Tickle Me ELMo

common/params_keys.h

@@ -310,7 +310,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
     {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
     {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
-    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_ADVANCED}},
     {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
     {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-9cb1b6b1-DEBUG";
+const uint8_t gitversion[19] = "DEV-cec1a0fb-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-9cb1b6b1-DEBUG
+DEV-cec1a0fb-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_694062864366320957) {
+void err_fun(double *nom_x, double *delta_x, double *out_5825026556611430403) {
-   out_694062864366320957[0] = delta_x[0] + nom_x[0];
+   out_5825026556611430403[0] = delta_x[0] + nom_x[0];
-   out_694062864366320957[1] = delta_x[1] + nom_x[1];
+   out_5825026556611430403[1] = delta_x[1] + nom_x[1];
-   out_694062864366320957[2] = delta_x[2] + nom_x[2];
+   out_5825026556611430403[2] = delta_x[2] + nom_x[2];
-   out_694062864366320957[3] = delta_x[3] + nom_x[3];
+   out_5825026556611430403[3] = delta_x[3] + nom_x[3];
-   out_694062864366320957[4] = delta_x[4] + nom_x[4];
+   out_5825026556611430403[4] = delta_x[4] + nom_x[4];
-   out_694062864366320957[5] = delta_x[5] + nom_x[5];
+   out_5825026556611430403[5] = delta_x[5] + nom_x[5];
-   out_694062864366320957[6] = delta_x[6] + nom_x[6];
+   out_5825026556611430403[6] = delta_x[6] + nom_x[6];
-   out_694062864366320957[7] = delta_x[7] + nom_x[7];
+   out_5825026556611430403[7] = delta_x[7] + nom_x[7];
-   out_694062864366320957[8] = delta_x[8] + nom_x[8];
+   out_5825026556611430403[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_7656216431051591408) {
+void inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698) {
-   out_7656216431051591408[0] = -nom_x[0] + true_x[0];
+   out_8876036798993240698[0] = -nom_x[0] + true_x[0];
-   out_7656216431051591408[1] = -nom_x[1] + true_x[1];
+   out_8876036798993240698[1] = -nom_x[1] + true_x[1];
-   out_7656216431051591408[2] = -nom_x[2] + true_x[2];
+   out_8876036798993240698[2] = -nom_x[2] + true_x[2];
-   out_7656216431051591408[3] = -nom_x[3] + true_x[3];
+   out_8876036798993240698[3] = -nom_x[3] + true_x[3];
-   out_7656216431051591408[4] = -nom_x[4] + true_x[4];
+   out_8876036798993240698[4] = -nom_x[4] + true_x[4];
-   out_7656216431051591408[5] = -nom_x[5] + true_x[5];
+   out_8876036798993240698[5] = -nom_x[5] + true_x[5];
-   out_7656216431051591408[6] = -nom_x[6] + true_x[6];
+   out_8876036798993240698[6] = -nom_x[6] + true_x[6];
-   out_7656216431051591408[7] = -nom_x[7] + true_x[7];
+   out_8876036798993240698[7] = -nom_x[7] + true_x[7];
-   out_7656216431051591408[8] = -nom_x[8] + true_x[8];
+   out_8876036798993240698[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_2454126163912067491) {
+void H_mod_fun(double *state, double *out_6203949078932441352) {
-   out_2454126163912067491[0] = 1.0;
+   out_6203949078932441352[0] = 1.0;
-   out_2454126163912067491[1] = 0.0;
+   out_6203949078932441352[1] = 0.0;
-   out_2454126163912067491[2] = 0.0;
+   out_6203949078932441352[2] = 0.0;
-   out_2454126163912067491[3] = 0.0;
+   out_6203949078932441352[3] = 0.0;
-   out_2454126163912067491[4] = 0.0;
+   out_6203949078932441352[4] = 0.0;
-   out_2454126163912067491[5] = 0.0;
+   out_6203949078932441352[5] = 0.0;
-   out_2454126163912067491[6] = 0.0;
+   out_6203949078932441352[6] = 0.0;
-   out_2454126163912067491[7] = 0.0;
+   out_6203949078932441352[7] = 0.0;
-   out_2454126163912067491[8] = 0.0;
+   out_6203949078932441352[8] = 0.0;
-   out_2454126163912067491[9] = 0.0;
+   out_6203949078932441352[9] = 0.0;
-   out_2454126163912067491[10] = 1.0;
+   out_6203949078932441352[10] = 1.0;
-   out_2454126163912067491[11] = 0.0;
+   out_6203949078932441352[11] = 0.0;
-   out_2454126163912067491[12] = 0.0;
+   out_6203949078932441352[12] = 0.0;
-   out_2454126163912067491[13] = 0.0;
+   out_6203949078932441352[13] = 0.0;
-   out_2454126163912067491[14] = 0.0;
+   out_6203949078932441352[14] = 0.0;
-   out_2454126163912067491[15] = 0.0;
+   out_6203949078932441352[15] = 0.0;
-   out_2454126163912067491[16] = 0.0;
+   out_6203949078932441352[16] = 0.0;
-   out_2454126163912067491[17] = 0.0;
+   out_6203949078932441352[17] = 0.0;
-   out_2454126163912067491[18] = 0.0;
+   out_6203949078932441352[18] = 0.0;
-   out_2454126163912067491[19] = 0.0;
+   out_6203949078932441352[19] = 0.0;
-   out_2454126163912067491[20] = 1.0;
+   out_6203949078932441352[20] = 1.0;
-   out_2454126163912067491[21] = 0.0;
+   out_6203949078932441352[21] = 0.0;
-   out_2454126163912067491[22] = 0.0;
+   out_6203949078932441352[22] = 0.0;
-   out_2454126163912067491[23] = 0.0;
+   out_6203949078932441352[23] = 0.0;
-   out_2454126163912067491[24] = 0.0;
+   out_6203949078932441352[24] = 0.0;
-   out_2454126163912067491[25] = 0.0;
+   out_6203949078932441352[25] = 0.0;
-   out_2454126163912067491[26] = 0.0;
+   out_6203949078932441352[26] = 0.0;
-   out_2454126163912067491[27] = 0.0;
+   out_6203949078932441352[27] = 0.0;
-   out_2454126163912067491[28] = 0.0;
+   out_6203949078932441352[28] = 0.0;
-   out_2454126163912067491[29] = 0.0;
+   out_6203949078932441352[29] = 0.0;
-   out_2454126163912067491[30] = 1.0;
+   out_6203949078932441352[30] = 1.0;
-   out_2454126163912067491[31] = 0.0;
+   out_6203949078932441352[31] = 0.0;
-   out_2454126163912067491[32] = 0.0;
+   out_6203949078932441352[32] = 0.0;
-   out_2454126163912067491[33] = 0.0;
+   out_6203949078932441352[33] = 0.0;
-   out_2454126163912067491[34] = 0.0;
+   out_6203949078932441352[34] = 0.0;
-   out_2454126163912067491[35] = 0.0;
+   out_6203949078932441352[35] = 0.0;
-   out_2454126163912067491[36] = 0.0;
+   out_6203949078932441352[36] = 0.0;
-   out_2454126163912067491[37] = 0.0;
+   out_6203949078932441352[37] = 0.0;
-   out_2454126163912067491[38] = 0.0;
+   out_6203949078932441352[38] = 0.0;
-   out_2454126163912067491[39] = 0.0;
+   out_6203949078932441352[39] = 0.0;
-   out_2454126163912067491[40] = 1.0;
+   out_6203949078932441352[40] = 1.0;
-   out_2454126163912067491[41] = 0.0;
+   out_6203949078932441352[41] = 0.0;
-   out_2454126163912067491[42] = 0.0;
+   out_6203949078932441352[42] = 0.0;
-   out_2454126163912067491[43] = 0.0;
+   out_6203949078932441352[43] = 0.0;
-   out_2454126163912067491[44] = 0.0;
+   out_6203949078932441352[44] = 0.0;
-   out_2454126163912067491[45] = 0.0;
+   out_6203949078932441352[45] = 0.0;
-   out_2454126163912067491[46] = 0.0;
+   out_6203949078932441352[46] = 0.0;
-   out_2454126163912067491[47] = 0.0;
+   out_6203949078932441352[47] = 0.0;
-   out_2454126163912067491[48] = 0.0;
+   out_6203949078932441352[48] = 0.0;
-   out_2454126163912067491[49] = 0.0;
+   out_6203949078932441352[49] = 0.0;
-   out_2454126163912067491[50] = 1.0;
+   out_6203949078932441352[50] = 1.0;
-   out_2454126163912067491[51] = 0.0;
+   out_6203949078932441352[51] = 0.0;
-   out_2454126163912067491[52] = 0.0;
+   out_6203949078932441352[52] = 0.0;
-   out_2454126163912067491[53] = 0.0;
+   out_6203949078932441352[53] = 0.0;
-   out_2454126163912067491[54] = 0.0;
+   out_6203949078932441352[54] = 0.0;
-   out_2454126163912067491[55] = 0.0;
+   out_6203949078932441352[55] = 0.0;
-   out_2454126163912067491[56] = 0.0;
+   out_6203949078932441352[56] = 0.0;
-   out_2454126163912067491[57] = 0.0;
+   out_6203949078932441352[57] = 0.0;
-   out_2454126163912067491[58] = 0.0;
+   out_6203949078932441352[58] = 0.0;
-   out_2454126163912067491[59] = 0.0;
+   out_6203949078932441352[59] = 0.0;
-   out_2454126163912067491[60] = 1.0;
+   out_6203949078932441352[60] = 1.0;
-   out_2454126163912067491[61] = 0.0;
+   out_6203949078932441352[61] = 0.0;
-   out_2454126163912067491[62] = 0.0;
+   out_6203949078932441352[62] = 0.0;
-   out_2454126163912067491[63] = 0.0;
+   out_6203949078932441352[63] = 0.0;
-   out_2454126163912067491[64] = 0.0;
+   out_6203949078932441352[64] = 0.0;
-   out_2454126163912067491[65] = 0.0;
+   out_6203949078932441352[65] = 0.0;
-   out_2454126163912067491[66] = 0.0;
+   out_6203949078932441352[66] = 0.0;
-   out_2454126163912067491[67] = 0.0;
+   out_6203949078932441352[67] = 0.0;
-   out_2454126163912067491[68] = 0.0;
+   out_6203949078932441352[68] = 0.0;
-   out_2454126163912067491[69] = 0.0;
+   out_6203949078932441352[69] = 0.0;
-   out_2454126163912067491[70] = 1.0;
+   out_6203949078932441352[70] = 1.0;
-   out_2454126163912067491[71] = 0.0;
+   out_6203949078932441352[71] = 0.0;
-   out_2454126163912067491[72] = 0.0;
+   out_6203949078932441352[72] = 0.0;
-   out_2454126163912067491[73] = 0.0;
+   out_6203949078932441352[73] = 0.0;
-   out_2454126163912067491[74] = 0.0;
+   out_6203949078932441352[74] = 0.0;
-   out_2454126163912067491[75] = 0.0;
