Sportage Exception

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -201,6 +201,8 @@ class CarInterface(CarInterfaceBase):
       if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
         ret.steerControlType = structs.CarParams.SteerControlType.angle
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
+        if candidate == CAR.KIA_SPORTAGE_HEV_2026:
+          ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA.value
       if candidate == CAR.HYUNDAI_IONIQ_6:
         # Keep lateral active through stops: zeroing torque at standstill dropped the
         # stop-turn hold and forced a rate-limit re-ramp from zero on every pull-away

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -552,6 +552,13 @@ class TestHyundaiFingerprint:
     CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
     assert CP.flags & HyundaiFlags.SEND_LFA
 
+  @pytest.mark.parametrize("candidate", list(CAR))
+  def test_no_stock_lka_safety_flag_is_sportage_only(self, candidate):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
+    if CP.flags & HyundaiFlags.CANFD:
+      assert bool(CP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA) == \
+        (candidate == CAR.KIA_SPORTAGE_HEV_2026)
+
   def test_smart_mdps_allows_low_speed_steering(self):
     candidate = CAR.HYUNDAI_IONIQ_EV_LTD
 

opendbc_repo/opendbc/car/hyundai/values.py

@@ -117,6 +117,7 @@ class HyundaiSafetyFlags(IntFlag):
 
 
 class HyundaiStarPilotSafetyFlags(IntFlag):
+  CANFD_NO_STOCK_LKA = 4096  # CAN-FD only; classic CAN uses this bit for NON_SCC.
   AOL_MAIN_LKAS_ON_ENGAGE = 128
   AOL_MAIN_LKAS_SYNC = 32
   HAS_LDA_BUTTON = 1024

opendbc_repo/opendbc/safety/modes/hyundai_canfd.h

@@ -65,6 +65,7 @@
 static bool hyundai_canfd_alt_buttons = false;
 static bool hyundai_canfd_lka_steering_alt = false;
 static bool hyundai_canfd_angle_steering = false;
+static bool hyundai_canfd_no_stock_lka = false;
 static bool hyundai_ccnc = false;
 static bool hyundai_canfd_ccnc_angle_long = false;
 static bool hyundai_canfd_lka_alt_drive_gear = false;
@@ -100,7 +101,8 @@ static bool hyundai_canfd_lka_alt_openpilot_allowed(void) {
 }
 
 static bool hyundai_canfd_lka_alt_stock_forwarding(void) {
-  return hyundai_canfd_lka_steering_alt && hyundai_canfd_angle_steering && !hyundai_canfd_lka_alt_openpilot_allowed();
+  return hyundai_canfd_lka_steering_alt && hyundai_canfd_angle_steering &&
+         !hyundai_canfd_no_stock_lka && !hyundai_canfd_lka_alt_openpilot_allowed();
 }
 
 static void hyundai_canfd_rx_all_hook(const CANPacket_t *msg) {
@@ -270,6 +272,10 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
       const int lkas_angle_active = (msg->data[9] >> 4U) & 0x3U;
       const bool steer_angle_req = lkas_angle_active != 1;
 
+      if (hyundai_canfd_no_stock_lka && steer_angle_req && !hyundai_canfd_lka_alt_openpilot_allowed()) {
+        tx = false;
+      }
+
       int desired_angle = (msg->data[11] << 6U) | (msg->data[10] >> 2U);
       desired_angle = to_signed(desired_angle, 14);
 
@@ -364,6 +370,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
   const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
   const uint16_t HYUNDAI_PARAM_CANFD_ANGLE_STEERING = 1024;
+  const uint16_t HYUNDAI_PARAM_CANFD_NO_STOCK_LKA = 4096U;
   const uint16_t HYUNDAI_PARAM_CCNC = 32768U;
 
   static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
@@ -479,12 +486,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
     {0x7C4, 2, 8, .check_relay = true},  /* camera support frame */ \
     {0xEA, 2, 24, .check_relay = true},  /* MDPS support frame */ \
 
-  hyundai_common_init(param);
+  // This CAN-FD-only bit is independent of classic CAN's NON_SCC mode.
+  hyundai_common_init(param & ~HYUNDAI_PARAM_CANFD_NO_STOCK_LKA);
 
   gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
   hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
   hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
   hyundai_canfd_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING);
+  hyundai_canfd_no_stock_lka = hyundai_canfd_angle_steering && hyundai_canfd_lka_steering &&
+                             hyundai_canfd_lka_steering_alt && GET_FLAG(param, HYUNDAI_PARAM_CANFD_NO_STOCK_LKA);
   hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);
   hyundai_canfd_ccnc_angle_long = hyundai_longitudinal && hyundai_canfd_lka_steering &&
                                   hyundai_canfd_lka_steering_alt && hyundai_canfd_angle_steering && hyundai_ccnc;

opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py

@@ -959,5 +959,69 @@ class TestHyundaiCanfdLKASteeringAolLkasOnEngageEV(HyundaiAolLkasOnEngageStockBa
     self.safety.init_tests()
 
