From e4e30e14fc7e6e586aaf3c24137acf744d66ddcc Mon Sep 17 00:00:00 2001 From: firestarsdog <229254897+firestarsdog@users.noreply.github.com> Date: Fri, 16 Oct 2026 20:15:13 -0400 Subject: [PATCH] Fix Build --- .../locationd/models/generated/car.cpp | 684 +++--- .../locationd/models/generated/car.h | 42 +- .../locationd/models/generated/libcar.so | Bin 24120528 -> 24120528 bytes .../locationd/models/generated/libpose.so | Bin 20605624 -> 20605632 bytes .../locationd/models/generated/pose.cpp | 1938 ++++++++--------- .../locationd/models/generated/pose.h | 26 +- panda/board/obj/body_h7.bin.signed | Bin 210540 -> 210540 bytes panda/board/obj/bootstub.body_h7.bin | Bin 12040 -> 12040 bytes panda/board/obj/bootstub.panda.bin | Bin 11176 -> 11176 bytes .../obj/bootstub.panda_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_h7.bin | Bin 18824 -> 18824 bytes .../bootstub.panda_h7_can_ignition_only.bin | Bin 18824 -> 18824 bytes .../obj/bootstub.panda_h7_hkg_remote.bin | Bin 18824 -> 18824 bytes ....panda_h7_hkg_remote_can_ignition_only.bin | Bin 18824 -> 18824 bytes panda/board/obj/bootstub.panda_h7_remote.bin | Bin 18824 -> 18824 bytes ...stub.panda_h7_remote_can_ignition_only.bin | Bin 18824 -> 18824 bytes .../obj/bootstub.panda_h7_tesla_wake.bin | Bin 18824 -> 18824 bytes ....panda_h7_tesla_wake_can_ignition_only.bin | Bin 18824 -> 18824 bytes panda/board/obj/bootstub.panda_hkg_remote.bin | Bin 11176 -> 11176 bytes ...tub.panda_hkg_remote_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_remote.bin | Bin 11176 -> 11176 bytes ...ootstub.panda_remote_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/bootstub.panda_tesla_wake.bin | Bin 11176 -> 11176 bytes ...tub.panda_tesla_wake_can_ignition_only.bin | Bin 11176 -> 11176 bytes panda/board/obj/gitversion.h | 2 +- panda/board/obj/panda.bin.signed | Bin 201952 -> 201952 bytes .../obj/panda_can_ignition_only.bin.signed | Bin 201928 -> 201928 bytes panda/board/obj/panda_h7.bin.signed | Bin 211268 -> 211268 bytes .../obj/panda_h7_can_ignition_only.bin.signed | Bin 211244 -> 211244 bytes .../board/obj/panda_h7_hkg_remote.bin.signed | Bin 211352 -> 211352 bytes ...h7_hkg_remote_can_ignition_only.bin.signed | Bin 211336 -> 211336 bytes panda/board/obj/panda_h7_remote.bin.signed | Bin 211268 -> 211268 bytes ...nda_h7_remote_can_ignition_only.bin.signed | Bin 211244 -> 211244 bytes .../board/obj/panda_h7_tesla_wake.bin.signed | Bin 211404 -> 211404 bytes ...h7_tesla_wake_can_ignition_only.bin.signed | Bin 211380 -> 211380 bytes panda/board/obj/panda_hkg_remote.bin.signed | Bin 202036 -> 202036 bytes ...da_hkg_remote_can_ignition_only.bin.signed | Bin 202020 -> 202020 bytes panda/board/obj/panda_remote.bin.signed | Bin 201948 -> 201948 bytes .../panda_remote_can_ignition_only.bin.signed | Bin 201924 -> 201924 bytes panda/board/obj/panda_tesla_wake.bin.signed | Bin 202084 -> 202084 bytes ...da_tesla_wake_can_ignition_only.bin.signed | Bin 202060 -> 202060 bytes panda/board/obj/version | 2 +- prebuilt | 0 prebuilt.json | 2 +- 44 files changed, 1348 insertions(+), 1348 deletions(-) create mode 100644 prebuilt diff --git a/openpilot/selfdrive/locationd/models/generated/car.cpp b/openpilot/selfdrive/locationd/models/generated/car.cpp index 05370fed6e..ed752a039a 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.cpp +++ b/openpilot/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_7378461606150437313) { - out_7378461606150437313[0] = delta_x[0] + nom_x[0]; - out_7378461606150437313[1] = delta_x[1] + nom_x[1]; - out_7378461606150437313[2] = delta_x[2] + nom_x[2]; - out_7378461606150437313[3] = delta_x[3] + nom_x[3]; - out_7378461606150437313[4] = delta_x[4] + nom_x[4]; - out_7378461606150437313[5] = delta_x[5] + nom_x[5]; - out_7378461606150437313[6] = delta_x[6] + nom_x[6]; - out_7378461606150437313[7] = delta_x[7] + nom_x[7]; - out_7378461606150437313[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_3470217287287697986) { + out_3470217287287697986[0] = delta_x[0] + nom_x[0]; + out_3470217287287697986[1] = delta_x[1] + nom_x[1]; + out_3470217287287697986[2] = delta_x[2] + nom_x[2]; + out_3470217287287697986[3] = delta_x[3] + nom_x[3]; + out_3470217287287697986[4] = delta_x[4] + nom_x[4]; + out_3470217287287697986[5] = delta_x[5] + nom_x[5]; + out_3470217287287697986[6] = delta_x[6] + nom_x[6]; + out_3470217287287697986[7] = delta_x[7] + nom_x[7]; + out_3470217287287697986[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_294189106821879139) { - out_294189106821879139[0] = -nom_x[0] + true_x[0]; - out_294189106821879139[1] = -nom_x[1] + true_x[1]; - out_294189106821879139[2] = -nom_x[2] + true_x[2]; - out_294189106821879139[3] = -nom_x[3] + true_x[3]; - out_294189106821879139[4] = -nom_x[4] + true_x[4]; - out_294189106821879139[5] = -nom_x[5] + true_x[5]; - out_294189106821879139[6] = -nom_x[6] + true_x[6]; - out_294189106821879139[7] = -nom_x[7] + true_x[7]; - out_294189106821879139[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_5423086811818805380) { + out_5423086811818805380[0] = -nom_x[0] + true_x[0]; + out_5423086811818805380[1] = -nom_x[1] + true_x[1]; + out_5423086811818805380[2] = -nom_x[2] + true_x[2]; + out_5423086811818805380[3] = -nom_x[3] + true_x[3]; + out_5423086811818805380[4] = -nom_x[4] + true_x[4]; + out_5423086811818805380[5] = -nom_x[5] + true_x[5]; + out_5423086811818805380[6] = -nom_x[6] + true_x[6]; + out_5423086811818805380[7] = -nom_x[7] + true_x[7]; + out_5423086811818805380[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_4621094181659745510) { - out_4621094181659745510[0] = 