+   out_6203949078932441352[75] = 0.0;
-   out_2454126163912067491[76] = 0.0;
+   out_6203949078932441352[76] = 0.0;
-   out_2454126163912067491[77] = 0.0;
+   out_6203949078932441352[77] = 0.0;
-   out_2454126163912067491[78] = 0.0;
+   out_6203949078932441352[78] = 0.0;
-   out_2454126163912067491[79] = 0.0;
+   out_6203949078932441352[79] = 0.0;
-   out_2454126163912067491[80] = 1.0;
+   out_6203949078932441352[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_1843607112126961388) {
+void f_fun(double *state, double dt, double *out_343822199527135251) {
-   out_1843607112126961388[0] = state[0];
+   out_343822199527135251[0] = state[0];
-   out_1843607112126961388[1] = state[1];
+   out_343822199527135251[1] = state[1];
-   out_1843607112126961388[2] = state[2];
+   out_343822199527135251[2] = state[2];
-   out_1843607112126961388[3] = state[3];
+   out_343822199527135251[3] = state[3];
-   out_1843607112126961388[4] = state[4];
+   out_343822199527135251[4] = state[4];
-   out_1843607112126961388[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_343822199527135251[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_1843607112126961388[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_343822199527135251[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_1843607112126961388[7] = state[7];
+   out_343822199527135251[7] = state[7];
-   out_1843607112126961388[8] = state[8];
+   out_343822199527135251[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_2182262497468252920) {
+void F_fun(double *state, double dt, double *out_7416815269748566643) {
-   out_2182262497468252920[0] = 1;
+   out_7416815269748566643[0] = 1;
-   out_2182262497468252920[1] = 0;
+   out_7416815269748566643[1] = 0;
-   out_2182262497468252920[2] = 0;
+   out_7416815269748566643[2] = 0;
-   out_2182262497468252920[3] = 0;
+   out_7416815269748566643[3] = 0;
-   out_2182262497468252920[4] = 0;
+   out_7416815269748566643[4] = 0;
-   out_2182262497468252920[5] = 0;
+   out_7416815269748566643[5] = 0;
-   out_2182262497468252920[6] = 0;
+   out_7416815269748566643[6] = 0;
-   out_2182262497468252920[7] = 0;
+   out_7416815269748566643[7] = 0;
-   out_2182262497468252920[8] = 0;
+   out_7416815269748566643[8] = 0;
-   out_2182262497468252920[9] = 0;
+   out_7416815269748566643[9] = 0;
-   out_2182262497468252920[10] = 1;
+   out_7416815269748566643[10] = 1;
-   out_2182262497468252920[11] = 0;
+   out_7416815269748566643[11] = 0;
-   out_2182262497468252920[12] = 0;
+   out_7416815269748566643[12] = 0;
-   out_2182262497468252920[13] = 0;
+   out_7416815269748566643[13] = 0;
-   out_2182262497468252920[14] = 0;
+   out_7416815269748566643[14] = 0;
-   out_2182262497468252920[15] = 0;
+   out_7416815269748566643[15] = 0;
-   out_2182262497468252920[16] = 0;
+   out_7416815269748566643[16] = 0;
-   out_2182262497468252920[17] = 0;
+   out_7416815269748566643[17] = 0;
-   out_2182262497468252920[18] = 0;
+   out_7416815269748566643[18] = 0;
-   out_2182262497468252920[19] = 0;
+   out_7416815269748566643[19] = 0;
-   out_2182262497468252920[20] = 1;
+   out_7416815269748566643[20] = 1;
-   out_2182262497468252920[21] = 0;
+   out_7416815269748566643[21] = 0;
-   out_2182262497468252920[22] = 0;
+   out_7416815269748566643[22] = 0;
-   out_2182262497468252920[23] = 0;
+   out_7416815269748566643[23] = 0;
-   out_2182262497468252920[24] = 0;
+   out_7416815269748566643[24] = 0;
-   out_2182262497468252920[25] = 0;
+   out_7416815269748566643[25] = 0;
-   out_2182262497468252920[26] = 0;
+   out_7416815269748566643[26] = 0;
-   out_2182262497468252920[27] = 0;
+   out_7416815269748566643[27] = 0;
-   out_2182262497468252920[28] = 0;
+   out_7416815269748566643[28] = 0;
-   out_2182262497468252920[29] = 0;
+   out_7416815269748566643[29] = 0;
-   out_2182262497468252920[30] = 1;
+   out_7416815269748566643[30] = 1;
-   out_2182262497468252920[31] = 0;
+   out_7416815269748566643[31] = 0;
-   out_2182262497468252920[32] = 0;
+   out_7416815269748566643[32] = 0;
-   out_2182262497468252920[33] = 0;
+   out_7416815269748566643[33] = 0;
-   out_2182262497468252920[34] = 0;
+   out_7416815269748566643[34] = 0;
-   out_2182262497468252920[35] = 0;
+   out_7416815269748566643[35] = 0;
-   out_2182262497468252920[36] = 0;
+   out_7416815269748566643[36] = 0;
-   out_2182262497468252920[37] = 0;
+   out_7416815269748566643[37] = 0;
-   out_2182262497468252920[38] = 0;
+   out_7416815269748566643[38] = 0;
-   out_2182262497468252920[39] = 0;
+   out_7416815269748566643[39] = 0;
-   out_2182262497468252920[40] = 1;
+   out_7416815269748566643[40] = 1;
-   out_2182262497468252920[41] = 0;
+   out_7416815269748566643[41] = 0;
-   out_2182262497468252920[42] = 0;
+   out_7416815269748566643[42] = 0;
-   out_2182262497468252920[43] = 0;
+   out_7416815269748566643[43] = 0;
-   out_2182262497468252920[44] = 0;
+   out_7416815269748566643[44] = 0;
-   out_2182262497468252920[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_7416815269748566643[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_2182262497468252920[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_7416815269748566643[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_2182262497468252920[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_7416815269748566643[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2182262497468252920[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_7416815269748566643[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2182262497468252920[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_7416815269748566643[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_2182262497468252920[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_7416815269748566643[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_2182262497468252920[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_7416815269748566643[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_2182262497468252920[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_7416815269748566643[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_2182262497468252920[53] = -9.8100000000000005*dt;
+   out_7416815269748566643[53] = -9.8100000000000005*dt;
-   out_2182262497468252920[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_7416815269748566643[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_2182262497468252920[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_7416815269748566643[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_2182262497468252920[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_7416815269748566643[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2182262497468252920[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_7416815269748566643[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2182262497468252920[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_7416815269748566643[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_2182262497468252920[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_7416815269748566643[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_2182262497468252920[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_7416815269748566643[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_2182262497468252920[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_7416815269748566643[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_2182262497468252920[62] = 0;
+   out_7416815269748566643[62] = 0;
-   out_2182262497468252920[63] = 0;
+   out_7416815269748566643[63] = 0;
-   out_2182262497468252920[64] = 0;
+   out_7416815269748566643[64] = 0;
-   out_2182262497468252920[65] = 0;
+   out_7416815269748566643[65] = 0;
-   out_2182262497468252920[66] = 0;
+   out_7416815269748566643[66] = 0;
-   out_2182262497468252920[67] = 0;
+   out_7416815269748566643[67] = 0;
-   out_2182262497468252920[68] = 0;
+   out_7416815269748566643[68] = 0;
-   out_2182262497468252920[69] = 0;
+   out_7416815269748566643[69] = 0;
-   out_2182262497468252920[70] = 1;
+   out_7416815269748566643[70] = 1;
-   out_2182262497468252920[71] = 0;
+   out_7416815269748566643[71] = 0;
-   out_2182262497468252920[72] = 0;
+   out_7416815269748566643[72] = 0;
-   out_2182262497468252920[73] = 0;
+   out_7416815269748566643[73] = 0;
-   out_2182262497468252920[74] = 0;
+   out_7416815269748566643[74] = 0;
-   out_2182262497468252920[75] = 0;
+   out_7416815269748566643[75] = 0;
-   out_2182262497468252920[76] = 0;
+   out_7416815269748566643[76] = 0;
-   out_2182262497468252920[77] = 0;
+   out_7416815269748566643[77] = 0;
-   out_2182262497468252920[78] = 0;
+   out_7416815269748566643[78] = 0;
-   out_2182262497468252920[79] = 0;
+   out_7416815269748566643[79] = 0;
-   out_2182262497468252920[80] = 1;
+   out_7416815269748566643[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_4798003278786560335) {
