
out_7130259680153017598[4] = 0;
out_7130259680153017598[5] = 0;
out_7130259680153017598[6] = 0;
out_7130259680153017598[7] = 0;
out_7130259680153017598[8] = 0;
void H_28(double *state, double *unused, double *out_1106410151578736086) {
out_1106410151578736086[0] = 1;
out_1106410151578736086[1] = 0;
out_1106410151578736086[2] = 0;
out_1106410151578736086[3] = 0;
out_1106410151578736086[4] = 0;
out_1106410151578736086[5] = 0;
out_1106410151578736086[6] = 0;
out_1106410151578736086[7] = 0;
out_1106410151578736086[8] = 0;
}
void h_31(double *state, double *unused, double *out_4291081086364677842) {
out_4291081086364677842[0] = state[8];
void h_31(double *state, double *unused, double *out_4454477804804743461) {
out_4454477804804743461[0] = state[8];
}
void H_31(double *state, double *unused, double *out_9002607686697016081) {
out_9002607686697016081[0] = 0;
out_9002607686697016081[1] = 0;
out_9002607686697016081[2] = 0;
out_9002607686697016081[3] = 0;
out_9002607686697016081[4] = 0;
out_9002607686697016081[5] = 0;
out_9002607686697016081[6] = 0;
out_9002607686697016081[7] = 0;
out_9002607686697016081[8] = 1;
void H_31(double *state, double *unused, double *out_3625742430196602802) {
out_3625742430196602802[0] = 0;
out_3625742430196602802[1] = 0;
out_3625742430196602802[2] = 0;
out_3625742430196602802[3] = 0;
out_3625742430196602802[4] = 0;
out_3625742430196602802[5] = 0;
out_3625742430196602802[6] = 0;
out_3625742430196602802[7] = 0;
out_3625742430196602802[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_5451371327471294677) {
err_fun(nom_x, delta_x, out_5451371327471294677);
void car_err_fun(double *nom_x, double *delta_x, double *out_1207077157841363728) {
err_fun(nom_x, delta_x, out_1207077157841363728);
}
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8522218724742075239) {
inv_err_fun(nom_x, true_x, out_8522218724742075239);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5167403064917713258) {
inv_err_fun(nom_x, true_x, out_5167403064917713258);
}
void car_H_mod_fun(double *state, double *out_8466627282619758941) {
H_mod_fun(state, out_8466627282619758941);
void car_H_mod_fun(double *state, double *out_5732271557167151234) {
H_mod_fun(state, out_5732271557167151234);
}
void car_f_fun(double *state, double dt, double *out_2258902101046555831) {
f_fun(state, dt, out_2258902101046555831);
void car_f_fun(double *state, double dt, double *out_4596155381636715650) {
f_fun(state, dt, out_4596155381636715650);
}
void car_F_fun(double *state, double dt, double *out_6156202546407203168) {
F_fun(state, dt, out_6156202546407203168);
void car_F_fun(double *state, double dt, double *out_8271283846288930916) {
F_fun(state, dt, out_8271283846288930916);
}
void car_h_25(double *state, double *unused, double *out_653631558110655492) {
h_25(state, unused, out_653631558110655492);
void car_h_25(double *state, double *unused, double *out_1071579631746279652) {
h_25(state, unused, out_1071579631746279652);
}
void car_H_25(double *state, double *unused, double *out_5076424965905127835) {
H_25(state, unused, out_5076424965905127835);
void car_H_25(double *state, double *unused, double *out_947424562669153677) {
H_25(state, unused, out_947424562669153677);
}
void car_h_24(double *state, double *unused, double *out_3887391113902346836) {
h_24(state, unused, out_3887391113902346836);
void car_h_24(double *state, double *unused, double *out_3648611834353910669) {
h_24(state, unused, out_3648611834353910669);
}
void car_H_24(double *state, double *unused, double *out_2899210542297977862) {
H_24(state, unused, out_2899210542297977862);
void car_H_24(double *state, double *unused, double *out_1225225036336345889) {
H_24(state, unused, out_1225225036336345889);
}
void car_h_30(double *state, double *unused, double *out_378437495826149603) {
h_30(state, unused, out_378437495826149603);
void car_h_30(double *state, double *unused, double *out_8237447157279420782) {
h_30(state, unused, out_8237447157279420782);
}
void car_H_30(double *state, double *unused, double *out_2558092007397879208) {
H_30(state, unused, out_2558092007397879208);
void car_H_30(double *state, double *unused, double *out_3465757521176402304) {
H_30(state, unused, out_3465757521176402304);
}
void car_h_26(double *state, double *unused, double *out_6480956931559343993) {
h_26(state, unused, out_6480956931559343993);