 
+class TestSportageNoStockLka(unittest.TestCase):
+  TX_MSGS = None  # Supplemental transition tests, not a separate safety mode.
+  PARAM = (HyundaiSafetyFlags.CANFD_LKA_STEERING | HyundaiSafetyFlags.CANFD_LKA_STEERING_ALT |
+           HyundaiSafetyFlags.CANFD_ANGLE_STEERING | HyundaiSafetyFlags.HYBRID_GAS)
+
+  def setUp(self):
+    self.safety = libsafety_py.libsafety
+    self.packer = CANPackerSafety("hyundai_canfd_generated")
+    self._init(True)
+
+  def _init(self, suppress):
+    param = self.PARAM | (HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA if suppress else 0)
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+    self.safety.init_tests()
+    self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
+
+  def _speed(self, speed):
+    for _ in range(common.MAX_SAMPLE_VALS):
+      self.safety.safety_rx_hook(self.packer.make_can_msg_safety(
+        "WHEEL_SPEEDS", 1, {f"WHL_Spd{pos}Val": speed for pos in ("FL", "FR", "RL", "RR")}))
+
+  def _toggle(self):
+    for pressed in (1, 0):
+      self.safety.safety_rx_hook(self.packer.make_can_msg_safety("CRUISE_BUTTONS", 1, {"LDA_BTN": pressed}))
+
+  def _steer(self, active, gain=None):
+    return self.packer.make_can_msg_safety("LKAS_ALT", 0, {
+      "LKAS_ANGLE_ACTIVE": 2 if active else 1,
+      "ADAS_StrAnglReqVal": 0,
+      "ADAS_ACIAnglTqRedcGainVal": (0.4 if active else 0.0) if gain is None else gain,
+      "Damping_Gain": 100,
+    })
+
+  def test_aol_toggle_keeps_stock_blocked_and_inactive_status_allowed(self):
+    self._speed(30)
+    for expected_aol in (False, True, False, True, False):
+      if expected_aol != self.safety.get_aol_allowed():
+        self._toggle()
+      self.assertEqual(expected_aol, self.safety.get_aol_allowed())
+      for addr in (0x110, 0x362):
+        self.assertEqual(-1, self.safety.safety_fwd_hook(2, addr))
+      self.assertTrue(self.safety.safety_tx_hook(self._steer(False)))
+      self.assertTrue(self.safety.safety_tx_hook(common.make_msg(0, 0x362, 32)))
+      self.assertEqual(expected_aol, self.safety.safety_tx_hook(self._steer(True)))
+      self.assertFalse(self.safety.safety_tx_hook(self._steer(False, gain=0.4)))
+
+  def test_standstill_does_not_allow_active_steering(self):
+    self._speed(0)
+    self._toggle()
+    self.assertTrue(self.safety.get_aol_allowed())
+    self.assertFalse(self.safety.safety_tx_hook(self._steer(True)))
+    self.assertTrue(self.safety.safety_tx_hook(self._steer(False)))
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x110))
+
+  def test_unflagged_handoff_and_reinitialization_unchanged(self):
+    self._init(False)
+    self._speed(30)
+    self.assertEqual(0, self.safety.safety_fwd_hook(2, 0x110))
+    self.assertFalse(self.safety.safety_tx_hook(self._steer(False)))
+    self._toggle()
+    self.assertEqual(-1, self.safety.safety_fwd_hook(2, 0x110))
+    self.assertTrue(self.safety.safety_tx_hook(self._steer(True)))
+
+
 if __name__ == "__main__":
   unittest.main()