+void h_25(double *state, double *unused, double *out_8641933420137717402) {
-   out_4798003278786560335[0] = state[6];
+   out_8641933420137717402[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_7357817989096732331) {
+void H_25(double *state, double *unused, double *out_7339103169592445424) {
-   out_7357817989096732331[0] = 0;
+   out_7339103169592445424[0] = 0;
-   out_7357817989096732331[1] = 0;
+   out_7339103169592445424[1] = 0;
-   out_7357817989096732331[2] = 0;
+   out_7339103169592445424[2] = 0;
-   out_7357817989096732331[3] = 0;
+   out_7339103169592445424[3] = 0;
-   out_7357817989096732331[4] = 0;
+   out_7339103169592445424[4] = 0;
-   out_7357817989096732331[5] = 0;
+   out_7339103169592445424[5] = 0;
-   out_7357817989096732331[6] = 1;
+   out_7339103169592445424[6] = 1;
-   out_7357817989096732331[7] = 0;
+   out_7339103169592445424[7] = 0;
-   out_7357817989096732331[8] = 0;
+   out_7339103169592445424[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_6970490004472512085) {
+void h_24(double *state, double *unused, double *out_5501280400540853584) {
-   out_6970490004472512085[0] = state[4];
+   out_5501280400540853584[0] = state[4];
-   out_6970490004472512085[1] = state[5];
+   out_5501280400540853584[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_1156785309245570905) {
+void H_24(double *state, double *unused, double *out_9067966288769759493) {
-   out_1156785309245570905[0] = 0;
+   out_9067966288769759493[0] = 0;
-   out_1156785309245570905[1] = 0;
+   out_9067966288769759493[1] = 0;
-   out_1156785309245570905[2] = 0;
+   out_9067966288769759493[2] = 0;
-   out_1156785309245570905[3] = 0;
+   out_9067966288769759493[3] = 0;
-   out_1156785309245570905[4] = 1;
+   out_9067966288769759493[4] = 1;
-   out_1156785309245570905[5] = 0;
+   out_9067966288769759493[5] = 0;
-   out_1156785309245570905[6] = 0;
+   out_9067966288769759493[6] = 0;
-   out_1156785309245570905[7] = 0;
+   out_9067966288769759493[7] = 0;
-   out_1156785309245570905[8] = 0;
+   out_9067966288769759493[8] = 0;
-   out_1156785309245570905[9] = 0;
+   out_9067966288769759493[9] = 0;
-   out_1156785309245570905[10] = 0;
+   out_9067966288769759493[10] = 0;
-   out_1156785309245570905[11] = 0;
+   out_9067966288769759493[11] = 0;
-   out_1156785309245570905[12] = 0;
+   out_9067966288769759493[12] = 0;
-   out_1156785309245570905[13] = 0;
+   out_9067966288769759493[13] = 0;
-   out_1156785309245570905[14] = 1;
+   out_9067966288769759493[14] = 1;
-   out_1156785309245570905[15] = 0;
+   out_9067966288769759493[15] = 0;
-   out_1156785309245570905[16] = 0;
+   out_9067966288769759493[16] = 0;
-   out_1156785309245570905[17] = 0;
+   out_9067966288769759493[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_3972351172998717479) {
+void h_30(double *state, double *unused, double *out_5706507355292462350) {
-   out_3972351172998717479[0] = state[4];
+   out_5706507355292462350[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_7228479041953492261) {
+void H_30(double *state, double *unused, double *out_422412828100828669) {
-   out_7228479041953492261[0] = 0;
+   out_422412828100828669[0] = 0;
-   out_7228479041953492261[1] = 0;
+   out_422412828100828669[1] = 0;
-   out_7228479041953492261[2] = 0;
+   out_422412828100828669[2] = 0;
-   out_7228479041953492261[3] = 0;
+   out_422412828100828669[3] = 0;
-   out_7228479041953492261[4] = 1;
+   out_422412828100828669[4] = 1;
-   out_7228479041953492261[5] = 0;
+   out_422412828100828669[5] = 0;
-   out_7228479041953492261[6] = 0;
+   out_422412828100828669[6] = 0;
-   out_7228479041953492261[7] = 0;
+   out_422412828100828669[7] = 0;
-   out_7228479041953492261[8] = 0;
+   out_422412828100828669[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_1029322094662128166) {
+void h_26(double *state, double *unused, double *out_8743293406736795035) {
-   out_1029322094662128166[0] = state[7];
+   out_8743293406736795035[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_3616314670222676107) {
+void H_26(double *state, double *unused, double *out_7366137585243049968) {
-   out_3616314670222676107[0] = 0;
+   out_7366137585243049968[0] = 0;
-   out_3616314670222676107[1] = 0;
+   out_7366137585243049968[1] = 0;
-   out_3616314670222676107[2] = 0;
+   out_7366137585243049968[2] = 0;
-   out_3616314670222676107[3] = 0;
+   out_7366137585243049968[3] = 0;
-   out_3616314670222676107[4] = 0;
+   out_7366137585243049968[4] = 0;
-   out_3616314670222676107[5] = 0;
+   out_7366137585243049968[5] = 0;
-   out_3616314670222676107[6] = 0;
+   out_7366137585243049968[6] = 0;
-   out_3616314670222676107[7] = 1;
+   out_7366137585243049968[7] = 1;
-   out_3616314670222676107[8] = 0;
+   out_7366137585243049968[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_9195955360068189347) {
+void h_27(double *state, double *unused, double *out_6768024602127501529) {
-   out_9195955360068189347[0] = state[3];
+   out_6768024602127501529[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_5053715730153067350) {
+void H_27(double *state, double *unused, double *out_2597176139901253580) {
-   out_5053715730153067350[0] = 0;
+   out_2597176139901253580[0] = 0;
-   out_5053715730153067350[1] = 0;
+   out_2597176139901253580[1] = 0;
-   out_5053715730153067350[2] = 0;
+   out_2597176139901253580[2] = 0;
-   out_5053715730153067350[3] = 1;
+   out_2597176139901253580[3] = 1;
-   out_5053715730153067350[4] = 0;
+   out_2597176139901253580[4] = 0;
-   out_5053715730153067350[5] = 0;
+   out_2597176139901253580[5] = 0;
-   out_5053715730153067350[6] = 0;
+   out_2597176139901253580[6] = 0;
-   out_5053715730153067350[7] = 0;
+   out_2597176139901253580[7] = 0;
-   out_5053715730153067350[8] = 0;
+   out_2597176139901253580[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_9038768691717060202) {
+void h_29(double *state, double *unused, double *out_5090891545105754924) {
-   out_9038768691717060202[0] = state[1];
+   out_5090891545105754924[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_3340353003283516317) {
+void H_29(double *state, double *unused, double *out_4310538866770804613) {
-   out_3340353003283516317[0] = 0;
+   out_4310538866770804613[0] = 0;
-   out_3340353003283516317[1] = 1;
+   out_4310538866770804613[1] = 1;
-   out_3340353003283516317[2] = 0;
+   out_4310538866770804613[2] = 0;
-   out_3340353003283516317[3] = 0;
+   out_4310538866770804613[3] = 0;
-   out_3340353003283516317[4] = 0;
+   out_4310538866770804613[4] = 0;
-   out_3340353003283516317[5] = 0;
+   out_4310538866770804613[5] = 0;
-   out_3340353003283516317[6] = 0;
+   out_4310538866770804613[6] = 0;
-   out_3340353003283516317[7] = 0;
+   out_4310538866770804613[7] = 0;
-   out_3340353003283516317[8] = 0;
+   out_4310538866770804613[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_4249115445980516624) {
+void h_28(double *state, double *unused, double *out_5824514749225839094) {
-   out_4249115445980516624[0] = state[0];
+   out_5824514749225839094[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_5303983274848842568) {
+void H_28(double *state, double *unused, double *out_9053806189869216429) {
-   out_5303983274848842568[0] = 1;
+   out_9053806189869216429[0] = 1;
-   out_5303983274848842568[1] = 0;
+   out_9053806189869216429[1] = 0;
-   out_5303983274848842568[2] = 0;
+   out_9053806189869216429[2] = 0;
-   out_5303983274848842568[3] = 0;
+   out_9053806189869216429[3] = 0;
-   out_5303983274848842568[4] = 0;
+   out_9053806189869216429[4] = 0;
-   out_5303983274848842568[5] = 0;
+   out_9053806189869216429[5] = 0;
-   out_5303983274848842568[6] = 0;
+   out_9053806189869216429[6] = 0;
-   out_5303983274848842568[7] = 0;
+   out_9053806189869216429[7] = 0;
-   out_5303983274848842568[8] = 0;
+   out_9053806189869216429[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_5644913485036226869) {
+void h_31(double *state, double *unused, double *out_8917127482422223291) {
-   out_5644913485036226869[0] = state[8];
+   out_8917127482422223291[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_7388463950973692759) {
+void H_31(double *state, double *unused, double *out_7308457207715484996) {
-   out_7388463950973692759[0] = 0;
+   out_7308457207715484996[0] = 0;
-   out_7388463950973692759[1] = 0;
+   out_7308457207715484996[1] = 0;
-   out_7388463950973692759[2] = 0;
+   out_7308457207715484996[2] = 0;
-   out_7388463950973692759[3] = 0;
+   out_7308457207715484996[3] = 0;
-   out_7388463950973692759[4] = 0;
+   out_7308457207715484996[4] = 0;
-   out_7388463950973692759[5] = 0;
+   out_7308457207715484996[5] = 0;
-   out_7388463950973692759[6] = 0;
+   out_7308457207715484996[6] = 0;
-   out_7388463950973692759[7] = 0;
+   out_7308457207715484996[7] = 0;
-   out_7388463950973692759[8] = 1;