void car_h_26(double *state, double *unused, double *out_5927733075186470326) {
h_26(state, unused, out_5927733075186470326);
}
void car_H_26(double *state, double *unused, double *out_8817928284779184059) {
H_26(state, unused, out_8817928284779184059);
void car_H_26(double *state, double *unused, double *out_4251950532429954278) {
H_26(state, unused, out_4251950532429954278);
}
void car_h_27(double *state, double *unused, double *out_50315673434177975) {
h_27(state, unused, out_50315673434177975);
void car_h_27(double *state, double *unused, double *out_3930093635914565993) {
h_27(state, unused, out_3930093635914565993);
}
void car_H_27(double *state, double *unused, double *out_4732855319198304119) {
H_27(state, unused, out_4732855319198304119);
void car_H_27(double *state, double *unused, double *out_1290994209375977393) {
H_27(state, unused, out_1290994209375977393);
}
void car_h_29(double *state, double *unused, double *out_7813580930254850416) {
h_29(state, unused, out_7813580930254850416);
void car_h_29(double *state, double *unused, double *out_2479462243285682826) {
h_29(state, unused, out_2479462243285682826);
}
void car_H_29(double *state, double *unused, double *out_2047860663083487024) {
H_29(state, unused, out_2047860663083487024);
void car_H_29(double *state, double *unused, double *out_3975988865490794488) {
H_29(state, unused, out_3975988865490794488);
}
void car_h_28(double *state, double *unused, double *out_5175591542401146972) {
h_28(state, unused, out_5175591542401146972);
void car_h_28(double *state, double *unused, double *out_6296653325891602595) {
h_28(state, unused, out_6296653325891602595);
}
void car_H_28(double *state, double *unused, double *out_7130259680153017598) {
H_28(state, unused, out_7130259680153017598);
void car_H_28(double *state, double *unused, double *out_1106410151578736086) {
H_28(state, unused, out_1106410151578736086);
}
void car_h_31(double *state, double *unused, double *out_4291081086364677842) {
h_31(state, unused, out_4291081086364677842);
void car_h_31(double *state, double *unused, double *out_4454477804804743461) {
h_31(state, unused, out_4454477804804743461);
}
void car_H_31(double *state, double *unused, double *out_9002607686697016081) {
H_31(state, unused, out_9002607686697016081);
void car_H_31(double *state, double *unused, double *out_3625742430196602802) {
H_31(state, unused, out_3625742430196602802);
}
void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
predict(in_x, in_P, in_Q, dt);
openpilot/selfdrive/locationd/models/generated/car.h
+21 -21
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@@ -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_5451371327471294677);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_8522218724742075239);
void car_H_mod_fun(double *state, double *out_8466627282619758941);
void car_f_fun(double *state, double dt, double *out_2258902101046555831);
void car_F_fun(double *state, double dt, double *out_6156202546407203168);
void car_h_25(double *state, double *unused, double *out_653631558110655492);
void car_H_25(double *state, double *unused, double *out_5076424965905127835);
void car_h_24(double *state, double *unused, double *out_3887391113902346836);
void car_H_24(double *state, double *unused, double *out_2899210542297977862);
void car_h_30(double *state, double *unused, double *out_378437495826149603);
void car_H_30(double *state, double *unused, double *out_2558092007397879208);
void car_h_26(double *state, double *unused, double *out_6480956931559343993);
void car_H_26(double *state, double *unused, double *out_8817928284779184059);
void car_h_27(double *state, double *unused, double *out_50315673434177975);
void car_H_27(double *state, double *unused, double *out_4732855319198304119);
void car_h_29(double *state, double *unused, double *out_7813580930254850416);
void car_H_29(double *state, double *unused, double *out_2047860663083487024);
void car_h_28(double *state, double *unused, double *out_5175591542401146972);
void car_H_28(double *state, double *unused, double *out_7130259680153017598);
void car_h_31(double *state, double *unused, double *out_4291081086364677842);
void car_H_31(double *state, double *unused, double *out_9002607686697016081);
void car_err_fun(double *nom_x, double *delta_x, double *out_1207077157841363728);