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-5925aecd-DEBUG";
+const uint8_t gitversion[19] = "DEV-79c61f47-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-5925aecd-DEBUG
+DEV-79c61f47-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_6680589116319572635) {
-   out_6680589116319572635[0] = delta_x[0] + nom_x[0];
-   out_6680589116319572635[1] = delta_x[1] + nom_x[1];
-   out_6680589116319572635[2] = delta_x[2] + nom_x[2];
-   out_6680589116319572635[3] = delta_x[3] + nom_x[3];
-   out_6680589116319572635[4] = delta_x[4] + nom_x[4];
-   out_6680589116319572635[5] = delta_x[5] + nom_x[5];
-   out_6680589116319572635[6] = delta_x[6] + nom_x[6];
-   out_6680589116319572635[7] = delta_x[7] + nom_x[7];
-   out_6680589116319572635[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_870685266903427678) {
+   out_870685266903427678[0] = delta_x[0] + nom_x[0];
+   out_870685266903427678[1] = delta_x[1] + nom_x[1];
+   out_870685266903427678[2] = delta_x[2] + nom_x[2];
+   out_870685266903427678[3] = delta_x[3] + nom_x[3];
+   out_870685266903427678[4] = delta_x[4] + nom_x[4];
+   out_870685266903427678[5] = delta_x[5] + nom_x[5];
+   out_870685266903427678[6] = delta_x[6] + nom_x[6];
+   out_870685266903427678[7] = delta_x[7] + nom_x[7];
+   out_870685266903427678[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_1421263034200107343) {
-   out_1421263034200107343[0] = -nom_x[0] + true_x[0];
-   out_1421263034200107343[1] = -nom_x[1] + true_x[1];
-   out_1421263034200107343[2] = -nom_x[2] + true_x[2];
-   out_1421263034200107343[3] = -nom_x[3] + true_x[3];
-   out_1421263034200107343[4] = -nom_x[4] + true_x[4];
-   out_1421263034200107343[5] = -nom_x[5] + true_x[5];
-   out_1421263034200107343[6] = -nom_x[6] + true_x[6];
-   out_1421263034200107343[7] = -nom_x[7] + true_x[7];
-   out_1421263034200107343[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_8535551015639214025) {
+   out_8535551015639214025[0] = -nom_x[0] + true_x[0];
+   out_8535551015639214025[1] = -nom_x[1] + true_x[1];
+   out_8535551015639214025[2] = -nom_x[2] + true_x[2];
+   out_8535551015639214025[3] = -nom_x[3] + true_x[3];
+   out_8535551015639214025[4] = -nom_x[4] + true_x[4];
+   out_8535551015639214025[5] = -nom_x[5] + true_x[5];
+   out_8535551015639214025[6] = -nom_x[6] + true_x[6];
+   out_8535551015639214025[7] = -nom_x[7] + true_x[7];
+   out_8535551015639214025[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_8968580721052785900) {
-   out_8968580721052785900[0] = 1.0;
-   out_8968580721052785900[1] = 0.0;
-   out_8968580721052785900[2] = 0.0;
-   out_8968580721052785900[3] = 0.0;
-   out_8968580721052785900[4] = 0.0;
-   out_8968580721052785900[5] = 0.0;
-   out_8968580721052785900[6] = 0.0;
-   out_8968580721052785900[7] = 0.0;
-   out_8968580721052785900[8] = 0.0;
-   out_8968580721052785900[9] = 0.0;
-   out_8968580721052785900[10] = 1.0;
-   out_8968580721052785900[11] = 0.0;
-   out_8968580721052785900[12] = 0.0;
-   out_8968580721052785900[13] = 0.0;
-   out_8968580721052785900[14] = 0.0;
-   out_8968580721052785900[15] = 0.0;
-   out_8968580721052785900[16] = 0.0;
-   out_8968580721052785900[17] = 0.0;
-   out_8968580721052785900[18] = 0.0;
-   out_8968580721052785900[19] = 0.0;
-   out_8968580721052785900[20] = 1.0;
-   out_8968580721052785900[21] = 0.0;
-   out_8968580721052785900[22] = 0.0;
-   out_8968580721052785900[23] = 0.0;
-   out_8968580721052785900[24] = 0.0;
-   out_8968580721052785900[25] = 0.0;
-   out_8968580721052785900[26] = 0.0;
-   out_8968580721052785900[27] = 0.0;
-   out_8968580721052785900[28] = 0.0;
-   out_8968580721052785900[29] = 0.0;
-   out_8968580721052785900[30] = 1.0;
-   out_8968580721052785900[31] = 0.0;
-   out_8968580721052785900[32] = 0.0;
-   out_8968580721052785900[33] = 0.0;
-   out_8968580721052785900[34] = 0.0;
-   out_8968580721052785900[35] = 0.0;
-   out_8968580721052785900[36] = 0.0;
-   out_8968580721052785900[37] = 0.0;
-   out_8968580721052785900[38] = 0.0;
-   out_8968580721052785900[39] = 0.0;
-   out_8968580721052785900[40] = 1.0;
-   out_8968580721052785900[41] = 0.0;
-   out_8968580721052785900[42] = 0.0;
-   out_8968580721052785900[43] = 0.0;
-   out_8968580721052785900[44] = 0.0;
-   out_8968580721052785900[45] = 0.0;
-   out_8968580721052785900[46] = 0.0;
-   out_8968580721052785900[47] = 0.0;
-   out_8968580721052785900[48] = 0.0;
-   out_8968580721052785900[49] = 0.0;
-   out_8968580721052785900[50] = 1.0;
-   out_8968580721052785900[51] = 0.0;
-   out_8968580721052785900[52] = 0.0;
-   out_8968580721052785900[53] = 0.0;
-   out_8968580721052785900[54] = 0.0;
-   out_8968580721052785900[55] = 0.0;
-   out_8968580721052785900[56] = 0.0;
-   out_8968580721052785900[57] = 0.0;
-   out_8968580721052785900[58] = 0.0;
-   out_8968580721052785900[59] = 0.0;
-   out_8968580721052785900[60] = 1.0;
-   out_8968580721052785900[61] = 0.0;
-   out_8968580721052785900[62] = 0.0;
-   out_8968580721052785900[63] = 0.0;
-   out_8968580721052785900[64] = 0.0;
-   out_8968580721052785900[65] = 0.0;
-   out_8968580721052785900[66] = 0.0;
-   out_8968580721052785900[67] = 0.0;
-   out_8968580721052785900[68] = 0.0;
-   out_8968580721052785900[69] = 0.0;
-   out_8968580721052785900[70] = 1.0;
-   out_8968580721052785900[71] = 0.0;
-   out_8968580721052785900[72] = 0.0;
-   out_8968580721052785900[73] = 0.0;
-   out_8968580721052785900[74] = 0.0;
-   out_8968580721052785900[75] = 0.0;
-   out_8968580721052785900[76] = 0.0;
-   out_8968580721052785900[77] = 0.0;
-   out_8968580721052785900[78] = 0.0;
-   out_8968580721052785900[79] = 0.0;
-   out_8968580721052785900[80] = 1.0;
+void H_mod_fun(double *state, double *out_5722367516210042485) {
+   out_5722367516210042485[0] = 1.0;
+   out_5722367516210042485[1] = 0.0;
+   out_5722367516210042485[2] = 0.0;