+   out_7308457207715484996[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_694062864366320957) {
+void car_err_fun(double *nom_x, double *delta_x, double *out_5825026556611430403) {
-  err_fun(nom_x, delta_x, out_694062864366320957);
+  err_fun(nom_x, delta_x, out_5825026556611430403);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7656216431051591408) {
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698) {
-  inv_err_fun(nom_x, true_x, out_7656216431051591408);
+  inv_err_fun(nom_x, true_x, out_8876036798993240698);
 }
-void car_H_mod_fun(double *state, double *out_2454126163912067491) {
+void car_H_mod_fun(double *state, double *out_6203949078932441352) {
-  H_mod_fun(state, out_2454126163912067491);
+  H_mod_fun(state, out_6203949078932441352);
 }
-void car_f_fun(double *state, double dt, double *out_1843607112126961388) {
+void car_f_fun(double *state, double dt, double *out_343822199527135251) {
-  f_fun(state,  dt, out_1843607112126961388);
+  f_fun(state,  dt, out_343822199527135251);
 }
-void car_F_fun(double *state, double dt, double *out_2182262497468252920) {
+void car_F_fun(double *state, double dt, double *out_7416815269748566643) {
-  F_fun(state,  dt, out_2182262497468252920);
+  F_fun(state,  dt, out_7416815269748566643);
 }
-void car_h_25(double *state, double *unused, double *out_4798003278786560335) {
+void car_h_25(double *state, double *unused, double *out_8641933420137717402) {
-  h_25(state, unused, out_4798003278786560335);
+  h_25(state, unused, out_8641933420137717402);
 }
-void car_H_25(double *state, double *unused, double *out_7357817989096732331) {
+void car_H_25(double *state, double *unused, double *out_7339103169592445424) {
-  H_25(state, unused, out_7357817989096732331);
+  H_25(state, unused, out_7339103169592445424);
 }
-void car_h_24(double *state, double *unused, double *out_6970490004472512085) {
+void car_h_24(double *state, double *unused, double *out_5501280400540853584) {
-  h_24(state, unused, out_6970490004472512085);
+  h_24(state, unused, out_5501280400540853584);
 }
-void car_H_24(double *state, double *unused, double *out_1156785309245570905) {
+void car_H_24(double *state, double *unused, double *out_9067966288769759493) {
-  H_24(state, unused, out_1156785309245570905);
+  H_24(state, unused, out_9067966288769759493);
 }
-void car_h_30(double *state, double *unused, double *out_3972351172998717479) {
+void car_h_30(double *state, double *unused, double *out_5706507355292462350) {
-  h_30(state, unused, out_3972351172998717479);
+  h_30(state, unused, out_5706507355292462350);
 }
-void car_H_30(double *state, double *unused, double *out_7228479041953492261) {
+void car_H_30(double *state, double *unused, double *out_422412828100828669) {
-  H_30(state, unused, out_7228479041953492261);
+  H_30(state, unused, out_422412828100828669);
 }
-void car_h_26(double *state, double *unused, double *out_1029322094662128166) {
+void car_h_26(double *state, double *unused, double *out_8743293406736795035) {
-  h_26(state, unused, out_1029322094662128166);
+  h_26(state, unused, out_8743293406736795035);
 }
-void car_H_26(double *state, double *unused, double *out_3616314670222676107) {
+void car_H_26(double *state, double *unused, double *out_7366137585243049968) {
-  H_26(state, unused, out_3616314670222676107);
+  H_26(state, unused, out_7366137585243049968);
 }
-void car_h_27(double *state, double *unused, double *out_9195955360068189347) {
+void car_h_27(double *state, double *unused, double *out_6768024602127501529) {
-  h_27(state, unused, out_9195955360068189347);
+  h_27(state, unused, out_6768024602127501529);
 }
-void car_H_27(double *state, double *unused, double *out_5053715730153067350) {
+void car_H_27(double *state, double *unused, double *out_2597176139901253580) {
-  H_27(state, unused, out_5053715730153067350);
+  H_27(state, unused, out_2597176139901253580);
 }
-void car_h_29(double *state, double *unused, double *out_9038768691717060202) {
+void car_h_29(double *state, double *unused, double *out_5090891545105754924) {
-  h_29(state, unused, out_9038768691717060202);
+  h_29(state, unused, out_5090891545105754924);
 }
-void car_H_29(double *state, double *unused, double *out_3340353003283516317) {
+void car_H_29(double *state, double *unused, double *out_4310538866770804613) {
-  H_29(state, unused, out_3340353003283516317);
+  H_29(state, unused, out_4310538866770804613);
 }
-void car_h_28(double *state, double *unused, double *out_4249115445980516624) {
+void car_h_28(double *state, double *unused, double *out_5824514749225839094) {
-  h_28(state, unused, out_4249115445980516624);
+  h_28(state, unused, out_5824514749225839094);
 }
-void car_H_28(double *state, double *unused, double *out_5303983274848842568) {
+void car_H_28(double *state, double *unused, double *out_9053806189869216429) {
-  H_28(state, unused, out_5303983274848842568);
+  H_28(state, unused, out_9053806189869216429);
 }
-void car_h_31(double *state, double *unused, double *out_5644913485036226869) {
+void car_h_31(double *state, double *unused, double *out_8917127482422223291) {
-  h_31(state, unused, out_5644913485036226869);
+  h_31(state, unused, out_8917127482422223291);
 }
-void car_H_31(double *state, double *unused, double *out_7388463950973692759) {
+void car_H_31(double *state, double *unused, double *out_7308457207715484996) {
-  H_31(state, unused, out_7388463950973692759);
+  H_31(state, unused, out_7308457207715484996);
 }
 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_694062864366320957);
+void car_err_fun(double *nom_x, double *delta_x, double *out_5825026556611430403);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7656216431051591408);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698);
-void car_H_mod_fun(double *state, double *out_2454126163912067491);
+void car_H_mod_fun(double *state, double *out_6203949078932441352);
-void car_f_fun(double *state, double dt, double *out_1843607112126961388);
+void car_f_fun(double *state, double dt, double *out_343822199527135251);
-void car_F_fun(double *state, double dt, double *out_2182262497468252920);
+void car_F_fun(double *state, double dt, double *out_7416815269748566643);
-void car_h_25(double *state, double *unused, double *out_4798003278786560335);
+void car_h_25(double *state, double *unused, double *out_8641933420137717402);
-void car_H_25(double *state, double *unused, double *out_7357817989096732331);
+void car_H_25(double *state, double *unused, double *out_7339103169592445424);
-void car_h_24(double *state, double *unused, double *out_6970490004472512085);
+void car_h_24(double *state, double *unused, double *out_5501280400540853584);
-void car_H_24(double *state, double *unused, double *out_1156785309245570905);
+void car_H_24(double *state, double *unused, double *out_9067966288769759493);
-void car_h_30(double *state, double *unused, double *out_3972351172998717479);
+void car_h_30(double *state, double *unused, double *out_5706507355292462350);
-void car_H_30(double *state, double *unused, double *out_7228479041953492261);
+void car_H_30(double *state, double *unused, double *out_422412828100828669);
-void car_h_26(double *state, double *unused, double *out_1029322094662128166);
+void car_h_26(double *state, double *unused, double *out_8743293406736795035);
-void car_H_26(double *state, double *unused, double *out_3616314670222676107);
+void car_H_26(double *state, double *unused, double *out_7366137585243049968);
-void car_h_27(double *state, double *unused, double *out_9195955360068189347);
+void car_h_27(double *state, double *unused, double *out_6768024602127501529);
-void car_H_27(double *state, double *unused, double *out_5053715730153067350);
+void car_H_27(double *state, double *unused, double *out_2597176139901253580);
-void car_h_29(double *state, double *unused, double *out_9038768691717060202);
+void car_h_29(double *state, double *unused, double *out_5090891545105754924);
-void car_H_29(double *state, double *unused, double *out_3340353003283516317);
+void car_H_29(double *state, double *unused, double *out_4310538866770804613);
-void car_h_28(double *state, double *unused, double *out_4249115445980516624);
+void car_h_28(double *state, double *unused, double *out_5824514749225839094);
-void car_H_28(double *state, double *unused, double *out_5303983274848842568);
+void car_H_28(double *state, double *unused, double *out_9053806189869216429);
-void car_h_31(double *state, double *unused, double *out_5644913485036226869);
+void car_h_31(double *state, double *unused, double *out_8917127482422223291);
-void car_H_31(double *state, double *unused, double *out_7388463950973692759);
+void car_H_31(double *state, double *unused, double *out_7308457207715484996);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);