1.0; - out_4621094181659745510[1] = 0.0; - out_4621094181659745510[2] = 0.0; - out_4621094181659745510[3] = 0.0; - out_4621094181659745510[4] = 0.0; - out_4621094181659745510[5] = 0.0; - out_4621094181659745510[6] = 0.0; - out_4621094181659745510[7] = 0.0; - out_4621094181659745510[8] = 0.0; - out_4621094181659745510[9] = 0.0; - out_4621094181659745510[10] = 1.0; - out_4621094181659745510[11] = 0.0; - out_4621094181659745510[12] = 0.0; - out_4621094181659745510[13] = 0.0; - out_4621094181659745510[14] = 0.0; - out_4621094181659745510[15] = 0.0; - out_4621094181659745510[16] = 0.0; - out_4621094181659745510[17] = 0.0; - out_4621094181659745510[18] = 0.0; - out_4621094181659745510[19] = 0.0; - out_4621094181659745510[20] = 1.0; - out_4621094181659745510[21] = 0.0; - out_4621094181659745510[22] = 0.0; - out_4621094181659745510[23] = 0.0; - out_4621094181659745510[24] = 0.0; - out_4621094181659745510[25] = 0.0; - out_4621094181659745510[26] = 0.0; - out_4621094181659745510[27] = 0.0; - out_4621094181659745510[28] = 0.0; - out_4621094181659745510[29] = 0.0; - out_4621094181659745510[30] = 1.0; - out_4621094181659745510[31] = 0.0; - out_4621094181659745510[32] = 0.0; - out_4621094181659745510[33] = 0.0; - out_4621094181659745510[34] = 0.0; - out_4621094181659745510[35] = 0.0; - out_4621094181659745510[36] = 0.0; - out_4621094181659745510[37] = 0.0; - out_4621094181659745510[38] = 0.0; - out_4621094181659745510[39] = 0.0; - out_4621094181659745510[40] = 1.0; - out_4621094181659745510[41] = 0.0; - out_4621094181659745510[42] = 0.0; - out_4621094181659745510[43] = 0.0; - out_4621094181659745510[44] = 0.0; - out_4621094181659745510[45] = 0.0; - out_4621094181659745510[46] = 0.0; - out_4621094181659745510[47] = 0.0; - out_4621094181659745510[48] = 0.0; - out_4621094181659745510[49] = 0.0; - out_4621094181659745510[50] = 1.0; - out_4621094181659745510[51] = 0.0; - out_4621094181659745510[52] = 0.0; - out_4621094181659745510[53] = 0.0; - out_4621094181659745510[54] = 0.0; - out_4621094181659745510[55] = 0.0; - out_4621094181659745510[56] = 0.0; - out_4621094181659745510[57] = 0.0; - out_4621094181659745510[58] = 0.0; - out_4621094181659745510[59] = 0.0; - out_4621094181659745510[60] = 1.0; - out_4621094181659745510[61] = 0.0; - out_4621094181659745510[62] = 0.0; - out_4621094181659745510[63] = 0.0; - out_4621094181659745510[64] = 0.0; - out_4621094181659745510[65] = 0.0; - out_4621094181659745510[66] = 0.0; - out_4621094181659745510[67] = 0.0; - out_4621094181659745510[68] = 0.0; - out_4621094181659745510[69] = 0.0; - out_4621094181659745510[70] = 1.0; - out_4621094181659745510[71] = 0.0; - out_4621094181659745510[72] = 0.0; - out_4621094181659745510[73] = 0.0; - out_4621094181659745510[74] = 0.0; - out_4621094181659745510[75] = 0.0; - out_4621094181659745510[76] = 0.0; - out_4621094181659745510[77] = 0.0; - out_4621094181659745510[78] = 0.0; - out_4621094181659745510[79] = 0.0; - out_4621094181659745510[80] = 1.0; +void H_mod_fun(double *state, double *out_8859145476210338021) { + out_8859145476210338021[0] = 1.0; + out_8859145476210338021[1] = 0.0; + out_8859145476210338021[2] = 0.0; + out_8859145476210338021[3] = 0.0; + out_8859145476210338021[4] = 0.0; + out_8859145476210338021[5] = 0.0; + out_8859145476210338021[6] = 0.0; + out_8859145476210338021[7] = 0.0; + out_8859145476210338021[8] = 0.0; + out_8859145476210338021[9] = 0.0; + out_8859145476210338021[10] = 1.0; + out_8859145476210338021[11] = 0.0; + out_8859145476210338021[12] = 0.0; + out_8859145476210338021[13] = 0.0; + out_8859145476210338021[14] = 0.0; + out_8859145476210338021[15] = 0.0; + out_8859145476210338021[16] = 0.0; + out_8859145476210338021[17] = 0.0; + out_8859145476210338021[18] = 0.0; + out_8859145476210338021[19] = 0.0; + out_8859145476210338021[20] = 1.0; + out_8859145476210338021[21] = 0.0; + out_8859145476210338021[22] = 0.0; + out_8859145476210338021[23] = 0.0; + out_8859145476210338021[24] = 0.0; + out_8859145476210338021[25] = 0.0; + out_8859145476210338021[26] = 0.0; + out_8859145476210338021[27] = 0.0; + out_8859145476210338021[28] = 0.0; + out_8859145476210338021[29] = 0.0; + out_8859145476210338021[30] = 1.0; + out_8859145476210338021[31] = 0.0; + out_8859145476210338021[32] = 0.0; + out_8859145476210338021[33] = 0.0; + out_8859145476210338021[34] = 0.0; + out_8859145476210338021[35] = 0.0; + out_8859145476210338021[36] = 0.0; + out_8859145476210338021[37] = 0.0; + out_8859145476210338021[38] = 0.0; + out_8859145476210338021[39] = 0.0; + out_8859145476210338021[40] = 1.0; + out_8859145476210338021[41] = 0.0; + out_8859145476210338021[42] = 0.0; + out_8859145476210338021[43] = 0.0; + out_8859145476210338021[44] = 0.0; + out_8859145476210338021[45] = 0.0; + out_8859145476210338021[46] = 0.0; + out_8859145476210338021[47] = 0.0; + out_8859145476210338021[48] = 0.0; + out_8859145476210338021[49] = 0.0; + out_8859145476210338021[50] = 1.0; + out_8859145476210338021[51] = 0.0; + out_8859145476210338021[52] = 0.0; + out_8859145476210338021[53] = 0.0; + out_8859145476210338021[54] = 0.0; + out_8859145476210338021[55] = 0.0; + out_8859145476210338021[56] = 0.0; + out_8859145476210338021[57] = 0.0; + out_8859145476210338021[58] = 0.0; + out_8859145476210338021[59] = 0.0; + out_8859145476210338021[60] = 1.0; + out_8859145476210338021[61] = 0.0; + out_8859145476210338021[62] = 0.0; + out_8859145476210338021[63] = 0.0; + out_8859145476210338021[64] = 0.0; + out_8859145476210338021[65] = 0.0; + out_8859145476210338021[66] = 0.0; + out_8859145476210338021[67] = 0.0; + out_8859145476210338021[68] = 