+   out_5722367516210042485[3] = 0.0;
+   out_5722367516210042485[4] = 0.0;
+   out_5722367516210042485[5] = 0.0;
+   out_5722367516210042485[6] = 0.0;
+   out_5722367516210042485[7] = 0.0;
+   out_5722367516210042485[8] = 0.0;
+   out_5722367516210042485[9] = 0.0;
+   out_5722367516210042485[10] = 1.0;
+   out_5722367516210042485[11] = 0.0;
+   out_5722367516210042485[12] = 0.0;
+   out_5722367516210042485[13] = 0.0;
+   out_5722367516210042485[14] = 0.0;
+   out_5722367516210042485[15] = 0.0;
+   out_5722367516210042485[16] = 0.0;
+   out_5722367516210042485[17] = 0.0;
+   out_5722367516210042485[18] = 0.0;
+   out_5722367516210042485[19] = 0.0;
+   out_5722367516210042485[20] = 1.0;
+   out_5722367516210042485[21] = 0.0;
+   out_5722367516210042485[22] = 0.0;
+   out_5722367516210042485[23] = 0.0;
+   out_5722367516210042485[24] = 0.0;
+   out_5722367516210042485[25] = 0.0;
+   out_5722367516210042485[26] = 0.0;
+   out_5722367516210042485[27] = 0.0;
+   out_5722367516210042485[28] = 0.0;
+   out_5722367516210042485[29] = 0.0;
+   out_5722367516210042485[30] = 1.0;
+   out_5722367516210042485[31] = 0.0;
+   out_5722367516210042485[32] = 0.0;
+   out_5722367516210042485[33] = 0.0;
+   out_5722367516210042485[34] = 0.0;
+   out_5722367516210042485[35] = 0.0;
+   out_5722367516210042485[36] = 0.0;
+   out_5722367516210042485[37] = 0.0;
+   out_5722367516210042485[38] = 0.0;
+   out_5722367516210042485[39] = 0.0;
+   out_5722367516210042485[40] = 1.0;
+   out_5722367516210042485[41] = 0.0;
+   out_5722367516210042485[42] = 0.0;
+   out_5722367516210042485[43] = 0.0;
+   out_5722367516210042485[44] = 0.0;
+   out_5722367516210042485[45] = 0.0;
+   out_5722367516210042485[46] = 0.0;
+   out_5722367516210042485[47] = 0.0;
+   out_5722367516210042485[48] = 0.0;
+   out_5722367516210042485[49] = 0.0;
+   out_5722367516210042485[50] = 1.0;
+   out_5722367516210042485[51] = 0.0;
+   out_5722367516210042485[52] = 0.0;
+   out_5722367516210042485[53] = 0.0;
+   out_5722367516210042485[54] = 0.0;
+   out_5722367516210042485[55] = 0.0;
+   out_5722367516210042485[56] = 0.0;
+   out_5722367516210042485[57] = 0.0;
+   out_5722367516210042485[58] = 0.0;
+   out_5722367516210042485[59] = 0.0;
+   out_5722367516210042485[60] = 1.0;
+   out_5722367516210042485[61] = 0.0;
+   out_5722367516210042485[62] = 0.0;
+   out_5722367516210042485[63] = 0.0;
+   out_5722367516210042485[64] = 0.0;
+   out_5722367516210042485[65] = 0.0;
+   out_5722367516210042485[66] = 0.0;
+   out_5722367516210042485[67] = 0.0;
+   out_5722367516210042485[68] = 0.0;
+   out_5722367516210042485[69] = 0.0;
+   out_5722367516210042485[70] = 1.0;
+   out_5722367516210042485[71] = 0.0;
+   out_5722367516210042485[72] = 0.0;
+   out_5722367516210042485[73] = 0.0;
+   out_5722367516210042485[74] = 0.0;
+   out_5722367516210042485[75] = 0.0;
+   out_5722367516210042485[76] = 0.0;
+   out_5722367516210042485[77] = 0.0;
+   out_5722367516210042485[78] = 0.0;
+   out_5722367516210042485[79] = 0.0;
+   out_5722367516210042485[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_3852536059217665062) {
-   out_3852536059217665062[0] = state[0];
-   out_3852536059217665062[1] = state[1];
-   out_3852536059217665062[2] = state[2];
-   out_3852536059217665062[3] = state[3];
-   out_3852536059217665062[4] = state[4];
-   out_3852536059217665062[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_3852536059217665062[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_3852536059217665062[7] = state[7];
-   out_3852536059217665062[8] = state[8];
+void f_fun(double *state, double dt, double *out_6327711019370239094) {
+   out_6327711019370239094[0] = state[0];
+   out_6327711019370239094[1] = state[1];
+   out_6327711019370239094[2] = state[2];
+   out_6327711019370239094[3] = state[3];
+   out_6327711019370239094[4] = state[4];
+   out_6327711019370239094[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_6327711019370239094[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_6327711019370239094[7] = state[7];
+   out_6327711019370239094[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_7217781527381652799) {
-   out_7217781527381652799[0] = 1;
-   out_7217781527381652799[1] = 0;
-   out_7217781527381652799[2] = 0;
-   out_7217781527381652799[3] = 0;
-   out_7217781527381652799[4] = 0;
-   out_7217781527381652799[5] = 0;
-   out_7217781527381652799[6] = 0;
-   out_7217781527381652799[7] = 0;
-   out_7217781527381652799[8] = 0;
-   out_7217781527381652799[9] = 0;
-   out_7217781527381652799[10] = 1;
-   out_7217781527381652799[11] = 0;
-   out_7217781527381652799[12] = 0;
-   out_7217781527381652799[13] = 0;
-   out_7217781527381652799[14] = 0;
-   out_7217781527381652799[15] = 0;
-   out_7217781527381652799[16] = 0;
-   out_7217781527381652799[17] = 0;
-   out_7217781527381652799[18] = 0;
-   out_7217781527381652799[19] = 0;
-   out_7217781527381652799[20] = 1;
-   out_7217781527381652799[21] = 0;
-   out_7217781527381652799[22] = 0;
-   out_7217781527381652799[23] = 0;
-   out_7217781527381652799[24] = 0;
-   out_7217781527381652799[25] = 0;
-   out_7217781527381652799[26] = 0;
-   out_7217781527381652799[27] = 0;
-   out_7217781527381652799[28] = 0;
-   out_7217781527381652799[29] = 0;
-   out_7217781527381652799[30] = 1;
-   out_7217781527381652799[31] = 0;
-   out_7217781527381652799[32] = 0;
-   out_7217781527381652799[33] = 0;
-   out_7217781527381652799[34] = 0;
-   out_7217781527381652799[35] = 0;
-   out_7217781527381652799[36] = 0;
-   out_7217781527381652799[37] = 0;
-   out_7217781527381652799[38] = 0;
-   out_7217781527381652799[39] = 0;
-   out_7217781527381652799[40] = 1;
-   out_7217781527381652799[41] = 0;
-   out_7217781527381652799[42] = 0;
-   out_7217781527381652799[43] = 0;
-   out_7217781527381652799[44] = 0;