selfdrive/locationd/models/generated/pose.h

@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_6507930050433723456);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_4860250714300227404);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4828699442560272840);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6437944255548658708);
-void pose_H_mod_fun(double *state, double *out_6044345162965507958);
+void pose_H_mod_fun(double *state, double *out_22797630451996970);
-void pose_f_fun(double *state, double dt, double *out_2707422486897363634);
+void pose_f_fun(double *state, double dt, double *out_2362837524605346595);
-void pose_F_fun(double *state, double dt, double *out_2783420399776033045);
+void pose_F_fun(double *state, double dt, double *out_4166989473592392013);
-void pose_h_4(double *state, double *unused, double *out_6625322830489649201);
+void pose_h_4(double *state, double *unused, double *out_800785631088066019);
-void pose_H_4(double *state, double *unused, double *out_891826777926427223);
+void pose_H_4(double *state, double *unused, double *out_2555861026626074297);
-void pose_h_10(double *state, double *unused, double *out_495585793918053605);
+void pose_h_10(double *state, double *unused, double *out_7585285090603906809);
-void pose_H_10(double *state, double *unused, double *out_8682725662931185277);
+void pose_H_10(double *state, double *unused, double *out_6341548427213940478);
-void pose_h_13(double *state, double *unused, double *out_6437595282912769194);
+void pose_h_13(double *state, double *unused, double *out_7888682643875678910);
-void pose_H_13(double *state, double *unused, double *out_2320447047405905578);
+void pose_H_13(double *state, double *unused, double *out_5768134851958407098);
-void pose_h_14(double *state, double *unused, double *out_1731855561045144303);
+void pose_h_14(double *state, double *unused, double *out_3441729687180753414);
-void pose_H_14(double *state, double *unused, double *out_1326943304571310822);
+void pose_H_14(double *state, double *unused, double *out_4925284788653666127);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

starpilot/common/assets/device_settings_layout.json

@@ -4914,15 +4914,6 @@
         "is_parent_toggle": true,
         "settings_tier": "simple"
       },
-      {
-        "key": "GalaxyMobileDefault",
-        "label": "Try the Big Dipper Web UI",
-        "description": "Open the Big Dipper at the top-level Galaxy link instead of the classic Galaxy. The classic UI remains available at /classic and Big Dipper at /mobile regardless of this toggle.",
-        "picker_description": "Serve the Big Dipper as the default landing page.",
-        "data_type": "bool",
-        "ui_type": "toggle",
-        "settings_tier": "advanced"
-      },
       {
         "key": "AlphaLongitudinalEnabled",
         "label": "openpilot Longitudinal Control (Alpha)",

starpilot/controls/lib/speed_limit_controller.py

@@ -444,26 +444,15 @@ class SpeedLimitController:
       return
 
     current_road_name = sm["mapdOut"].roadName if desired_source == "Map Data" else ""
-    current_speed = self.target if (self.source != "None" and self.target > 0) else self.last_valid_limit
 
-    # Do not trigger alerts when shifting to fallback or when re-obtaining the same speed limit
+    if abs(desired_target - self.previous_target) >= 1 or (current_road_name != self.previous_road_name and current_road_name != ""):
-    is_fallback = desired_source == "None" or desired_target == 0
-    same_speed = desired_target > 0 and current_speed > 0 and abs(desired_target - current_speed) < 1
-
-    if not is_fallback and not same_speed and (abs(desired_target - self.previous_target) >= 1 or current_speed == 0):
       self.handle_limit_change(desired_source, desired_target, current_road_name, v_ego, sm)
+    elif desired_source != self.source and (abs(desired_target - self.target) < 1 or self.target == 0):
+      self.source = desired_source
+      self.target = desired_target
     else:
       self.speed_limit_changed_timer = 0
       self.unconfirmed_speed_limit = 0
-      if desired_source != self.source or desired_target != self.target:
-        self.source = desired_source
-        self.target = desired_target
-      if desired_source != "None" and desired_target > 0:
-        self.previous_source = desired_source
-        self.previous_target = desired_target
-      if current_road_name != self.previous_road_name and current_road_name != "":
-        self.previous_road_name = current_road_name
-        self.denied_target = 0
 
     if self.source != "None" and self.target > 0:
       self.last_valid_limit = self.target

starpilot/system/bluetooth/bluez.py

@@ -235,7 +235,7 @@ class BlueZClient:
         continue
       props = interfaces[DEVICE_IFACE]
       uuids = [str(value).lower() for value in props.get("UUIDs", [])]
-      audio, controller = device_capabilities(uuids, int(props.get("Class", 0)), str(props.get("Icon", "")))
+      audio, controller, serial = device_capabilities(uuids, int(props.get("Class", 0)), str(props.get("Icon", "")))
       device = {
         "path": path,
         "address": str(props.get("Address", "")),
@@ -248,9 +248,10 @@ class BlueZClient:
         "uuids": uuids,
         "audio": audio,
         "controller": controller,
+        "serial": serial,
       }
       if include_hidden or show_pairing_device(device["address"], device["name"], device["paired"], device["trusted"], device["connected"],
-                                               device["blocked"], audio, controller, include_discovering):
+                                               device["blocked"], audio, controller, serial, include_discovering):
         devices.append(device)
     return sorted(devices, key=lambda device: (not device["connected"], not device["paired"], -(device["rssi"] or -127), device["name"].lower()))
 

starpilot/system/bluetooth/daemon.py

@@ -9,11 +9,13 @@ from typing import Any
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.starpilot.system.bluetooth.bluez import BlueZClient
+from openpilot.starpilot.system.bluetooth.elm327 import ELM327Session
 from openpilot.starpilot.system.bluetooth.protocol import BLUETOOTH_SOCKET_PATH
 from openpilot.starpilot.system.bluetooth.radio import BluetoothRadio
 
 
-OFFROAD_COMMANDS = {"set_power", "start_scan", "stop_scan", "pair", "forget", "test_audio", "pairing_response"}
+OFFROAD_COMMANDS = {"set_power", "start_scan", "stop_scan", "pair", "forget", "test_audio", "pairing_response",
+                    "elm_open", "elm_command", "elm_read_dtcs"}
 SCAN_DURATION = 20.0
 AUDIO_TEST_START_DELAY = 3.0
 AUDIO_TEST_HOLD_TIME = 3.0
@@ -24,13 +26,15 @@ MANUAL_DISCONNECT_SUPPRESSION_SECONDS = 300.0
 
 class BluetoothController:
   def __init__(self, params: Params | None = None, bluez_factory=BlueZClient, radio: BluetoothRadio | None = None,
-               params_memory: Params | None = None, sleep=time.sleep):
+               params_memory: Params | None = None, sleep=time.sleep, elm_factory=ELM327Session):
     self.params = params or Params()
     self.params_memory = params_memory or Params(memory=True)
     self._bluez_factory = bluez_factory
+    self._elm_factory = elm_factory
     self._radio = radio or BluetoothRadio()
     self._lock = threading.RLock()
     self._bluez: BlueZClient | None = None
+    self._elm: ELM327Session | None = None
     self._pairing_address = ""
     self._pairing_error = ""
     self._last_reconnect = 0.0
@@ -46,6 +50,7 @@ class BluetoothController:
     self.params.remove("BluetoothAudioTestActive")
     self.params_memory.remove("TestAlert")
     with self._lock:
+      self._close_elm()
       if self._bluez is not None:
         self._bluez.close()
         self._bluez = None
@@ -80,6 +85,7 @@ class BluetoothController:
 
   def _reset_client(self) -> None:
     with self._lock:
+      self._close_elm()
       if self._bluez is not None:
         try:
           self._bluez.close()
@@ -87,6 +93,32 @@ class BluetoothController:
           pass
         self._bluez = None
 
+  def _close_elm(self) -> None:
+    with self._lock:
+      session = self._elm
+      self._elm = None
+      if session is None:
+        return
+      try:
+        session.close()
+      except Exception:
+        cloudlog.warning("ELM327 session close failed")
+
+  def _invalidate_elm(self, session: ELM327Session) -> None:
+    with self._lock:
+      if self._elm is not session:
+        return
+      self._close_elm()
+
+  def _active_elm(self, address: str) -> ELM327Session:
+    with self._lock:
+      session = self._elm
+      if session is None:
+        raise RuntimeError("ELM327 session is not open")
+      if str(session.address).upper() != address.upper():
+        raise RuntimeError("ELM327 session is open for another device")
+      return session
+
   def _offroad(self) -> bool:
     return self.params.get_bool("IsOffroad")
 