0.0; + out_8859145476210338021[69] = 0.0; + out_8859145476210338021[70] = 1.0; + out_8859145476210338021[71] = 0.0; + out_8859145476210338021[72] = 0.0; + out_8859145476210338021[73] = 0.0; + out_8859145476210338021[74] = 0.0; + out_8859145476210338021[75] = 0.0; + out_8859145476210338021[76] = 0.0; + out_8859145476210338021[77] = 0.0; + out_8859145476210338021[78] = 0.0; + out_8859145476210338021[79] = 0.0; + out_8859145476210338021[80] = 1.0; } -void f_fun(double *state, double dt, double *out_2614999472635489174) { - out_2614999472635489174[0] = state[0]; - out_2614999472635489174[1] = state[1]; - out_2614999472635489174[2] = state[2]; - out_2614999472635489174[3] = state[3]; - out_2614999472635489174[4] = state[4]; - out_2614999472635489174[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_2614999472635489174[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_2614999472635489174[7] = state[7]; - out_2614999472635489174[8] = state[8]; +void f_fun(double *state, double dt, double *out_4364048461385736387) { + out_4364048461385736387[0] = state[0]; + out_4364048461385736387[1] = state[1]; + out_4364048461385736387[2] = state[2]; + out_4364048461385736387[3] = state[3]; + out_4364048461385736387[4] = state[4]; + out_4364048461385736387[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_4364048461385736387[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_4364048461385736387[7] = state[7]; + out_4364048461385736387[8] = state[8]; } -void F_fun(double *state, double dt, double *out_7956648669823198257) { - out_7956648669823198257[0] = 1; - out_7956648669823198257[1] = 0; - out_7956648669823198257[2] = 0; - out_7956648669823198257[3] = 0; - out_7956648669823198257[4] = 0; - out_7956648669823198257[5] = 0; - out_7956648669823198257[6] = 0; - out_7956648669823198257[7] = 0; - out_7956648669823198257[8] = 0; - out_7956648669823198257[9] = 0; - out_7956648669823198257[10] = 1; - out_7956648669823198257[11] = 0; - out_7956648669823198257[12] = 0; - out_7956648669823198257[13] = 0; - out_7956648669823198257[14] = 0; - out_7956648669823198257[15] = 0; - out_7956648669823198257[16] = 0; - out_7956648669823198257[17] = 0; - out_7956648669823198257[18] = 0; - out_7956648669823198257[19] = 0; - out_7956648669823198257[20] = 1; - out_7956648669823198257[21] = 0; - out_7956648669823198257[22] = 0; - out_7956648669823198257[23] = 0; - out_7956648669823198257[24] = 0; - out_7956648669823198257[25] = 0; - out_7956648669823198257[26] = 0; - out_7956648669823198257[27] = 0; - out_7956648669823198257[28] = 0; - out_7956648669823198257[29] = 0; - out_7956648669823198257[30] = 1; - out_7956648669823198257[31] = 0; - out_7956648669823198257[32] = 0; - out_7956648669823198257[33] = 0; - out_7956648669823198257[34] = 0; - out_7956648669823198257[35] = 0; - out_7956648669823198257[36] = 0; - out_7956648669823198257[37] = 0; - out_7956648669823198257[38] = 0; - out_7956648669823198257[39] = 0; - out_7956648669823198257[40] = 1; - out_7956648669823198257[41] = 0; - out_7956648669823198257[42] = 0; - out_7956648669823198257[43] = 0; - out_7956648669823198257[44] = 0; - out_7956648669823198257[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_7956648669823198257[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_7956648669823198257[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7956648669823198257[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_7956648669823198257[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_7956648669823198257[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_7956648669823198257[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_7956648669823198257[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_7956648669823198257[53] = -9.8100000000000005*dt; - out_7956648669823198257[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_7956648669823198257[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_7956648669823198257[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7956648669823198257[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7956648669823198257[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_7956648669823198257[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_7956648669823198257[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_7956648669823198257[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_7956648669823198257[62] = 0; - out_7956648669823198257[63] = 0; - out_7956648669823198257[64] = 0; - out_7956648669823198257[65] = 0; - out_7956648669823198257[66] = 0; - out_7956648669823198257[67] = 0; - out_7956648669823198257[68] = 0; - out_7956648669823198257[69] = 0; - out_7956648669823198257[70] = 1; - out_7956648669823198257[71] = 0; - out_7956648669823198257[72] = 0; - out_7956648669823198257[73] = 0; - out_7956648669823198257[74] = 0; - out_7956648669823198257[75] = 0; - out_7956648669823198257[76] = 0; - out_7956648669823198257[77] = 0; - out_7956648669823198257[78] = 0; - out_7956648669823198257[79] = 0; - out_7956648669823198257[80] = 1; +void F_fun(double *state, double dt, double *out_5736261136038400283) { + out_5736261136038400283[0] = 1; + out_5736261136038400283[1] = 0; + out_5736261136038400283[2] = 0; + out_5736261136038400283[3] = 0; + out_5736261136038400283[4] = 0; + out_5736261136038400283[5] = 0; + out_5736261136038400283[6] = 0; + out_5736261136038400283[7] = 0; + out_5736261136038400283[8] = 0; + out_5736261136038400283[9] = 0; + out_5736261136038400283[10] = 1; + out_5736261136038400283[11] = 0; + out_5736261136038400283[12] = 0; + out_5736261136038400283[13] = 