-   out_7217781527381652799[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_7217781527381652799[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_7217781527381652799[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7217781527381652799[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7217781527381652799[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_7217781527381652799[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_7217781527381652799[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_7217781527381652799[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7217781527381652799[53] = -9.8100000000000005*dt;
-   out_7217781527381652799[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_7217781527381652799[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_7217781527381652799[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7217781527381652799[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7217781527381652799[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_7217781527381652799[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_7217781527381652799[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_7217781527381652799[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7217781527381652799[62] = 0;
-   out_7217781527381652799[63] = 0;
-   out_7217781527381652799[64] = 0;
-   out_7217781527381652799[65] = 0;
-   out_7217781527381652799[66] = 0;
-   out_7217781527381652799[67] = 0;
-   out_7217781527381652799[68] = 0;
-   out_7217781527381652799[69] = 0;
-   out_7217781527381652799[70] = 1;
-   out_7217781527381652799[71] = 0;
-   out_7217781527381652799[72] = 0;
-   out_7217781527381652799[73] = 0;
-   out_7217781527381652799[74] = 0;
-   out_7217781527381652799[75] = 0;
-   out_7217781527381652799[76] = 0;
-   out_7217781527381652799[77] = 0;
-   out_7217781527381652799[78] = 0;
-   out_7217781527381652799[79] = 0;
-   out_7217781527381652799[80] = 1;
+void F_fun(double *state, double dt, double *out_334732449615445707) {
+   out_334732449615445707[0] = 1;
+   out_334732449615445707[1] = 0;
+   out_334732449615445707[2] = 0;
+   out_334732449615445707[3] = 0;
+   out_334732449615445707[4] = 0;
+   out_334732449615445707[5] = 0;
+   out_334732449615445707[6] = 0;
+   out_334732449615445707[7] = 0;
+   out_334732449615445707[8] = 0;
+   out_334732449615445707[9] = 0;
+   out_334732449615445707[10] = 1;
+   out_334732449615445707[11] = 0;
+   out_334732449615445707[12] = 0;
+   out_334732449615445707[13] = 0;
+   out_334732449615445707[14] = 0;
+   out_334732449615445707[15] = 0;
+   out_334732449615445707[16] = 0;
+   out_334732449615445707[17] = 0;
+   out_334732449615445707[18] = 0;
+   out_334732449615445707[19] = 0;
+   out_334732449615445707[20] = 1;
+   out_334732449615445707[21] = 0;
+   out_334732449615445707[22] = 0;
+   out_334732449615445707[23] = 0;
+   out_334732449615445707[24] = 0;
+   out_334732449615445707[25] = 0;
+   out_334732449615445707[26] = 0;
+   out_334732449615445707[27] = 0;
+   out_334732449615445707[28] = 0;
+   out_334732449615445707[29] = 0;
+   out_334732449615445707[30] = 1;
+   out_334732449615445707[31] = 0;
+   out_334732449615445707[32] = 0;
+   out_334732449615445707[33] = 0;
+   out_334732449615445707[34] = 0;
+   out_334732449615445707[35] = 0;
+   out_334732449615445707[36] = 0;
+   out_334732449615445707[37] = 0;
+   out_334732449615445707[38] = 0;
+   out_334732449615445707[39] = 0;
+   out_334732449615445707[40] = 1;
+   out_334732449615445707[41] = 0;
+   out_334732449615445707[42] = 0;
+   out_334732449615445707[43] = 0;
+   out_334732449615445707[44] = 0;
+   out_334732449615445707[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_334732449615445707[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_334732449615445707[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_334732449615445707[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_334732449615445707[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_334732449615445707[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_334732449615445707[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_334732449615445707[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_334732449615445707[53] = -9.8100000000000005*dt;
+   out_334732449615445707[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_334732449615445707[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_334732449615445707[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_334732449615445707[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_334732449615445707[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_334732449615445707[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_334732449615445707[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_334732449615445707[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_334732449615445707[62] = 0;
+   out_334732449615445707[63] = 0;
+   out_334732449615445707[64] = 0;
+   out_334732449615445707[65] = 0;
+   out_334732449615445707[66] = 0;
+   out_334732449615445707[67] = 0;
+   out_334732449615445707[68] = 0;
+   out_334732449615445707[69] = 0;
+   out_334732449615445707[70] = 1;
+   out_334732449615445707[71] = 0;
+   out_334732449615445707[72] = 0;
+   out_334732449615445707[73] = 0;
+   out_334732449615445707[74] = 0;
+   out_334732449615445707[75] = 0;
+   out_334732449615445707[76] = 0;
+   out_334732449615445707[77] = 0;
+   out_334732449615445707[78] = 0;
+   out_334732449615445707[79] = 0;
+   out_334732449615445707[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_2838193808077509293) {
-   out_2838193808077509293[0] = state[6];
+void h_25(double *state, double *unused, double *out_4988354507217303652) {
+   out_4988354507217303652[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_4085073539734055094) {