@@ -183,6 +215,7 @@ class BluetoothController:
               pass
             raise
         else:
+          self._close_elm()
           try:
             client = self._bluez
             if client is not None:
@@ -231,6 +264,9 @@ class BluetoothController:
           self._manual_disconnect_until.pop(normalized_address, None)
           raise
     elif command == "forget":
+      with self._lock:
+        if self._elm is not None and str(self._elm.address).upper() == address.upper():
+          self._close_elm()
       self._client().remove(address)
       self._reconnect_backoff.pop(address.upper(), None)
       self._manual_disconnect_until.pop(address.upper(), None)
@@ -258,6 +294,50 @@ class BluetoothController:
       self._audio_test_deadline = deadline
       threading.Thread(target=self._test_audio_worker, args=(address, deadline), daemon=True).start()
       return {"audio_test_delay_ms": max(0, round((deadline - time.monotonic()) * 1000))}
+    elif command == "elm_open":
+      if not address:
+        raise RuntimeError("Bluetooth device address is required")
+      if not self.params.get_bool("BluetoothEnabled"):
+        raise RuntimeError("Bluetooth is disabled")
+      with self._lock:
+        if self._elm is not None and str(self._elm.address).upper() == address.upper():
+          return {"adapter": self._elm.adapter_name}
+        device = self._client().device_for_address(address)
+        if not device.get("paired"):
+          raise RuntimeError("Pair the Bluetooth device before opening ELM327")
+        if not device.get("serial"):
+          raise RuntimeError("Bluetooth device does not advertise Serial Port Profile")
+        self._close_elm()
+        session = self._elm_factory(address)
+        try:
+          adapter = str(session.open())
+        except Exception:
+          try:
+            session.close()
+          except Exception:
+            pass
+          raise
+        session.adapter_name = adapter
+        self._elm = session
+        return {"adapter": adapter}
+    elif command == "elm_close":
+      with self._lock:
+        if self._elm is not None and str(self._elm.address).upper() == address.upper():
+          self._close_elm()
+    elif command == "elm_command":
+      session = self._active_elm(address)
+      try:
+        return {"response": session.command(str(request.get("value", "")))}
+      except Exception:
+        self._invalidate_elm(session)
+        raise
+    elif command == "elm_read_dtcs":
+      session = self._active_elm(address)
+      try:
+        return session.read_dtcs()
+      except Exception:
+        self._invalidate_elm(session)
+        raise
     elif command == "pairing_response":
       if not self._client().agent.respond(str(request.get("prompt_id", "")), bool(request.get("accepted", False)), str(request.get("value", ""))):
         raise RuntimeError("Pairing request is no longer active")
@@ -276,10 +356,14 @@ class BluetoothController:
     while True:
       time.sleep(2)
       if not self.params.get_bool("BluetoothEnabled"):
+        self._close_elm()
         continue
       try:
         status = self.status()
+        if self._elm is not None and not status["offroad"]:
+          self._close_elm()
         if not status["available"] or not status["powered"]:
+          self._close_elm()
           continue
         now = time.monotonic()
         self._maintain_scan(status, now)

starpilot/system/bluetooth/elm327.py

@@ -0,0 +1,166 @@
+from __future__ import annotations
+
+import re
+import socket
+import threading
+
+
+DEFAULT_CHANNEL = 1
+OPEN_TIMEOUT = 10.0
+DEFAULT_COMMAND_TIMEOUT = 10.0
+DTC_COMMAND_TIMEOUT = 25.0
+MAX_COMMAND_LENGTH = 256
+MAX_RESPONSE_SIZE = 64 * 1024
+RECV_SIZE = 4096
+
+
+class DTCParseError(ValueError):
+  def __init__(self, message: str, raw: str):
+    super().__init__(message)
+    self.raw = raw
+
+
+def decode_dtc(first: int, second: int) -> str:
+  prefixes = "PCBU"
+  prefix = prefixes[(first >> 6) & 0x03]
+  return f"{prefix}{(first >> 4) & 0x03:X}{first & 0x0F:X}{second >> 4:X}{second & 0x0F:X}"
+
+
+_HEX_BYTE = re.compile(r"(?i)(?<![0-9a-f])([0-9a-f]{2})(?![0-9a-f])")
+
+
+def parse_dtcs(raw: str) -> list[str]:
+  codes = []
+  seen = set()
+  for line in raw.splitlines():
+    values = [int(match, 16) for match in _HEX_BYTE.findall(line)]
+    try:
+      response_index = values.index(0x43)
+    except ValueError:
+      continue
+
+    payload = values[response_index + 1:]
+    if len(payload) % 2:
+      count = payload[0]
+      expected_length = count * 2
+      if len(payload) - 1 < expected_length:
+        raise DTCParseError(f"Mode 03 response claims {expected_length} DTC bytes, received {len(payload) - 1}", raw)
+      payload = payload[1:1 + expected_length]
+
+    for index in range(0, len(payload) - 1, 2):
+      first, second = payload[index:index + 2]
+      if first == 0 and second == 0:
+        continue
+      code = decode_dtc(first, second)
+      if code not in seen:
+        seen.add(code)
+        codes.append(code)
+  return codes
+
+
+class ELM327Session:
+  def __init__(self, address: str, channel: int = DEFAULT_CHANNEL):
+    self.address = address
+    self.channel = channel
+    self.socket: socket.socket | None = None
+    self.lock = threading.RLock()
+    self.adapter_name = ""
+
+  def _close_unlocked(self) -> None:
+    client_socket = self.socket
+    self.socket = None
+    self.adapter_name = ""
+    if client_socket is not None:
+      try:
+        client_socket.close()
+      except Exception:
+        pass
+
+  def close(self) -> None:
+    with self.lock:
+      self._close_unlocked()
+
+  def _receive_until_prompt_unlocked(self, timeout: float) -> bytes:
+    if self.socket is None:
+      raise RuntimeError("ELM327 session is not open")
+    self.socket.settimeout(timeout)
+    response = bytearray()
+    while True:
+      chunk = self.socket.recv(RECV_SIZE)
+      if not chunk:
+        raise RuntimeError("ELM327 connection closed")
+      response.extend(chunk)
+      if len(response) > MAX_RESPONSE_SIZE:
+        raise RuntimeError("ELM327 response exceeded 64 KiB")
+      if b">" in response:
+        return bytes(response)
+
+  @staticmethod
+  def _clean_response(raw: bytes, command: str) -> str:
+    response = raw.split(b">", 1)[0].decode("ascii", errors="replace")
+    response = response.replace("\r\n", "\n").replace("\r", "\n")
+    lines = response.split("\n")
+    while lines and not lines[0].strip():
+      lines.pop(0)
+    if lines and lines[0].strip() == command:
+      lines.pop(0)
+    return "\n".join(lines).strip()
+
+  def _exchange_unlocked(self, command: str, timeout: float) -> str:
+    if self.socket is None:
+      raise RuntimeError("ELM327 session is not open")
+    try:
+      self.socket.settimeout(timeout)
+      self.socket.sendall(command.encode("ascii") + b"\r")
+      return self._clean_response(self._receive_until_prompt_unlocked(timeout), command)
+    except Exception as error:
+      self._close_unlocked()
+      raise RuntimeError(f"ELM327 transport failed: {error}") from error
+
+  def open(self) -> str:
+    with self.lock:
+      if self.socket is not None:
+        return self.adapter_name
+      try:
+        self.socket = socket.socket(socket.AF_BLUETOOTH, socket.SOCK_STREAM, socket.BTPROTO_RFCOMM)
+        self.socket.settimeout(OPEN_TIMEOUT)
+        self.socket.connect((self.address, self.channel))
+        adapter_name = self._exchange_unlocked("ATI", OPEN_TIMEOUT)
+        if not adapter_name or adapter_name.strip().upper() in {"?", "ERROR", "COMMAND UNKNOWN", "UNKNOWN COMMAND", "NO DATA"}:
+          raise RuntimeError("ELM327 adapter rejected ATI")
+        self.adapter_name = adapter_name
+        for setup_command in ("ATE0", "ATL0", "ATH0"):
+          self._exchange_unlocked(setup_command, OPEN_TIMEOUT)
+        return self.adapter_name
+      except Exception as error:
+        self._close_unlocked()
+        if isinstance(error, RuntimeError) and str(error).startswith("ELM327 open failed:"):
+          raise
+        raise RuntimeError(f"ELM327 open failed: {error}") from error
+
+  def command(self, command: str, timeout: float = DEFAULT_COMMAND_TIMEOUT) -> str:
+    if not isinstance(command, str):
+      raise ValueError("ELM327 command must be text")
+    if "\r" in command or "\n" in command:
+      raise ValueError("ELM327 command cannot contain carriage returns or newlines")
+    command = command.strip()
+    if not command:
+      raise ValueError("ELM327 command cannot be empty")
+    if len(command) > MAX_COMMAND_LENGTH:
+      raise ValueError("ELM327 command is too long")
+    try:
+      command.encode("ascii")
+    except UnicodeEncodeError as error:
+      raise ValueError("ELM327 command must contain ASCII characters") from error
+    if timeout <= 0:
+      raise ValueError("ELM327 command timeout must be positive")
+
+    with self.lock:
+      return self._exchange_unlocked(command, timeout)
+
+  def read_dtcs(self) -> dict[str, str | list[str]]:
+    with self.lock:
+      for setup_command in ("ATE0", "ATL0", "ATH0", "ATSP0"):
+        self.command(setup_command)
+      raw = self.command("03", timeout=DTC_COMMAND_TIMEOUT)
+    return {"codes": parse_dtcs(raw), "raw": raw}