void car_inv_err_fun(double *nom_x, double *true_x, double *out_5167403064917713258);
void car_H_mod_fun(double *state, double *out_5732271557167151234);
void car_f_fun(double *state, double dt, double *out_4596155381636715650);
void car_F_fun(double *state, double dt, double *out_8271283846288930916);
void car_h_25(double *state, double *unused, double *out_1071579631746279652);
void car_H_25(double *state, double *unused, double *out_947424562669153677);
void car_h_24(double *state, double *unused, double *out_3648611834353910669);
void car_H_24(double *state, double *unused, double *out_1225225036336345889);
void car_h_30(double *state, double *unused, double *out_8237447157279420782);
void car_H_30(double *state, double *unused, double *out_3465757521176402304);
void car_h_26(double *state, double *unused, double *out_5927733075186470326);
void car_H_26(double *state, double *unused, double *out_4251950532429954278);
void car_h_27(double *state, double *unused, double *out_3930093635914565993);
void car_H_27(double *state, double *unused, double *out_1290994209375977393);
void car_h_29(double *state, double *unused, double *out_2479462243285682826);
void car_H_29(double *state, double *unused, double *out_3975988865490794488);
void car_h_28(double *state, double *unused, double *out_6296653325891602595);
void car_H_28(double *state, double *unused, double *out_1106410151578736086);
void car_h_31(double *state, double *unused, double *out_4454477804804743461);
void car_H_31(double *state, double *unused, double *out_3625742430196602802);
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);
openpilot/selfdrive/locationd/models/generated/libcar.so
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openpilot/selfdrive/locationd/models/generated/pose.cpp
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openpilot/selfdrive/locationd/models/generated/pose.h
+13 -13
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@@ -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_1111971644641323647);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2323187048211860073);
void pose_H_mod_fun(double *state, double *out_5105792754762297630);
void pose_f_fun(double *state, double dt, double *out_493911584477072580);
void pose_F_fun(double *state, double dt, double *out_5423918991428774343);
void pose_h_4(double *state, double *unused, double *out_5685577583451539137);
void pose_H_4(double *state, double *unused, double *out_3094512129210927137);
void pose_h_10(double *state, double *unused, double *out_6387867301137382468);
void pose_H_10(double *state, double *unused, double *out_9062747238086022329);
void pose_h_13(double *state, double *unused, double *out_1513057542253796280);
void pose_H_13(double *state, double *unused, double *out_7741600736181923550);
void pose_h_14(double *state, double *unused, double *out_5536059940238760705);
void pose_H_14(double *state, double *unused, double *out_7057752985550411666);
void pose_err_fun(double *nom_x, double *delta_x, double *out_1586140269824446038);
void pose_inv_err_fun(double *nom_x, double *true_x, double *out_9166849630934128431);
void pose_H_mod_fun(double *state, double *out_1085718029145294855);
void pose_f_fun(double *state, double dt, double *out_1181361488543532072);
void pose_F_fun(double *state, double dt, double *out_6679695245946987401);
void pose_h_4(double *state, double *unused, double *out_564364644927851281);
void pose_H_4(double *state, double *unused, double *out_4857525238989202427);
void pose_h_10(double *state, double *unused, double *out_4709684773907818943);
void pose_H_10(double *state, double *unused, double *out_2903583333991674534);
void pose_h_13(double *state, double *unused, double *out_9183852149661263008);
void pose_H_13(double *state, double *unused, double *out_8069799064321535228);
void pose_h_14(double *state, double *unused, double *out_1305949636277284093);
void pose_H_14(double *state, double *unused, double *out_1774736806693830131);
void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
}
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openpilot/starpilot/ui/runtime_app.py
+8 -13
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@@ -267,7 +267,7 @@ class StarShellSession:
self._visual_preview_flags = parse_flags(raw_preview)
self._visual_preview_start_ns = time.monotonic_ns()