-   out_4085073539734055094[0] = 0;
-   out_4085073539734055094[1] = 0;
-   out_4085073539734055094[2] = 0;
-   out_4085073539734055094[3] = 0;
-   out_4085073539734055094[4] = 0;
-   out_4085073539734055094[5] = 0;
-   out_4085073539734055094[6] = 1;
-   out_4085073539734055094[7] = 0;
-   out_4085073539734055094[8] = 0;
+void H_25(double *state, double *unused, double *out_3470820709702194752) {
+   out_3470820709702194752[0] = 0;
+   out_3470820709702194752[1] = 0;
+   out_3470820709702194752[2] = 0;
+   out_3470820709702194752[3] = 0;
+   out_3470820709702194752[4] = 0;
+   out_3470820709702194752[5] = 0;
+   out_3470820709702194752[6] = 1;
+   out_3470820709702194752[7] = 0;
+   out_3470820709702194752[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_7378709950093750440) {
-   out_7378709950093750440[0] = state[4];
-   out_7378709950093750440[1] = state[5];
+void h_24(double *state, double *unused, double *out_8320591788748654668) {
+   out_8320591788748654668[0] = state[4];
+   out_8320591788748654668[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_2001100279119417225) {
-   out_2001100279119417225[0] = 0;
-   out_2001100279119417225[1] = 0;
-   out_2001100279119417225[2] = 0;
-   out_2001100279119417225[3] = 0;
-   out_2001100279119417225[4] = 1;
-   out_2001100279119417225[5] = 0;
-   out_2001100279119417225[6] = 0;
-   out_2001100279119417225[7] = 0;
-   out_2001100279119417225[8] = 0;
-   out_2001100279119417225[9] = 0;
-   out_2001100279119417225[10] = 0;
-   out_2001100279119417225[11] = 0;
-   out_2001100279119417225[12] = 0;
-   out_2001100279119417225[13] = 0;
-   out_2001100279119417225[14] = 1;
-   out_2001100279119417225[15] = 0;
-   out_2001100279119417225[16] = 0;
-   out_2001100279119417225[17] = 0;
+void H_24(double *state, double *unused, double *out_5643470308707694318) {
+   out_5643470308707694318[0] = 0;
+   out_5643470308707694318[1] = 0;
+   out_5643470308707694318[2] = 0;
+   out_5643470308707694318[3] = 0;
+   out_5643470308707694318[4] = 1;
+   out_5643470308707694318[5] = 0;
+   out_5643470308707694318[6] = 0;
+   out_5643470308707694318[7] = 0;
+   out_5643470308707694318[8] = 0;
+   out_5643470308707694318[9] = 0;
+   out_5643470308707694318[10] = 0;
+   out_5643470308707694318[11] = 0;
+   out_5643470308707694318[12] = 0;
+   out_5643470308707694318[13] = 0;
+   out_5643470308707694318[14] = 1;
+   out_5643470308707694318[15] = 0;
+   out_5643470308707694318[16] = 0;
+   out_5643470308707694318[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_6475643336331531643) {
-   out_6475643336331531643[0] = state[4];
+void h_30(double *state, double *unused, double *out_6271436662034189635) {
+   out_6271436662034189635[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_4214412486877295164) {
-   out_4214412486877295164[0] = 0;
-   out_4214412486877295164[1] = 0;
-   out_4214412486877295164[2] = 0;
-   out_4214412486877295164[3] = 0;
-   out_4214412486877295164[4] = 1;
-   out_4214412486877295164[5] = 0;
-   out_4214412486877295164[6] = 0;
-   out_4214412486877295164[7] = 0;
-   out_4214412486877295164[8] = 0;
+void H_30(double *state, double *unused, double *out_952487751194946125) {
+   out_952487751194946125[0] = 0;
+   out_952487751194946125[1] = 0;
+   out_952487751194946125[2] = 0;
+   out_952487751194946125[3] = 0;
+   out_952487751194946125[4] = 1;
+   out_952487751194946125[5] = 0;
+   out_952487751194946125[6] = 0;
+   out_952487751194946125[7] = 0;
+   out_952487751194946125[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_8554827447728949957) {
-   out_8554827447728949957[0] = state[7];
+void h_26(double *state, double *unused, double *out_628706790953232800) {
+   out_628706790953232800[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_3428219475623743190) {
-   out_3428219475623743190[0] = 0;
-   out_3428219475623743190[1] = 0;
-   out_3428219475623743190[2] = 0;
-   out_3428219475623743190[3] = 0;
-   out_3428219475623743190[4] = 0;
-   out_3428219475623743190[5] = 0;
-   out_3428219475623743190[6] = 0;
-   out_3428219475623743190[7] = 1;
-   out_3428219475623743190[8] = 0;
+void H_26(double *state, double *unused, double *out_7212324028576250976) {
+   out_7212324028576250976[0] = 0;
+   out_7212324028576250976[1] = 0;
+   out_7212324028576250976[2] = 0;
+   out_7212324028576250976[3] = 0;
+   out_7212324028576250976[4] = 0;
+   out_7212324028576250976[5] = 0;
+   out_7212324028576250976[6] = 0;
+   out_7212324028576250976[7] = 1;
+   out_7212324028576250976[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_1670450007001367556) {
-   out_1670450007001367556[0] = state[3];
+void h_27(double *state, double *unused, double *out_7592759828026001303) {
+   out_7592759828026001303[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_6389175798677720075) {
-   out_6389175798677720075[0] = 0;
-   out_6389175798677720075[1] = 0;
-   out_6389175798677720075[2] = 0;
-   out_6389175798677720075[3] = 1;
-   out_6389175798677720075[4] = 0;
-   out_6389175798677720075[5] = 0;
-   out_6389175798677720075[6] = 0;
-   out_6389175798677720075[7] = 0;
-   out_6389175798677720075[8] = 0;
+void H_27(double *state, double *unused, double *out_5774922968645859733) {
+   out_5774922968645859733[0] = 0;
+   out_5774922968645859733[1] = 0;
+   out_5774922968645859733[2] = 0;
+   out_5774922968645859733[3] = 1;
+   out_5774922968645859733[4] = 0;
+   out_5774922968645859733[5] = 0;
+   out_5774922968645859733[6] = 0;
+   out_5774922968645859733[7] = 0;
+   out_5774922968645859733[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_6969427469717174328) {
-   out_6969427469717174328[0] = state[1];
+void h_29(double *state, double *unused, double *out_7749946496377130448) {
+   out_7749946496377130448[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_3704181142562902980) {