0; + out_5736261136038400283[14] = 0; + out_5736261136038400283[15] = 0; + out_5736261136038400283[16] = 0; + out_5736261136038400283[17] = 0; + out_5736261136038400283[18] = 0; + out_5736261136038400283[19] = 0; + out_5736261136038400283[20] = 1; + out_5736261136038400283[21] = 0; + out_5736261136038400283[22] = 0; + out_5736261136038400283[23] = 0; + out_5736261136038400283[24] = 0; + out_5736261136038400283[25] = 0; + out_5736261136038400283[26] = 0; + out_5736261136038400283[27] = 0; + out_5736261136038400283[28] = 0; + out_5736261136038400283[29] = 0; + out_5736261136038400283[30] = 1; + out_5736261136038400283[31] = 0; + out_5736261136038400283[32] = 0; + out_5736261136038400283[33] = 0; + out_5736261136038400283[34] = 0; + out_5736261136038400283[35] = 0; + out_5736261136038400283[36] = 0; + out_5736261136038400283[37] = 0; + out_5736261136038400283[38] = 0; + out_5736261136038400283[39] = 0; + out_5736261136038400283[40] = 1; + out_5736261136038400283[41] = 0; + out_5736261136038400283[42] = 0; + out_5736261136038400283[43] = 0; + out_5736261136038400283[44] = 0; + out_5736261136038400283[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_5736261136038400283[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5736261136038400283[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5736261136038400283[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5736261136038400283[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_5736261136038400283[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5736261136038400283[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5736261136038400283[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5736261136038400283[53] = -9.8100000000000005*dt; + out_5736261136038400283[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_5736261136038400283[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5736261136038400283[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5736261136038400283[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5736261136038400283[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_5736261136038400283[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5736261136038400283[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_5736261136038400283[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5736261136038400283[62] = 0; + out_5736261136038400283[63] = 0; + out_5736261136038400283[64] = 0; + out_5736261136038400283[65] = 0; + out_5736261136038400283[66] = 0; + out_5736261136038400283[67] = 0; + out_5736261136038400283[68] = 0; + out_5736261136038400283[69] = 0; + out_5736261136038400283[70] = 1; + out_5736261136038400283[71] = 0; + out_5736261136038400283[72] = 0; + out_5736261136038400283[73] = 0; + out_5736261136038400283[74] = 0; + out_5736261136038400283[75] = 0; + out_5736261136038400283[76] = 0; + out_5736261136038400283[77] = 0; + out_5736261136038400283[78] = 0; + out_5736261136038400283[79] = 0; + out_5736261136038400283[80] = 1; } -void h_25(double *state, double *unused, double *out_5695726182074513639) { - out_5695726182074513639[0] = state[6]; +void h_25(double *state, double *unused, double *out_2839818080272470940) { + out_2839818080272470940[0] = state[6]; } -void H_25(double *state, double *unused, double *out_5061492031990537509) { - out_5061492031990537509[0] = 0; - out_5061492031990537509[1] = 0; - out_5061492031990537509[2] = 0; - out_5061492031990537509[3] = 0; - out_5061492031990537509[4] = 0; - out_5061492031990537509[5] = 0; - out_5061492031990537509[6] = 1; - out_5061492031990537509[7] = 0; - out_5061492031990537509[8] = 0; +void H_25(double *state, double *unused, double *out_6064617947509721918) { + out_6064617947509721918[0] = 0; + out_6064617947509721918[1] = 0; + out_6064617947509721918[2] = 0; + out_6064617947509721918[3] = 0; + out_6064617947509721918[4] = 0; + out_6064617947509721918[5] = 0; + out_6064617947509721918[6] = 1; + out_6064617947509721918[7] = 0; + out_6064617947509721918[8] = 0; } -void h_24(double *state, double *unused, double *out_7087152536231624463) { - out_7087152536231624463[0] = state[4]; - out_7087152536231624463[1] = state[5]; +void h_24(double *state, double *unused, double *out_6639924414496629328) { + out_6639924414496629328[0] = state[4]; + out_6639924414496629328[1] = state[5]; } -void H_24(double *state, double *unused, double *out_7234141630996037075) { - out_7234141630996037075[0] = 0; - out_7234141630996037075[1] = 0; - out_7234141630996037075[2] = 0; - out_7234141630996037075[3] = 0; - out_7234141630996037075[4] = 1; - out_7234141630996037075[5] = 0; - out_7234141630996037075[6] = 0; - out_7234141630996037075[7] = 0; - out_7234141630996037075[8] = 0; - out_7234141630996037075[9] = 0; - out_7234141630996037075[10] = 0; - out_7234141630996037075[11] = 0; - out_7234141630996037075[12] = 0; - out_7234141630996037075[13] = 0; - out_7234141630996037075[14] = 1; - out_7234141630996037075[15] = 0; - out_7234141630996037075[16] = 0; - out_7234141630996037075[17] = 0; +void H_24(double *state, double *unused, double *out_2506692348707398782) { + out_2506692348707398782[0] = 0; + out_2506692348707398782[1] = 0; + out_2506692348707398782[2] = 0; + out_2506692348707398782[3] = 0; + out_2506692348707398782[4] = 1; + out_2506692348707398782[5] = 0; + out_2506692348707398782[6] = 0; + out_2506692348707398782[7] = 0; + out_2506692348707398782[8] = 0; + out_2506692348707398782[9] = 0; + out_2506692348707398782[10] = 0; + out_2506692348707398782[11] = 0; + out_2506692348707398782[12] = 0; + out_2506692348707398782[13] = 