self._native_favorite_actions: Callable[[], dict] = dict
# The native layout's bookmark publisher, for car-screen taps that are not taps on this screen.
# Native publisher for taps on the projected car screen.
self._publish_bookmark: Callable[[], None] | None = None
self._wheel_sock = messaging.sub_sock("slcCruiseEvent", conflate=False)
self._aol_save = None
@@ -300,8 +300,7 @@ class StarShellSession:
if getattr(ui_state, "replay_clock", None) is not None:
return False
if getattr(self, "_projection_tap", False):
# A car-screen tap acts whenever onroad with live car state, like a bookmark tap:
# the comma screen's page, alerts and camera (or the screen being off) do not gate it.
# Projected taps need live onroad state, regardless of this screen's page or visibility.
return bool(ui_state.started and display_message(ui_state.sm, 'carState', time.monotonic_ns(),
after_frame=ui_state.started_frame) is not None)
if self._mode != ShellMode.ONROAD:
@@ -489,9 +488,8 @@ class StarShellSession:
receiver = getattr(self, '_projection_bookmarks', None)
if receiver is None:
return
# A car-screen tap bookmarks whenever onroad with live car state, like the wheel button: this
# screen's alerts and page do not gate it. A render frame gap past carState's 20 ms control
# limit must not drop it either (drained requests are not retried).
# Bookmark taps use live onroad state, independent of this screen's page or alerts.
# A render gap beyond the 20 ms control limit must not lose drained requests.
publish = getattr(self, '_publish_bookmark', None)
authorized = bool(publish is not None and ui_state.started and getattr(ui_state, "replay_clock", None) is None and
display_message(ui_state.sm, 'carState', now_ns, after_frame=ui_state.started_frame) is not None)
@@ -503,7 +501,7 @@ class StarShellSession:
receiver = getattr(self, '_projection_slc', None)
if receiver is None:
return
# Always drain; a request is only published if the same live-state checks as a comma-screen tap pass.
# Always drain; publish only when the live-state tap checks pass.
for request in receiver.drain(now_ns):
if not ui_state.started or getattr(ui_state, "replay_clock", None) is not None:
continue
@@ -1789,8 +1787,7 @@ class StarCompactSettings(NavWidget):
def _update_state(self) -> None:
NavWidget._update_state(self)
target = -422 * round(-self._panel.get_offset() / 422)
# Menu length depends only on the current pairing owner. Project the full
# snapshot once during rendering, after the panel has updated its offset.
# Project the pairing snapshot after rendering updates the panel offset.
paired = bool(self.session.adapter.ui_state.prime_state.is_paired())
self.session.compact_scroll_x = self._panel.update(self.rect, 20 + len(compact_menu(SettingsState(paired=paired))) * 422,
snap_target=target)
@@ -1871,8 +1868,7 @@ class StarMainLayout(MainLayout):
self._native_onroad._hud_renderer._exp_button.request_toggle)
def _confirmed_offroad(self) -> bool:
# The display snapshot may be cached across a touch. Recheck transport and
# the native layout's own gate immediately before invoking an effect owner.
# Cached touch snapshots need fresh transport and native gates before effects.
return bool(ui_state.is_offroad() and self.star.adapter.confirmed_offroad())
def _arabesque_allowed(self) -> bool:
@@ -2040,8 +2036,7 @@ class StarMainLayout(MainLayout):
def open_settings(self, panel_type: Any) -> None:
from openpilot.selfdrive.ui.layouts.settings.settings import PanelType
# The Star shell alone presents NetworkUI. Keep native SettingsLayout on a
# different panel so its show/hide propagation cannot start a second scan.
# Separate SettingsLayout from the shell's NetworkUI to avoid duplicate scans.
native_panel = PanelType.DEVICE if panel_type == PanelType.NETWORK else panel_type
super().open_settings(native_panel)
if hasattr(self, "star"):
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panda/board/obj/gitversion.h
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@@ -1,4 +1,4 @@
#pragma once
extern const uint8_t gitversion[29];
const uint8_t gitversion[29] = "DEV-b62dbaf3-Pa5919516-DEBUG";
const uint8_t gitversion[29] = "DEV-0ef94584-Pa5919516-DEBUG";
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@@ -1 +1 @@
DEV-b62dbaf3-Pa5919516-DEBUG
DEV-0ef94584-Pa5919516-DEBUG
prebuilt.json
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@@ -1 +1 @@
{"protected_inventory_sha256": "82d103051ab684085649172d7f9d710006819c2e76e838b7c487d52aa17ea632", "schema_version": 1}
{"protected_inventory_sha256": "7af93a9b9dfe7c8fbba91f94cd2567216d327acf626051bc61d23656c1a3dcb3", "schema_version": 1}