-   out_3704181142562902980[0] = 0;
-   out_3704181142562902980[1] = 1;
-   out_3704181142562902980[2] = 0;
-   out_3704181142562902980[3] = 0;
-   out_3704181142562902980[4] = 0;
-   out_3704181142562902980[5] = 0;
-   out_3704181142562902980[6] = 0;
-   out_3704181142562902980[7] = 0;
-   out_3704181142562902980[8] = 0;
+void H_29(double *state, double *unused, double *out_7488285695515410766) {
+   out_7488285695515410766[0] = 0;
+   out_7488285695515410766[1] = 1;
+   out_7488285695515410766[2] = 0;
+   out_7488285695515410766[3] = 0;
+   out_7488285695515410766[4] = 0;
+   out_7488285695515410766[5] = 0;
+   out_7488285695515410766[6] = 0;
+   out_7488285695515410766[7] = 0;
+   out_7488285695515410766[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_1142102096268485827) {
-   out_1142102096268485827[0] = state[0];
+void h_28(double *state, double *unused, double *out_1346308770565827835) {
+   out_1346308770565827835[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_1740550870997576729) {
-   out_1740550870997576729[0] = 1;
-   out_1740550870997576729[1] = 0;
-   out_1740550870997576729[2] = 0;
-   out_1740550870997576729[3] = 0;
-   out_1740550870997576729[4] = 0;
-   out_1740550870997576729[5] = 0;
-   out_1740550870997576729[6] = 0;
-   out_1740550870997576729[7] = 0;
-   out_1740550870997576729[8] = 0;
+void H_28(double *state, double *unused, double *out_5524655423950084515) {
+   out_5524655423950084515[0] = 1;
+   out_5524655423950084515[1] = 0;
+   out_5524655423950084515[2] = 0;
+   out_5524655423950084515[3] = 0;
+   out_5524655423950084515[4] = 0;
+   out_5524655423950084515[5] = 0;
+   out_5524655423950084515[6] = 0;
+   out_5524655423950084515[7] = 0;
+   out_5524655423950084515[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_4288825200706392460) {
-   out_4288825200706392460[0] = state[8];
+void h_31(double *state, double *unused, double *out_2214861449768682318) {
+   out_2214861449768682318[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_4054427577857094666) {
-   out_4054427577857094666[0] = 0;
-   out_4054427577857094666[1] = 0;
-   out_4054427577857094666[2] = 0;
-   out_4054427577857094666[3] = 0;
-   out_4054427577857094666[4] = 0;
-   out_4054427577857094666[5] = 0;
-   out_4054427577857094666[6] = 0;
-   out_4054427577857094666[7] = 0;
-   out_4054427577857094666[8] = 1;
+void H_31(double *state, double *unused, double *out_7838532130809602452) {
+   out_7838532130809602452[0] = 0;
+   out_7838532130809602452[1] = 0;
+   out_7838532130809602452[2] = 0;
+   out_7838532130809602452[3] = 0;
+   out_7838532130809602452[4] = 0;
+   out_7838532130809602452[5] = 0;
+   out_7838532130809602452[6] = 0;
+   out_7838532130809602452[7] = 0;
+   out_7838532130809602452[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_6680589116319572635) {
-  err_fun(nom_x, delta_x, out_6680589116319572635);
+void car_err_fun(double *nom_x, double *delta_x, double *out_870685266903427678) {
+  err_fun(nom_x, delta_x, out_870685266903427678);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1421263034200107343) {
-  inv_err_fun(nom_x, true_x, out_1421263034200107343);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8535551015639214025) {
+  inv_err_fun(nom_x, true_x, out_8535551015639214025);
 }
-void car_H_mod_fun(double *state, double *out_8968580721052785900) {
-  H_mod_fun(state, out_8968580721052785900);
+void car_H_mod_fun(double *state, double *out_5722367516210042485) {
+  H_mod_fun(state, out_5722367516210042485);
 }
-void car_f_fun(double *state, double dt, double *out_3852536059217665062) {
-  f_fun(state,  dt, out_3852536059217665062);
+void car_f_fun(double *state, double dt, double *out_6327711019370239094) {
+  f_fun(state,  dt, out_6327711019370239094);
 }
-void car_F_fun(double *state, double dt, double *out_7217781527381652799) {
-  F_fun(state,  dt, out_7217781527381652799);
+void car_F_fun(double *state, double dt, double *out_334732449615445707) {
+  F_fun(state,  dt, out_334732449615445707);
 }
-void car_h_25(double *state, double *unused, double *out_2838193808077509293) {
-  h_25(state, unused, out_2838193808077509293);
+void car_h_25(double *state, double *unused, double *out_4988354507217303652) {
+  h_25(state, unused, out_4988354507217303652);
 }
-void car_H_25(double *state, double *unused, double *out_4085073539734055094) {
-  H_25(state, unused, out_4085073539734055094);
+void car_H_25(double *state, double *unused, double *out_3470820709702194752) {
+  H_25(state, unused, out_3470820709702194752);
 }
-void car_h_24(double *state, double *unused, double *out_7378709950093750440) {
-  h_24(state, unused, out_7378709950093750440);
+void car_h_24(double *state, double *unused, double *out_8320591788748654668) {
+  h_24(state, unused, out_8320591788748654668);
 }
-void car_H_24(double *state, double *unused, double *out_2001100279119417225) {
-  H_24(state, unused, out_2001100279119417225);
+void car_H_24(double *state, double *unused, double *out_5643470308707694318) {
+  H_24(state, unused, out_5643470308707694318);
 }
-void car_h_30(double *state, double *unused, double *out_6475643336331531643) {
-  h_30(state, unused, out_6475643336331531643);
+void car_h_30(double *state, double *unused, double *out_6271436662034189635) {
+  h_30(state, unused, out_6271436662034189635);
 }
-void car_H_30(double *state, double *unused, double *out_4214412486877295164) {
-  H_30(state, unused, out_4214412486877295164);
+void car_H_30(double *state, double *unused, double *out_952487751194946125) {
+  H_30(state, unused, out_952487751194946125);
 }
-void car_h_26(double *state, double *unused, double *out_8554827447728949957) {
-  h_26(state, unused, out_8554827447728949957);
+void car_h_26(double *state, double *unused, double *out_628706790953232800) {
