build

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-96ef704d-DEBUG";
+const uint8_t gitversion[19] = "DEV-20ff7931-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-96ef704d-DEBUG
+DEV-20ff7931-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_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 err_fun(double *nom_x, double *delta_x, double *out_1527400592183565183) {
+   out_1527400592183565183[0] = delta_x[0] + nom_x[0];
+   out_1527400592183565183[1] = delta_x[1] + nom_x[1];
+   out_1527400592183565183[2] = delta_x[2] + nom_x[2];
+   out_1527400592183565183[3] = delta_x[3] + nom_x[3];
+   out_1527400592183565183[4] = delta_x[4] + nom_x[4];
+   out_1527400592183565183[5] = delta_x[5] + nom_x[5];
+   out_1527400592183565183[6] = delta_x[6] + nom_x[6];
+   out_1527400592183565183[7] = delta_x[7] + nom_x[7];
+   out_1527400592183565183[8] = delta_x[8] + nom_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 inv_err_fun(double *nom_x, double *true_x, double *out_4038333929682939877) {
+   out_4038333929682939877[0] = -nom_x[0] + true_x[0];
+   out_4038333929682939877[1] = -nom_x[1] + true_x[1];
+   out_4038333929682939877[2] = -nom_x[2] + true_x[2];
+   out_4038333929682939877[3] = -nom_x[3] + true_x[3];
+   out_4038333929682939877[4] = -nom_x[4] + true_x[4];
+   out_4038333929682939877[5] = -nom_x[5] + true_x[5];
+   out_4038333929682939877[6] = -nom_x[6] + true_x[6];
+   out_4038333929682939877[7] = -nom_x[7] + true_x[7];
+   out_4038333929682939877[8] = -nom_x[8] + true_x[8];
 }
-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 H_mod_fun(double *state, double *out_8049619905800951591) {
+   out_8049619905800951591[0] = 1.0;
+   out_8049619905800951591[1] = 0.0;
+   out_8049619905800951591[2] = 0.0;
+   out_8049619905800951591[3] = 0.0;
+   out_8049619905800951591[4] = 0.0;
+   out_8049619905800951591[5] = 0.0;
+   out_8049619905800951591[6] = 0.0;
+   out_8049619905800951591[7] = 0.0;
+   out_8049619905800951591[8] = 0.0;
+   out_8049619905800951591[9] = 0.0;
+   out_8049619905800951591[10] = 1.0;
+   out_8049619905800951591[11] = 0.0;
+   out_8049619905800951591[12] = 0.0;
+   out_8049619905800951591[13] = 0.0;
+   out_8049619905800951591[14] = 0.0;
+   out_8049619905800951591[15] = 0.0;
+   out_8049619905800951591[16] = 0.0;
+   out_8049619905800951591[17] = 0.0;
+   out_8049619905800951591[18] = 0.0;
+   out_8049619905800951591[19] = 0.0;
+   out_8049619905800951591[20] = 1.0;
+   out_8049619905800951591[21] = 0.0;
+   out_8049619905800951591[22] = 0.0;
+   out_8049619905800951591[23] = 0.0;
+   out_8049619905800951591[24] = 0.0;
+   out_8049619905800951591[25] = 0.0;
+   out_8049619905800951591[26] = 0.0;
+   out_8049619905800951591[27] = 0.0;
+   out_8049619905800951591[28] = 0.0;
+   out_8049619905800951591[29] = 0.0;
+   out_8049619905800951591[30] = 1.0;
+   out_8049619905800951591[31] = 0.0;
+   out_8049619905800951591[32] = 0.0;
+   out_8049619905800951591[33] = 0.0;
+   out_8049619905800951591[34] = 0.0;
+   out_8049619905800951591[35] = 0.0;
+   out_8049619905800951591[36] = 0.0;
+   out_8049619905800951591[37] = 0.0;
+   out_8049619905800951591[38] = 0.0;
+   out_8049619905800951591[39] = 0.0;
+   out_8049619905800951591[40] = 1.0;
+   out_8049619905800951591[41] = 0.0;
+   out_8049619905800951591[42] = 0.0;
+   out_8049619905800951591[43] = 0.0;
+   out_8049619905800951591[44] = 0.0;
+   out_8049619905800951591[45] = 0.0;
+   out_8049619905800951591[46] = 0.0;
+   out_8049619905800951591[47] = 0.0;
+   out_8049619905800951591[48] = 0.0;
+   out_8049619905800951591[49] = 0.0;
+   out_8049619905800951591[50] = 1.0;
+   out_8049619905800951591[51] = 0.0;
+   out_8049619905800951591[52] = 0.0;
+   out_8049619905800951591[53] = 0.0;
+   out_8049619905800951591[54] = 0.0;
+   out_8049619905800951591[55] = 0.0;
+   out_8049619905800951591[56] = 0.0;
+   out_8049619905800951591[57] = 0.0;
+   out_8049619905800951591[58] = 0.0;
+   out_8049619905800951591[59] = 0.0;
+   out_8049619905800951591[60] = 1.0;
+   out_8049619905800951591[61] = 0.0;
+   out_8049619905800951591[62] = 0.0;
+   out_8049619905800951591[63] = 0.0;