0; + out_2506692348707398782[14] = 1; + out_2506692348707398782[15] = 0; + out_2506692348707398782[16] = 0; + out_2506692348707398782[17] = 0; } -void h_30(double *state, double *unused, double *out_2067539074746158802) { - out_2067539074746158802[0] = state[4]; +void h_30(double *state, double *unused, double *out_1319846228188637228) { + out_1319846228188637228[0] = state[4]; } -void H_30(double *state, double *unused, double *out_1855198309501079246) { - out_1855198309501079246[0] = 0; - out_1855198309501079246[1] = 0; - out_1855198309501079246[2] = 0; - out_1855198309501079246[3] = 0; - out_1855198309501079246[4] = 1; - out_1855198309501079246[5] = 0; - out_1855198309501079246[6] = 0; - out_1855198309501079246[7] = 0; - out_1855198309501079246[8] = 0; +void H_30(double *state, double *unused, double *out_7854429796072221500) { + out_7854429796072221500[0] = 0; + out_7854429796072221500[1] = 0; + out_7854429796072221500[2] = 0; + out_7854429796072221500[3] = 0; + out_7854429796072221500[4] = 1; + out_7854429796072221500[5] = 0; + out_7854429796072221500[6] = 0; + out_7854429796072221500[7] = 0; + out_7854429796072221500[8] = 0; } -void h_26(double *state, double *unused, double *out_7069212342407004447) { - out_7069212342407004447[0] = state[7]; +void h_26(double *state, double *unused, double *out_7198131715747352316) { + out_7198131715747352316[0] = state[7]; } -void H_26(double *state, double *unused, double *out_1756966062229736908) { - out_1756966062229736908[0] = 0; - out_1756966062229736908[1] = 0; - out_1756966062229736908[2] = 0; - out_1756966062229736908[3] = 0; - out_1756966062229736908[4] = 0; - out_1756966062229736908[5] = 0; - out_1756966062229736908[6] = 0; - out_1756966062229736908[7] = 1; - out_1756966062229736908[8] = 0; +void H_26(double *state, double *unused, double *out_8640622807325773474) { + out_8640622807325773474[0] = 0; + out_8640622807325773474[1] = 0; + out_8640622807325773474[2] = 0; + out_8640622807325773474[3] = 0; + out_8640622807325773474[4] = 0; + out_8640622807325773474[5] = 0; + out_8640622807325773474[6] = 0; + out_8640622807325773474[7] = 1; + out_8640622807325773474[8] = 0; } -void h_27(double *state, double *unused, double *out_4033180971766345651) { - out_4033180971766345651[0] = state[3]; +void h_27(double *state, double *unused, double *out_3285488125208824077) { + out_3285488125208824077[0] = state[3]; } -void H_27(double *state, double *unused, double *out_319565002299345665) { - out_319565002299345665[0] = 0; - out_319565002299345665[1] = 0; - out_319565002299345665[2] = 0; - out_319565002299345665[3] = 1; - out_319565002299345665[4] = 0; - out_319565002299345665[5] = 0; - out_319565002299345665[6] = 0; - out_319565002299345665[7] = 0; - out_319565002299345665[8] = 0; +void H_27(double *state, double *unused, double *out_8368720206453386899) { + out_8368720206453386899[0] = 0; + out_8368720206453386899[1] = 0; + out_8368720206453386899[2] = 0; + out_8368720206453386899[3] = 1; + out_8368720206453386899[4] = 0; + out_8368720206453386899[5] = 0; + out_8368720206453386899[6] = 0; + out_8368720206453386899[7] = 0; + out_8368720206453386899[8] = 0; } -void h_29(double *state, double *unused, double *out_2554646954709949512) { - out_2554646954709949512[0] = state[1]; +void h_29(double *state, double *unused, double *out_716530343512159711) { + out_716530343512159711[0] = state[1]; } -void H_29(double *state, double *unused, double *out_2032927729168896698) { - out_2032927729168896698[0] = 0; - out_2032927729168896698[1] = 1; - out_2032927729168896698[2] = 0; - out_2032927729168896698[3] = 0; - out_2032927729168896698[4] = 0; - out_2032927729168896698[5] = 0; - out_2032927729168896698[6] = 0; - out_2032927729168896698[7] = 0; - out_2032927729168896698[8] = 0; +void H_29(double *state, double *unused, double *out_8364661140386613684) { + out_8364661140386613684[0] = 0; + out_8364661140386613684[1] = 1; + out_8364661140386613684[2] = 0; + out_8364661140386613684[3] = 0; + out_8364661140386613684[4] = 0; + out_8364661140386613684[5] = 0; + out_8364661140386613684[6] = 0; + out_8364661140386613684[7] = 0; + out_8364661140386613684[8] = 0; } -void h_28(double *state, double *unused, double *out_8157738379984158711) { - out_8157738379984158711[0] = state[0]; +void h_28(double *state, double *unused, double *out_1716185142452021568) { + out_1716185142452021568[0] = state[0]; } -void H_28(double *state, double *unused, double *out_7115326746238427272) { - out_7115326746238427272[0] = 1; - out_7115326746238427272[1] = 0; - out_7115326746238427272[2] = 0; - out_7115326746238427272[3] = 0; - out_7115326746238427272[4] = 0; - out_7115326746238427272[5] = 0; - out_7115326746238427272[6] = 0; - out_7115326746238427272[7] = 0; - out_7115326746238427272[8] = 0; +void H_28(double *state, double *unused, double *out_8118452661757611681) { + out_8118452661757611681[0] = 1; + out_8118452661757611681[1] = 0; + out_8118452661757611681[2] = 0; + out_8118452661757611681[3] = 0; + out_8118452661757611681[4] = 0; + out_8118452661757611681[5] = 0; + out_8118452661757611681[6] = 0; + out_8118452661757611681[7] = 0; + out_8118452661757611681[8] = 0; } -void h_31(double *state, double *unused, double *out_5550206357853858668) { - out_5550206357853858668[0] = state[8]; +void h_31(double *state, double *unused, double *out_4542766280828628078) { + out_4542766280828628078[0] = state[8]; } -void H_31(double *state, double *unused, double *out_2015183218521279744) { - out_2015183218521279744[0] = 0; - out_2015183218521279744[1] = 