+  h_26(state, unused, out_628706790953232800);
 }
-void car_H_26(double *state, double *unused, double *out_3428219475623743190) {
-  H_26(state, unused, out_3428219475623743190);
+void car_H_26(double *state, double *unused, double *out_7212324028576250976) {
+  H_26(state, unused, out_7212324028576250976);
 }
-void car_h_27(double *state, double *unused, double *out_1670450007001367556) {
-  h_27(state, unused, out_1670450007001367556);
+void car_h_27(double *state, double *unused, double *out_7592759828026001303) {
+  h_27(state, unused, out_7592759828026001303);
 }
-void car_H_27(double *state, double *unused, double *out_6389175798677720075) {
-  H_27(state, unused, out_6389175798677720075);
+void car_H_27(double *state, double *unused, double *out_5774922968645859733) {
+  H_27(state, unused, out_5774922968645859733);
 }
-void car_h_29(double *state, double *unused, double *out_6969427469717174328) {
-  h_29(state, unused, out_6969427469717174328);
+void car_h_29(double *state, double *unused, double *out_7749946496377130448) {
+  h_29(state, unused, out_7749946496377130448);
 }
-void car_H_29(double *state, double *unused, double *out_3704181142562902980) {
-  H_29(state, unused, out_3704181142562902980);
+void car_H_29(double *state, double *unused, double *out_7488285695515410766) {
+  H_29(state, unused, out_7488285695515410766);
 }
-void car_h_28(double *state, double *unused, double *out_1142102096268485827) {
-  h_28(state, unused, out_1142102096268485827);
+void car_h_28(double *state, double *unused, double *out_1346308770565827835) {
+  h_28(state, unused, out_1346308770565827835);
 }
-void car_H_28(double *state, double *unused, double *out_1740550870997576729) {
-  H_28(state, unused, out_1740550870997576729);
+void car_H_28(double *state, double *unused, double *out_5524655423950084515) {
+  H_28(state, unused, out_5524655423950084515);
 }
-void car_h_31(double *state, double *unused, double *out_4288825200706392460) {
-  h_31(state, unused, out_4288825200706392460);
+void car_h_31(double *state, double *unused, double *out_2214861449768682318) {
+  h_31(state, unused, out_2214861449768682318);
 }
-void car_H_31(double *state, double *unused, double *out_4054427577857094666) {
-  H_31(state, unused, out_4054427577857094666);
+void car_H_31(double *state, double *unused, double *out_7838532130809602452) {
+  H_31(state, unused, out_7838532130809602452);
 }
 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_6680589116319572635);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1421263034200107343);
-void car_H_mod_fun(double *state, double *out_8968580721052785900);
-void car_f_fun(double *state, double dt, double *out_3852536059217665062);
-void car_F_fun(double *state, double dt, double *out_7217781527381652799);
-void car_h_25(double *state, double *unused, double *out_2838193808077509293);
-void car_H_25(double *state, double *unused, double *out_4085073539734055094);
-void car_h_24(double *state, double *unused, double *out_7378709950093750440);
-void car_H_24(double *state, double *unused, double *out_2001100279119417225);
-void car_h_30(double *state, double *unused, double *out_6475643336331531643);
-void car_H_30(double *state, double *unused, double *out_4214412486877295164);
-void car_h_26(double *state, double *unused, double *out_8554827447728949957);
-void car_H_26(double *state, double *unused, double *out_3428219475623743190);
-void car_h_27(double *state, double *unused, double *out_1670450007001367556);
-void car_H_27(double *state, double *unused, double *out_6389175798677720075);
-void car_h_29(double *state, double *unused, double *out_6969427469717174328);
-void car_H_29(double *state, double *unused, double *out_3704181142562902980);
-void car_h_28(double *state, double *unused, double *out_1142102096268485827);
-void car_H_28(double *state, double *unused, double *out_1740550870997576729);
-void car_h_31(double *state, double *unused, double *out_4288825200706392460);
-void car_H_31(double *state, double *unused, double *out_4054427577857094666);
+void car_err_fun(double *nom_x, double *delta_x, double *out_870685266903427678);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8535551015639214025);
+void car_H_mod_fun(double *state, double *out_5722367516210042485);
+void car_f_fun(double *state, double dt, double *out_6327711019370239094);
+void car_F_fun(double *state, double dt, double *out_334732449615445707);
+void car_h_25(double *state, double *unused, double *out_4988354507217303652);
+void car_H_25(double *state, double *unused, double *out_3470820709702194752);
+void car_h_24(double *state, double *unused, double *out_8320591788748654668);
+void car_H_24(double *state, double *unused, double *out_5643470308707694318);
+void car_h_30(double *state, double *unused, double *out_6271436662034189635);
+void car_H_30(double *state, double *unused, double *out_952487751194946125);
+void car_h_26(double *state, double *unused, double *out_628706790953232800);
+void car_H_26(double *state, double *unused, double *out_7212324028576250976);
+void car_h_27(double *state, double *unused, double *out_7592759828026001303);
+void car_H_27(double *state, double *unused, double *out_5774922968645859733);
+void car_h_29(double *state, double *unused, double *out_7749946496377130448);
+void car_H_29(double *state, double *unused, double *out_7488285695515410766);
+void car_h_28(double *state, double *unused, double *out_1346308770565827835);
+void car_H_28(double *state, double *unused, double *out_5524655423950084515);
+void car_h_31(double *state, double *unused, double *out_2214861449768682318);
+void car_H_31(double *state, double *unused, double *out_7838532130809602452);
 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);