starpilot/system/bluetooth/protocol.py

@@ -16,6 +16,7 @@ BLUETOOTH_RADIO_HELPER = "/usr/comma/bluetooth-radio"
 A2DP_SINK_UUID = "0000110b-0000-1000-8000-00805f9b34fb"
 HID_UUID = "00001124-0000-1000-8000-00805f9b34fb"
 HOG_UUID = "00001812-0000-1000-8000-00805f9b34fb"
+SPP_UUID = "00001101-0000-1000-8000-00805f9b34fb"
 COMMAND_TIMEOUTS = {
   "set_power": 90.0,
   "start_scan": 20.0,
@@ -24,6 +25,10 @@ COMMAND_TIMEOUTS = {
   "disconnect": 20.0,
   "forget": 20.0,
   "test_audio": 10.0,
+  "elm_open": 15.0,
+  "elm_close": 5.0,
+  "elm_command": 20.0,
+  "elm_read_dtcs": 30.0,
 }
 TRUE_VALUES = {"1", "true", "yes", "on"}
 
@@ -40,6 +45,7 @@ class BluetoothDevice:
   uuids: tuple[str, ...] = ()
   audio: bool = False
   controller: bool = False
+  serial: bool = False
 
   @classmethod
   def from_dict(cls, value: dict[str, Any]) -> "BluetoothDevice":
@@ -54,6 +60,7 @@ class BluetoothDevice:
       uuids=tuple(str(uuid).lower() for uuid in value.get("uuids", ())),
       audio=bool(value.get("audio", False)),
       controller=bool(value.get("controller", False)),
+      serial=bool(value.get("serial", False)),
     )
 
 
@@ -86,21 +93,22 @@ class BluetoothStatus:
     )
 
 
-def device_capabilities(uuids: list[str] | tuple[str, ...], bluetooth_class: int = 0, icon: str = "") -> tuple[bool, bool]:
+def device_capabilities(uuids: list[str] | tuple[str, ...], bluetooth_class: int = 0, icon: str = "") -> tuple[bool, bool, bool]:
   normalized = {str(uuid).lower() for uuid in uuids}
   major_class = (int(bluetooth_class) >> 8) & 0x1F
   audio = A2DP_SINK_UUID in normalized or major_class == 0x04 or icon in {"audio-card", "audio-headphones", "audio-headset"}
   controller = HID_UUID in normalized or HOG_UUID in normalized or major_class == 0x05 or icon in {"input-gaming", "input-mouse", "input-keyboard"}
-  return audio, controller
+  serial = SPP_UUID in normalized
+  return audio, controller, serial
 
 
 def show_pairing_device(address: str, name: str, paired: bool, trusted: bool, connected: bool, blocked: bool,
-                        audio: bool, controller: bool, discovering: bool = False) -> bool:
+                        audio: bool, controller: bool, serial: bool = False, discovering: bool = False) -> bool:
   known = paired or trusted or connected
   normalized_address = "".join(character for character in address.upper() if character.isalnum())
   normalized_name = "".join(character for character in name.upper() if character.isalnum())
   named = bool(name) and name != "Unknown device" and normalized_name != normalized_address
-  return known or (named and not blocked and (audio or controller))
+  return known or (named and not blocked and (audio or controller or serial))
 
 
 class _DesktopFakeBluetooth:
@@ -304,5 +312,17 @@ class BluetoothClient:
     result = self.call("test_audio", address=address)
     return max(0.0, float(result.get("audio_test_delay_ms", 0)) / 1000.0)
 
+  def elm_open(self, address: str) -> dict[str, Any]:
+    return self.call("elm_open", address=address)
+
+  def elm_close(self, address: str) -> dict[str, Any]:
+    return self.call("elm_close", address=address)
+
+  def elm_command(self, address: str, value: str) -> dict[str, Any]:
+    return self.call("elm_command", address=address, value=value)
+
+  def elm_read_dtcs(self, address: str) -> dict[str, Any]:
+    return self.call("elm_read_dtcs", address=address)
+
   def respond(self, prompt_id: str, accepted: bool, value: str = "") -> None:
     self.call("pairing_response", prompt_id=prompt_id, accepted=accepted, value=value)

starpilot/system/bluetooth/tests/test_bluetooth.py

@@ -6,10 +6,11 @@ import numpy as np
 import pytest
 
 from openpilot.starpilot.system.bluetooth.audio import BluetoothAudioSink
+import openpilot.starpilot.system.bluetooth.daemon as bluetooth_daemon
 from openpilot.starpilot.system.bluetooth.bluez import PairingAgent
 from openpilot.starpilot.system.bluetooth.daemon import BluetoothController
 from openpilot.starpilot.system.bluetooth.protocol import (A2DP_SINK_UUID, HID_UUID, BluetoothClient, BluetoothDevice, BluetoothStatus,
-                                                           device_capabilities, show_pairing_device)
+                                                           SPP_UUID, device_capabilities, show_pairing_device)
 from openpilot.system import hardware
 from openpilot.system.ui.lib.bluetooth_manager import BluetoothManager
 
@@ -64,6 +65,7 @@ class FakeBlueZ:
       "connected": False,
       "audio": True,
       "controller": False,
+      "serial": False,
     }
 
   def close(self):
@@ -163,9 +165,38 @@ class FakeProcess:
     self.stopped = True
 
 
+class FakeELM:
+  instances = []
+
+  def __init__(self, address):
+    self.address = address
+    self.adapter_name = "Fake ELM327"
+    self.closed = False
+    self.commands = []
+    self.opened = False
+    FakeELM.instances.append(self)
+
+  def open(self):
+    self.opened = True
+    return self.adapter_name
+
+  def close(self):
+    self.closed = True
+
+  def command(self, value):
+    self.commands.append(value)
+    if value == "fail":
+      raise RuntimeError("transport failed")
+    return f"response for {value}"
+
+  def read_dtcs(self):
+    return {"codes": ["P0133"], "raw": "43 01 33"}
+
+
 def test_protocol_round_trip_and_capabilities():
-  audio, controller = device_capabilities([A2DP_SINK_UUID, HID_UUID])
+  audio, controller, serial = device_capabilities([A2DP_SINK_UUID, HID_UUID])
   assert audio and controller
+  assert not serial
   status = BluetoothStatus.from_dict({
     "available": True,
     "enabled": True,
@@ -174,12 +205,155 @@ def test_protocol_round_trip_and_capabilities():
   assert status.devices == (BluetoothDevice("00:11:22:33:44:55", "Combo", uuids=(A2DP_SINK_UUID, HID_UUID), audio=True, controller=True),)
 