+   out_8049619905800951591[64] = 0.0;
+   out_8049619905800951591[65] = 0.0;
+   out_8049619905800951591[66] = 0.0;
+   out_8049619905800951591[67] = 0.0;
+   out_8049619905800951591[68] = 0.0;
+   out_8049619905800951591[69] = 0.0;
+   out_8049619905800951591[70] = 1.0;
+   out_8049619905800951591[71] = 0.0;
+   out_8049619905800951591[72] = 0.0;
+   out_8049619905800951591[73] = 0.0;
+   out_8049619905800951591[74] = 0.0;
+   out_8049619905800951591[75] = 0.0;
+   out_8049619905800951591[76] = 0.0;
+   out_8049619905800951591[77] = 0.0;
+   out_8049619905800951591[78] = 0.0;
+   out_8049619905800951591[79] = 0.0;
+   out_8049619905800951591[80] = 1.0;
 }
-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_7680940422259587756) {
+   out_7680940422259587756[0] = state[0];
+   out_7680940422259587756[1] = state[1];
+   out_7680940422259587756[2] = state[2];
+   out_7680940422259587756[3] = state[3];
+   out_7680940422259587756[4] = state[4];
+   out_7680940422259587756[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_7680940422259587756[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_7680940422259587756[7] = state[7];
+   out_7680940422259587756[8] = state[8];
 }
-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 F_fun(double *state, double dt, double *out_8373137223162851881) {
+   out_8373137223162851881[0] = 1;
+   out_8373137223162851881[1] = 0;
+   out_8373137223162851881[2] = 0;
+   out_8373137223162851881[3] = 0;
+   out_8373137223162851881[4] = 0;
+   out_8373137223162851881[5] = 0;
+   out_8373137223162851881[6] = 0;
+   out_8373137223162851881[7] = 0;
+   out_8373137223162851881[8] = 0;
+   out_8373137223162851881[9] = 0;
+   out_8373137223162851881[10] = 1;
+   out_8373137223162851881[11] = 0;
+   out_8373137223162851881[12] = 0;
+   out_8373137223162851881[13] = 0;
+   out_8373137223162851881[14] = 0;
+   out_8373137223162851881[15] = 0;
+   out_8373137223162851881[16] = 0;
+   out_8373137223162851881[17] = 0;
+   out_8373137223162851881[18] = 0;
+   out_8373137223162851881[19] = 0;
+   out_8373137223162851881[20] = 1;
+   out_8373137223162851881[21] = 0;
+   out_8373137223162851881[22] = 0;
+   out_8373137223162851881[23] = 0;
+   out_8373137223162851881[24] = 0;
+   out_8373137223162851881[25] = 0;
+   out_8373137223162851881[26] = 0;
+   out_8373137223162851881[27] = 0;
+   out_8373137223162851881[28] = 0;
+   out_8373137223162851881[29] = 0;
+   out_8373137223162851881[30] = 1;
+   out_8373137223162851881[31] = 0;
+   out_8373137223162851881[32] = 0;
+   out_8373137223162851881[33] = 0;
+   out_8373137223162851881[34] = 0;
+   out_8373137223162851881[35] = 0;
+   out_8373137223162851881[36] = 0;
+   out_8373137223162851881[37] = 0;
+   out_8373137223162851881[38] = 0;
+   out_8373137223162851881[39] = 0;
+   out_8373137223162851881[40] = 1;
+   out_8373137223162851881[41] = 0;
+   out_8373137223162851881[42] = 0;
+   out_8373137223162851881[43] = 0;
+   out_8373137223162851881[44] = 0;
+   out_8373137223162851881[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_8373137223162851881[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_8373137223162851881[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8373137223162851881[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8373137223162851881[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_8373137223162851881[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_8373137223162851881[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_8373137223162851881[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8373137223162851881[53] = -9.8100000000000005*dt;
+   out_8373137223162851881[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_8373137223162851881[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_8373137223162851881[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8373137223162851881[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8373137223162851881[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_8373137223162851881[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_8373137223162851881[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_8373137223162851881[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8373137223162851881[62] = 0;