0; - out_2015183218521279744[2] = 0; - out_2015183218521279744[3] = 0; - out_2015183218521279744[4] = 0; - out_2015183218521279744[5] = 0; - out_2015183218521279744[6] = 0; - out_2015183218521279744[7] = 0; - out_2015183218521279744[8] = 1; +void H_31(double *state, double *unused, double *out_8014414705092421998) { + out_8014414705092421998[0] = 0; + out_8014414705092421998[1] = 0; + out_8014414705092421998[2] = 0; + out_8014414705092421998[3] = 0; + out_8014414705092421998[4] = 0; + out_8014414705092421998[5] = 0; + out_8014414705092421998[6] = 0; + out_8014414705092421998[7] = 0; + out_8014414705092421998[8] = 1; } #include #include @@ -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_7378461606150437313) { - err_fun(nom_x, delta_x, out_7378461606150437313); +void car_err_fun(double *nom_x, double *delta_x, double *out_3470217287287697986) { + err_fun(nom_x, delta_x, out_3470217287287697986); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_294189106821879139) { - inv_err_fun(nom_x, true_x, out_294189106821879139); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5423086811818805380) { + inv_err_fun(nom_x, true_x, out_5423086811818805380); } -void car_H_mod_fun(double *state, double *out_4621094181659745510) { - H_mod_fun(state, out_4621094181659745510); +void car_H_mod_fun(double *state, double *out_8859145476210338021) { + H_mod_fun(state, out_8859145476210338021); } -void car_f_fun(double *state, double dt, double *out_2614999472635489174) { - f_fun(state, dt, out_2614999472635489174); +void car_f_fun(double *state, double dt, double *out_4364048461385736387) { + f_fun(state, dt, out_4364048461385736387); } -void car_F_fun(double *state, double dt, double *out_7956648669823198257) { - F_fun(state, dt, out_7956648669823198257); +void car_F_fun(double *state, double dt, double *out_5736261136038400283) { + F_fun(state, dt, out_5736261136038400283); } -void car_h_25(double *state, double *unused, double *out_5695726182074513639) { - h_25(state, unused, out_5695726182074513639); +void car_h_25(double *state, double *unused, double *out_2839818080272470940) { + h_25(state, unused, out_2839818080272470940); } -void car_H_25(double *state, double *unused, double *out_5061492031990537509) { - H_25(state, unused, out_5061492031990537509); +void car_H_25(double *state, double *unused, double *out_6064617947509721918) { + H_25(state, unused, out_6064617947509721918); } -void car_h_24(double *state, double *unused, double *out_7087152536231624463) { - h_24(state, unused, out_7087152536231624463); +void car_h_24(double *state, double *unused, double *out_6639924414496629328) { + h_24(state, unused, out_6639924414496629328); } -void car_H_24(double *state, double *unused, double *out_7234141630996037075) { - H_24(state, unused, out_7234141630996037075); +void car_H_24(double *state, double *unused, double *out_2506692348707398782) { + H_24(state, unused, out_2506692348707398782); } -void car_h_30(double *state, double *unused, double *out_2067539074746158802) { - h_30(state, unused, out_2067539074746158802); +void car_h_30(double *state, double *unused, double *out_1319846228188637228) { + h_30(state, unused, out_1319846228188637228); } -void car_H_30(double *state, double *unused, double *out_1855198309501079246) { - H_30(state, unused, out_1855198309501079246); +void car_H_30(double *state, double *unused, double *out_7854429796072221500) { + H_30(state, unused, out_7854429796072221500); } -void car_h_26(double *state, double *unused, double *out_7069212342407004447) { - h_26(state, unused, out_7069212342407004447); +void car_h_26(double *state, double *unused, double *out_7198131715747352316) { + h_26(state, unused, out_7198131715747352316); } -void car_H_26(double *state, double *unused, double *out_1756966062229736908) { - H_26(state, unused, out_1756966062229736908); +void car_H_26(double *state, double *unused, double *out_8640622807325773474) { + H_26(state, unused, out_8640622807325773474); } -void car_h_27(double *state, double *unused, double *out_4033180971766345651) { - h_27(state, unused, out_4033180971766345651); +void car_h_27(double *state, double *unused, double *out_3285488125208824077) { + h_27(state, unused, out_3285488125208824077); } -void car_H_27(double *state, double *unused, double *out_319565002299345665) { - H_27(state, unused, out_319565002299345665); +void car_H_27(double *state, double *unused, double *out_8368720206453386899) { + H_27(state, unused, out_8368720206453386899); } -void car_h_29(double *state, double *unused, double *out_2554646954709949512) { - h_29(state, unused, out_2554646954709949512); +void car_h_29(double *state, double *unused, double *out_716530343512159711) { + h_29(state, unused, out_716530343512159711); } -void car_H_29(double *state, double *unused, double *out_2032927729168896698) { - H_29(state, unused, out_2032927729168896698); +void car_H_29(double *state, double *unused, double *out_8364661140386613684) { + H_29(state, unused, out_8364661140386613684); } -void car_h_28(double *state, double *unused, double *out_8157738379984158711) { - h_28(state, unused, out_8157738379984158711); +void car_h_28(double *state, double *unused, double *out_1716185142452021568) { + h_28(state, unused, out_1716185142452021568); } -void car_H_28(double *state, double *unused, double *out_7115326746238427272) { - H_28(state, unused, out_7115326746238427272); +void car_H_28(double *state, double *unused, double *out_8118452661757611681) { + H_28(state, unused, out_8118452661757611681); } -void car_h_31(double *state, double *unused, double *out_5550206357853858668) { - h_31(state, unused, out_5550206357853858668); +void car_h_31(double *state, double *unused, double *out_4542766280828628078) { + h_31(state, unused, out_4542766280828628078); } -void car_H_31(double *state, double *unused, double *out_2015183218521279744) { - H_31(state, unused, out_2015183218521279744); +void car_H_31(double *state, double *unused, double *out_8014414705092421998) { + H_31(state, unused, out_8014414705092421998); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/openpilot/selfdrive/locationd/models/generated/car.h b/openpilot/selfdrive/locationd/models/generated/car.h index f1aa6ededc..3691567e97 100644 --- a/openpilot/selfdrive/locationd/models/generated/car.h +++ b/openpilot/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_7378461606150437313); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_294189106821879139); -void car_H_mod_fun(double *state, double *out_4621094181659745510); -void car_f_fun(double *state, double dt, double *out_2614999472635489174); -void car_F_fun(double *state, double dt, double *out_7956648669823198257); -void car_h_25(double *state, double *unused, double *out_5695726182074513639); -void car_H_25(double *state, double *unused, double *out_5061492031990537509); -void car_h_24(double *state, double *unused, double *out_7087152536231624463); -void car_H_24(double *state, double *unused, double *out_7234141630996037075); -void car_h_30(double *state, double *unused, double *out_2067539074746158802); -void car_H_30(double *state, double *unused, double *out_1855198309501079246); -void car_h_26(double *state, double *unused, double *out_7069212342407004447); -void car_H_26(double *state, double *unused, double *out_1756966062229736908); -void car_h_27(double *state, double *unused, double *out_4033180971766345651); -void car_H_27(double *state, double *unused, double *out_319565002299345665); -void car_h_29(double *state, double *unused, double *out_2554646954709949512); -void car_H_29(double *state, double *unused, double *out_2032927729168896698); -void car_h_28(double *state, double *unused, double *out_8157738379984158711); -void car_H_28(double *state, double *unused, double *out_7115326746238427272); -void car_h_31(double *state, double *unused, double *out_5550206357853858668); -void car_H_31(double *state, double *unused, double *out_2015183218521279744); +void car_err_fun(double *nom_x, double *delta_x, double *out_3470217287287697986); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_5423086811818805380); +void car_H_mod_fun(double *state, double *out_8859145476210338021); +void car_f_fun(double *state, double dt, double *out_4364048461385736387); +void car_F_fun(double *state, double dt, double *out_5736261136038400283); +void car_h_25(double *state, double *unused, double *out_2839818080272470940); +void car_H_25(double *state, double *unused, double *out_6064617947509721918); +void car_h_24(double *state, double *unused, double *out_6639924414496629328); +void car_H_24(double *state, double *unused, double *out_2506692348707398782); +void car_h_30(double *state, double *unused, double *out_1319846228188637228); +void car_H_30(double *state, double *unused, double *out_7854429796072221500); +void car_h_26(double *state, double *unused, double *out_7198131715747352316); +void car_H_26(double *state, double *unused, double *out_8640622807325773474); +void car_h_27(double *state, double *unused, double *out_3285488125208824077); +void car_H_27(double *state, double *unused, double *out_8368720206453386899); +void car_h_29(double *state, double *unused, double *out_716530343512159711); +void car_H_29(double *state, double *unused, double *out_8364661140386613684); +void car_h_28(double *state, double *unused, double *out_1716185142452021568); +void car_H_28(double *state, double *unused, double *out_8118452661757611681); +void car_h_31(double *state, double *unused, double *out_4542766280828628078); +void car_H_31(double *state, double *unused, double *out_8014414705092421998); 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); diff --git a/openpilot/selfdrive/locationd/models/generated/libcar.so b/openpilot/selfdrive/locationd/models/generated/libcar.so index 2dad0c8e8af3f3fe7f78ba6f5c0a097162bacb24..5e5f855b474f6684d0d6d20b1f25410c55ba8867 100755 GIT binary patch delta 15663 zcmciI1$$Ii_xJJq2*EwLGe?8Q1()IuE$$YexclG~DNvwLtb>&T#T^O+m*Q^4-QDf~ zo%_C@xA0t7KWm?ioU`{@YoCPaoS3;YZ1V~q7fRS37VoAnxh3;q7_=B4cej|;?W)*&=EhP z6FQ>{x}qDpqX&AT7kZ-)`l28DV*mzX5C&riycmjM7>*GbiBTAhG585%F%IJ~0Y76R zCSfvu!4yozH2jL`n1SCg6SFWIb1)ab!-sj8j|EtWMfd}Y@h6sGDVE_cEXNA0#44=D z8mz@Stj7jy#3pRU7Hq}e*oN)cfduTtF6_o0?8QFp#{nF~A^d~GID(@%hT}MalQ@Ob 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z8yfShXu|eGv!;9(jX$um8ISJfoMQ==V=Z>#4_v_A<_YsV`SQk>z8UKqI@k9&Ze`C3 zzG&ZqxZCtqeMRDO_DbwK# #include @@ -1113,44 +1113,44 @@ void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, doub void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); } -void pose_err_fun(double *nom_x, double *delta_x, double *out_5566842885647767369) { - err_fun(nom_x, delta_x, out_5566842885647767369); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6609500045983475884) { + err_fun(nom_x, delta_x, out_6609500045983475884); } -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7605915063363770360) { - inv_err_fun(nom_x, true_x, out_7605915063363770360); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2251582086712269854) { + inv_err_fun(nom_x, true_x, out_2251582086712269854); } -void