+   out_8373137223162851881[63] = 0;
+   out_8373137223162851881[64] = 0;
+   out_8373137223162851881[65] = 0;
+   out_8373137223162851881[66] = 0;
+   out_8373137223162851881[67] = 0;
+   out_8373137223162851881[68] = 0;
+   out_8373137223162851881[69] = 0;
+   out_8373137223162851881[70] = 1;
+   out_8373137223162851881[71] = 0;
+   out_8373137223162851881[72] = 0;
+   out_8373137223162851881[73] = 0;
+   out_8373137223162851881[74] = 0;
+   out_8373137223162851881[75] = 0;
+   out_8373137223162851881[76] = 0;
+   out_8373137223162851881[77] = 0;
+   out_8373137223162851881[78] = 0;
+   out_8373137223162851881[79] = 0;
+   out_8373137223162851881[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_4988354507217303652) {
-   out_4988354507217303652[0] = state[6];
+void h_25(double *state, double *unused, double *out_5355327156585439901) {
+   out_5355327156585439901[0] = state[6];
 }
-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_25(double *state, double *unused, double *out_2475786134934740220) {
+   out_2475786134934740220[0] = 0;
+   out_2475786134934740220[1] = 0;
+   out_2475786134934740220[2] = 0;
+   out_2475786134934740220[3] = 0;
+   out_2475786134934740220[4] = 0;
+   out_2475786134934740220[5] = 0;
+   out_2475786134934740220[6] = 1;
+   out_2475786134934740220[7] = 0;
+   out_2475786134934740220[8] = 0;
 }
-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_4948890380757191940) {
+   out_4948890380757191940[0] = state[4];
+   out_4948890380757191940[1] = state[5];
 }
-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_24(double *state, double *unused, double *out_3316217919116785212) {
+   out_3316217919116785212[0] = 0;
+   out_3316217919116785212[1] = 0;
+   out_3316217919116785212[2] = 0;
+   out_3316217919116785212[3] = 0;
+   out_3316217919116785212[4] = 1;
+   out_3316217919116785212[5] = 0;
+   out_3316217919116785212[6] = 0;
+   out_3316217919116785212[7] = 0;
+   out_3316217919116785212[8] = 0;
+   out_3316217919116785212[9] = 0;
+   out_3316217919116785212[10] = 0;
+   out_3316217919116785212[11] = 0;
+   out_3316217919116785212[12] = 0;
+   out_3316217919116785212[13] = 0;
+   out_3316217919116785212[14] = 1;
+   out_3316217919116785212[15] = 0;
+   out_3316217919116785212[16] = 0;
+   out_3316217919116785212[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_6271436662034189635) {
-   out_6271436662034189635[0] = state[4];
+void h_30(double *state, double *unused, double *out_6805958549214323068) {
+   out_6805958549214323068[0] = state[4];
 }
-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_30(double *state, double *unused, double *out_42546823572508407) {
+   out_42546823572508407[0] = 0;
+   out_42546823572508407[1] = 0;
+   out_42546823572508407[2] = 0;
+   out_42546823572508407[3] = 0;
+   out_42546823572508407[4] = 1;
+   out_42546823572508407[5] = 0;
+   out_42546823572508407[6] = 0;
+   out_42546823572508407[7] = 0;
+   out_42546823572508407[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_628706790953232800) {
-   out_628706790953232800[0] = state[7];
+void h_26(double *state, double *unused, double *out_2475727773492236361) {
+   out_2475727773492236361[0] = state[7];
 }
-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_26(double *state, double *unused, double *out_6217289453808796444) {
+   out_6217289453808796444[0] = 0;
+   out_6217289453808796444[1] = 0;
+   out_6217289453808796444[2] = 0;
+   out_6217289453808796444[3] = 0;
+   out_6217289453808796444[4] = 0;
+   out_6217289453808796444[5] = 0;
+   out_6217289453808796444[6] = 0;
+   out_6217289453808796444[7] = 1;
+   out_6217289453808796444[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_7592759828026001303) {
-   out_7592759828026001303[0] = state[3];
+void h_27(double *state, double *unused, double *out_353653888924594256) {
+   out_353653888924594256[0] = state[3];
 }
-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_27(double *state, double *unused, double *out_9178245776862773329) {