pose_H_mod_fun(double *state, double *out_9174940369185036217) { - H_mod_fun(state, out_9174940369185036217); +void pose_H_mod_fun(double *state, double *out_8200145802550385466) { + H_mod_fun(state, out_8200145802550385466); } -void pose_f_fun(double *state, double dt, double *out_4673717053718014348) { - f_fun(state, dt, out_4673717053718014348); +void pose_f_fun(double *state, double dt, double *out_3154493756264028272) { + f_fun(state, dt, out_3154493756264028272); } -void pose_F_fun(double *state, double dt, double *out_7626949901910213403) { - F_fun(state, dt, out_7626949901910213403); +void pose_F_fun(double *state, double dt, double *out_3844222318897373612) { + F_fun(state, dt, out_3844222318897373612); } -void pose_h_4(double *state, double *unused, double *out_2637904353676577) { - h_4(state, unused, out_2637904353676577); +void pose_h_4(double *state, double *unused, double *out_7417392044831538702) { + h_4(state, unused, out_7417392044831538702); } -void pose_H_4(double *state, double *unused, double *out_3423721897772556678) { - H_4(state, unused, out_3423721897772556678); +void pose_H_4(double *state, double *unused, double *out_744215863507435876) { + H_4(state, unused, out_744215863507435876); } -void pose_h_10(double *state, double *unused, double *out_2208932603856339349) { - h_10(state, unused, out_2208932603856339349); +void pose_h_10(double *state, double *unused, double *out_5837768205443090035) { + h_10(state, unused, out_5837768205443090035); } -void pose_H_10(double *state, double *unused, double *out_1086050679309335415) { - H_10(state, unused, out_1086050679309335415); +void pose_H_10(double *state, double *unused, double *out_6045792490383943628) { + H_10(state, unused, out_6045792490383943628); } -void pose_h_13(double *state, double *unused, double *out_8307148822937221148) { - h_13(state, unused, out_8307148822937221148); +void pose_h_13(double *state, double *unused, double *out_886522868392701902) { + h_13(state, unused, out_886522868392701902); } -void pose_H_13(double *state, double *unused, double *out_6635995723104889479) { - H_13(state, unused, out_6635995723104889479); +void pose_H_13(double *state, double *unused, double *out_2468057961824896925) { + H_13(state, unused, out_2468057961824896925); } -void pose_h_14(double *state, double *unused, double *out_81297754970292080) { - h_14(state, unused, out_81297754970292080); +void pose_h_14(double *state, double *unused, double *out_8921497272601995159) { + h_14(state, unused, out_8921497272601995159); } -void pose_H_14(double *state, double *unused, double *out_7386962754112041207) { - H_14(state, unused, out_7386962754112041207); +void pose_H_14(double *state, double *unused, double *out_8225361678787176300) { + H_14(state, unused, out_8225361678787176300); } void pose_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/openpilot/selfdrive/locationd/models/generated/pose.h b/openpilot/selfdrive/locationd/models/generated/pose.h index 2e0432f835..f7ce8bf35f 100644 --- a/openpilot/selfdrive/locationd/models/generated/pose.h +++ b/openpilot/selfdrive/locationd/models/generated/pose.h @@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void pose_err_fun(double *nom_x, double *delta_x, double *out_5566842885647767369); -void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7605915063363770360); -void pose_H_mod_fun(double *state, double *out_9174940369185036217); -void pose_f_fun(double *state, double dt, double *out_4673717053718014348); -void pose_F_fun(double *state, double dt, double *out_7626949901910213403); -void pose_h_4(double *state, double *unused, double *out_2637904353676577); -void pose_H_4(double *state, double *unused, double *out_3423721897772556678); -void pose_h_10(double *state, double *unused, double *out_2208932603856339349); -void pose_H_10(double *state, double *unused, double *out_1086050679309335415); -void pose_h_13(double *state, double *unused, double *out_8307148822937221148); -void pose_H_13(double *state, double *unused, double *out_6635995723104889479); -void pose_h_14(double *state, double *unused, double *out_81297754970292080); -void pose_H_14(double *state, double *unused, double *out_7386962754112041207); +void pose_err_fun(double *nom_x, double *delta_x, double *out_6609500045983475884); +void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2251582086712269854); +void pose_H_mod_fun(double *state, double *out_8200145802550385466); +void pose_f_fun(double *state, double dt, double *out_3154493756264028272); +void pose_F_fun(double *state, double dt, double *out_3844222318897373612); +void pose_h_4(double *state, double *unused, double *out_7417392044831538702); +void pose_H_4(double *state, double *unused, double *out_744215863507435876); +void pose_h_10(double *state, double *unused, double *out_5837768205443090035); +void pose_H_10(double *state, double *unused, double *out_6045792490383943628); +void pose_h_13(double *state, double *unused, double *out_886522868392701902); +void pose_H_13(double *state, double *unused, double *out_2468057961824896925); +void pose_h_14(double *state, double *unused, double *out_8921497272601995159); +void pose_H_14(double *state, double *unused, double *out_8225361678787176300); void pose_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/panda/board/obj/body_h7.bin.signed b/panda/board/obj/body_h7.bin.signed index f50bc0b024a3b9d47f29554ee347ce1a19e760f4..03fac6158757eb2eae57e12dc80c06fe62bcf24f 100644 GIT binary patch delta 160 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