+   out_9178245776862773329[0] = 0;
+   out_9178245776862773329[1] = 0;
+   out_9178245776862773329[2] = 0;
+   out_9178245776862773329[3] = 1;
+   out_9178245776862773329[4] = 0;
+   out_9178245776862773329[5] = 0;
+   out_9178245776862773329[6] = 0;
+   out_9178245776862773329[7] = 0;
+   out_9178245776862773329[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_7749946496377130448) {
-   out_7749946496377130448[0] = state[1];
+void h_29(double *state, double *unused, double *out_1804285281553477423) {
+   out_1804285281553477423[0] = state[1];
 }
-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_29(double *state, double *unused, double *out_6493251120747956234) {
+   out_6493251120747956234[0] = 0;
+   out_6493251120747956234[1] = 1;
+   out_6493251120747956234[2] = 0;
+   out_6493251120747956234[3] = 0;
+   out_6493251120747956234[4] = 0;
+   out_6493251120747956234[5] = 0;
+   out_6493251120747956234[6] = 0;
+   out_6493251120747956234[7] = 0;
+   out_6493251120747956234[8] = 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_4712763629793748467) {
+   out_4712763629793748467[0] = state[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_28(double *state, double *unused, double *out_4529620849182629983) {
+   out_4529620849182629983[0] = 1;
+   out_4529620849182629983[1] = 0;
+   out_4529620849182629983[2] = 0;
+   out_4529620849182629983[3] = 0;
+   out_4529620849182629983[4] = 0;
+   out_4529620849182629983[5] = 0;
+   out_4529620849182629983[6] = 0;
+   out_4529620849182629983[7] = 0;
+   out_4529620849182629983[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_2214861449768682318) {
-   out_2214861449768682318[0] = state[8];
+void h_31(double *state, double *unused, double *out_5630521218869945790) {
+   out_5630521218869945790[0] = state[8];
 }
-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;
+void H_31(double *state, double *unused, double *out_6843497556042147920) {
+   out_6843497556042147920[0] = 0;
+   out_6843497556042147920[1] = 0;
+   out_6843497556042147920[2] = 0;
+   out_6843497556042147920[3] = 0;
+   out_6843497556042147920[4] = 0;
+   out_6843497556042147920[5] = 0;
+   out_6843497556042147920[6] = 0;
+   out_6843497556042147920[7] = 0;
+   out_6843497556042147920[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_870685266903427678) {
-  err_fun(nom_x, delta_x, out_870685266903427678);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1527400592183565183) {
+  err_fun(nom_x, delta_x, out_1527400592183565183);
 }
-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_inv_err_fun(double *nom_x, double *true_x, double *out_4038333929682939877) {
+  inv_err_fun(nom_x, true_x, out_4038333929682939877);
 }
-void car_H_mod_fun(double *state, double *out_5722367516210042485) {
-  H_mod_fun(state, out_5722367516210042485);
+void car_H_mod_fun(double *state, double *out_8049619905800951591) {
+  H_mod_fun(state, out_8049619905800951591);
 }
-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_7680940422259587756) {
+  f_fun(state,  dt, out_7680940422259587756);
 }
-void car_F_fun(double *state, double dt, double *out_334732449615445707) {
-  F_fun(state,  dt, out_334732449615445707);
+void car_F_fun(double *state, double dt, double *out_8373137223162851881) {
+  F_fun(state,  dt, out_8373137223162851881);
 }
-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_5355327156585439901) {
+  h_25(state, unused, out_5355327156585439901);
 }
-void car_H_25(double *state, double *unused, double *out_3470820709702194752) {
-  H_25(state, unused, out_3470820709702194752);
+void car_H_25(double *state, double *unused, double *out_2475786134934740220) {
+  H_25(state, unused, out_2475786134934740220);
 }
-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_4948890380757191940) {
+  h_24(state, unused, out_4948890380757191940);
 }
-void car_H_24(double *state, double *unused, double *out_5643470308707694318) {
-  H_24(state, unused, out_5643470308707694318);
+void car_H_24(double *state, double *unused, double *out_3316217919116785212) {
+  H_24(state, unused, out_3316217919116785212);
 }
-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_6805958549214323068) {
+  h_30(state, unused, out_6805958549214323068);
 }
-void car_H_30(double *state, double *unused, double *out_952487751194946125) {
-  H_30(state, unused, out_952487751194946125);
+void car_H_30(double *state, double *unused, double *out_42546823572508407) {
+  H_30(state, unused, out_42546823572508407);
 }
-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_2475727773492236361) {
+  h_26(state, unused, out_2475727773492236361);
 }
-void car_H_26(double *state, double *unused, double *out_7212324028576250976) {
-  H_26(state, unused, out_7212324028576250976);
+void car_H_26(double *state, double *unused, double *out_6217289453808796444) {
+  H_26(state, unused, out_6217289453808796444);
 }
-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_353653888924594256) {
+  h_27(state, unused, out_353653888924594256);
 }
-void car_H_27(double *state, double *unused, double *out_5774922968645859733) {
-  H_27(state, unused, out_5774922968645859733);
+void car_H_27(double *state, double *unused, double *out_9178245776862773329) {
+  H_27(state, unused, out_9178245776862773329);
 }
-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_1804285281553477423) {
+  h_29(state, unused, out_1804285281553477423);
 }
-void car_H_29(double *state, double *unused, double *out_7488285695515410766) {
-  H_29(state, unused, out_7488285695515410766);
+void car_H_29(double *state, double *unused, double *out_6493251120747956234) {
+  H_29(state, unused, out_6493251120747956234);
 }
-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_4712763629793748467) {
+  h_28(state, unused, out_4712763629793748467);
 }
-void car_H_28(double *state, double *unused, double *out_5524655423950084515) {
-  H_28(state, unused, out_5524655423950084515);
+void car_H_28(double *state, double *unused, double *out_4529620849182629983) {
+  H_28(state, unused, out_4529620849182629983);
 }
-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_5630521218869945790) {
+  h_31(state, unused, out_5630521218869945790);
 }
-void car_H_31(double *state, double *unused, double *out_7838532130809602452) {
-  H_31(state, unused, out_7838532130809602452);
+void car_H_31(double *state, double *unused, double *out_6843497556042147920) {
+  H_31(state, unused, out_6843497556042147920);
 }
 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_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_err_fun(double *nom_x, double *delta_x, double *out_1527400592183565183);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_4038333929682939877);
+void car_H_mod_fun(double *state, double *out_8049619905800951591);
+void car_f_fun(double *state, double dt, double *out_7680940422259587756);
+void car_F_fun(double *state, double dt, double *out_8373137223162851881);
+void car_h_25(double *state, double *unused, double *out_5355327156585439901);
+void car_H_25(double *state, double *unused, double *out_2475786134934740220);
+void car_h_24(double *state, double *unused, double *out_4948890380757191940);
+void car_H_24(double *state, double *unused, double *out_3316217919116785212);
+void car_h_30(double *state, double *unused, double *out_6805958549214323068);
+void car_H_30(double *state, double *unused, double *out_42546823572508407);
+void car_h_26(double *state, double *unused, double *out_2475727773492236361);
+void car_H_26(double *state, double *unused, double *out_6217289453808796444);
+void car_h_27(double *state, double *unused, double *out_353653888924594256);
+void car_H_27(double *state, double *unused, double *out_9178245776862773329);
+void car_h_29(double *state, double *unused, double *out_1804285281553477423);
+void car_H_29(double *state, double *unused, double *out_6493251120747956234);
+void car_h_28(double *state, double *unused, double *out_4712763629793748467);
+void car_H_28(double *state, double *unused, double *out_4529620849182629983);
+void car_h_31(double *state, double *unused, double *out_5630521218869945790);
+void car_H_31(double *state, double *unused, double *out_6843497556042147920);
 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);