 
+def test_serial_capability_round_trips_and_is_discoverable():
+  audio, controller, serial = device_capabilities([SPP_UUID.upper()])
+  assert not audio and not controller and serial
+
+  status = BluetoothStatus.from_dict({
+    "devices": [{"address": "00:11:22:33:44:55", "name": "OBDII", "serial": True}],
+  })
+  assert status.devices[0].serial
+  assert show_pairing_device("00:11:22:33:44:55", "OBDII", False, False, False, False,
+                             audio=False, controller=False, serial=True)
+
+
+def test_serial_device_is_not_auto_reconnected_but_audio_device_is(monkeypatch):
+  class StopMaintenance(Exception):
+    pass
+
+  params = FakeParams(IsOffroad=True, BluetoothEnabled=True)
+  client = FakeBlueZ()
+  client.powered = True
+  client.device.update(paired=True, trusted=True, connected=False, audio=False, controller=False, serial=True)
+  sleeps = 0
+
+  def sleep(_delay):
+    nonlocal sleeps
+    sleeps += 1
+    if sleeps > 1:
+      raise StopMaintenance
+
+  monkeypatch.setattr(bluetooth_daemon.time, "sleep", sleep)
+  controller = BluetoothController(params, lambda: client, FakeRadio(), sleep=sleep, elm_factory=FakeELM)
+  controller._bluez = client
+  controller._last_reconnect = -100.0
+  with pytest.raises(StopMaintenance):
+    controller.maintain_connections()
+  assert client.actions == []
+
+  client.device.update(audio=True, serial=False)
+  sleeps = 0
+  controller._last_reconnect = -100.0
+  with pytest.raises(StopMaintenance):
+    controller.maintain_connections()
+  assert client.actions == [("connect", client.device["address"])]
+
+
+def make_elm_controller(elm_factory=FakeELM):
+  params = FakeParams(IsOffroad=True, BluetoothEnabled=True)
+  client = FakeBlueZ()
+  client.device.update(paired=True, trusted=True, serial=True)
+  controller = BluetoothController(params, lambda: client, FakeRadio(), elm_factory=elm_factory)
+  return controller, client, params
+
+
+def test_elm_is_lazy_and_requires_a_paired_serial_device():
+  FakeELM.instances = []
+  controller, client, params = make_elm_controller()
+  assert FakeELM.instances == []
+  controller.status()
+  assert FakeELM.instances == []
+
+  result = controller.handle({"command": "elm_open", "address": client.device["address"]})
+  assert result == {"adapter": "Fake ELM327"}
+  assert len(FakeELM.instances) == 1
+
+  params.values["IsOffroad"] = False
+  with pytest.raises(RuntimeError, match="offroad"):
+    controller.handle({"command": "elm_command", "address": client.device["address"], "value": "ATI"})
+
+  params.values["IsOffroad"] = True
+  client.device["paired"] = False
+  controller.handle({"command": "elm_close", "address": client.device["address"]})
+  with pytest.raises(RuntimeError, match="Pair"):
+    controller.handle({"command": "elm_open", "address": client.device["address"]})
+
+  client.device.update(paired=True, serial=False)
+  with pytest.raises(RuntimeError, match="Serial Port Profile"):
+    controller.handle({"command": "elm_open", "address": client.device["address"]})
+
+
+def test_elm_commands_use_one_session_and_close_on_transport_failure():
+  FakeELM.instances = []
+  controller, client, _ = make_elm_controller()
+  address = client.device["address"]
+  controller.handle({"command": "elm_open", "address": address})
+  assert controller.handle({"command": "elm_open", "address": address}) == {"adapter": "Fake ELM327"}
+  assert controller.handle({"command": "elm_command", "address": address, "value": "ATI"}) == {"response": "response for ATI"}
+  assert controller.handle({"command": "elm_read_dtcs", "address": address}) == {"codes": ["P0133"], "raw": "43 01 33"}
+  with pytest.raises(RuntimeError, match="transport"):
+    controller.handle({"command": "elm_command", "address": address, "value": "fail"})
+  assert controller._elm is None
+  assert FakeELM.instances[0].closed
+
+
+def test_elm_open_replaces_a_different_session_and_close_is_allowed_onroad():
+  FakeELM.instances = []
+  controller, client, params = make_elm_controller()
+  first = client.device["address"]
+  second = "AA:BB:CC:DD:EE:FF"
+  controller.handle({"command": "elm_open", "address": first})
+  controller.handle({"command": "elm_open", "address": second})
+  assert len(FakeELM.instances) == 2
+  assert FakeELM.instances[0].closed
+  assert not FakeELM.instances[1].closed
+
+  params.values["IsOffroad"] = False
+  controller.handle({"command": "elm_close", "address": second})
+  assert FakeELM.instances[1].closed and controller._elm is None
+
+
+def test_elm_cleanup_happens_before_poweroff_forget_shutdown_and_onroad(monkeypatch):
+  class StopMaintenance(Exception):
+    pass
+
+  for cleanup in ("power", "forget", "shutdown", "onroad"):
+    FakeELM.instances = []
+    controller, client, params = make_elm_controller()
+    address = client.device["address"]
+    controller.handle({"command": "elm_open", "address": address})
+    session = FakeELM.instances[0]
+
+    if cleanup == "power":
+      controller.handle({"command": "set_power", "enabled": False})
+    elif cleanup == "forget":
+      controller.handle({"command": "forget", "address": address})
+    elif cleanup == "shutdown":
+      controller.close()
+    else:
+      params.values["IsOffroad"] = False
+      sleeps = 0
+
+      def sleep(_delay):
+        nonlocal sleeps
+        sleeps += 1
+        if sleeps > 1:
+          raise StopMaintenance
+
+      monkeypatch.setattr(bluetooth_daemon.time, "sleep", sleep)
+      controller._sleep = sleep
+      with pytest.raises(StopMaintenance):
+        controller.maintain_connections()
+
+    assert session.closed and controller._elm is None
+
+
 def test_pairing_list_filters_anonymous_and_irrelevant_advertisements():
   assert not show_pairing_device("00:11:22:33:44:55", "00:11:22:33:44:55", False, False, False, False, False, False)
   assert not show_pairing_device("00:11:22:33:44:55", "Nearby sensor", False, False, False, False, False, False)
   assert show_pairing_device("00:11:22:33:44:55", "Media Remote", False, False, False, False, False, True)
-  assert show_pairing_device("00:11:22:33:44:55", "Media Remote", False, False, False, False, False, True, True)
+  assert show_pairing_device("00:11:22:33:44:55", "Media Remote", False, False, False, False, False, True, discovering=True)
-  assert not show_pairing_device("00:11:22:33:44:55", "Nearby sensor", False, False, False, False, False, False, True)
+  assert not show_pairing_device("00:11:22:33:44:55", "Nearby sensor", False, False, False, False, False, False, discovering=True)
   assert show_pairing_device("00:11:22:33:44:55", "Known device", True, True, False, False, False, False)
 
 

starpilot/system/bluetooth/tests/test_elm327.py

@@ -0,0 +1,227 @@
+from collections import deque
+import threading
+
+import pytest
+
+from openpilot.starpilot.system.bluetooth import elm327
+
+
+ADDRESS = "00:11:22:33:44:55"
+
+
+class FakeSocket:
+  def __init__(self, responses):
+    self.responses = deque(deque(response) for response in responses)
+    self.pending = deque()
+    self.sent = []
+    self.connected_to = None
+    self.timeouts = []
+    self.closed = False
+    self.close_calls = 0
+    self.recv_error = None
+    self.send_error = None
+
+  def settimeout(self, timeout):
+    self.timeouts.append(timeout)
+
+  def connect(self, address):
+    self.connected_to = address
+
+  def sendall(self, value):
+    if self.send_error is not None:
+      raise self.send_error
+    self.sent.append(value)
+    self.pending = self.responses.popleft() if self.responses else deque()
+
+  def recv(self, _size):
+    if self.recv_error is not None:
+      raise self.recv_error
+    return self.pending.popleft() if self.pending else b""
+
+  def close(self):
+    self.close_calls += 1
+    self.closed = True
+
+
+def startup_responses(identity=b"ELM327 v1.5"):
+  return [
+    [b"ATI\r\n", identity + b"\r\n>"],
+    [b"ATE0\r\nOK\r\n>"],
+    [b"ATL0\r\nOK\r\n>"],
+    [b"ATH0\r\nOK\r\n>"],
+  ]
+
+
+def make_session(monkeypatch, responses):
+  fake = FakeSocket(responses)
+  monkeypatch.setattr(elm327.socket, "AF_BLUETOOTH", 31, raising=False)
+  monkeypatch.setattr(elm327.socket, "BTPROTO_RFCOMM", 3, raising=False)
+  monkeypatch.setattr(elm327.socket, "socket", lambda *args: fake)
+  return elm327.ELM327Session(ADDRESS), fake
+
+
+def test_open_uses_rfccomm_channel_one_and_validates_ati(monkeypatch):
+  session, fake = make_session(monkeypatch, startup_responses())
+
+  assert session.open() == "ELM327 v1.5"
+  assert fake.connected_to == (ADDRESS, 1)
+  assert fake.sent == [b"ATI\r", b"ATE0\r", b"ATL0\r", b"ATH0\r"]
+  assert session.adapter_name == "ELM327 v1.5"
+
+
+def test_open_rejects_empty_or_obviously_rejected_ati(monkeypatch):
+  for identity in (b"", b"?", b"ERROR"):
+    session, fake = make_session(monkeypatch, startup_responses(identity))
+    with pytest.raises(RuntimeError, match="ATI"):
+      session.open()
+    assert session.socket is None and fake.closed
+
+
+def test_command_removes_exact_echo_and_reads_split_prompt_response(monkeypatch):
+  responses = startup_responses() + [[b"ATR", b"V\r\n12.4V\r", b"\n>"]]
+  session, fake = make_session(monkeypatch, responses)
+  session.open()
+
+  assert session.command(" ATRV ") == "12.4V"
+  assert fake.sent[-1] == b"ATRV\r"
+
+
+def test_malformed_response_bytes_decode_with_replacement(monkeypatch):
+  responses = startup_responses() + [[b"ATI\r\n\xffOK\r\n>"]]
+  session, _ = make_session(monkeypatch, responses)
+  session.open()
+
+  assert session.command("ATI") == "�OK"
+
+
+@pytest.mark.parametrize("command", ["", "   ", "ATI\r", "ATI\n", "AT\r\nI", "A" * (elm327.MAX_COMMAND_LENGTH + 1)])
+def test_command_rejects_invalid_input(monkeypatch, command):
+  session, _ = make_session(monkeypatch, [])
+  with pytest.raises(ValueError):
+    session.command(command)
+
+
+def test_command_rejects_non_ascii_input(monkeypatch):
+  session, _ = make_session(monkeypatch, [])
+  with pytest.raises(ValueError, match="ASCII"):
+    session.command("ATé")
+
+
+def test_response_size_limit_closes_session(monkeypatch):
+  responses = startup_responses() + [[b"x" * (elm327.MAX_RESPONSE_SIZE + 1)]]
+  session, fake = make_session(monkeypatch, responses)
+  session.open()
+
+  with pytest.raises(RuntimeError, match="64 KiB"):
+    session.command("ATI")
+  assert session.socket is None and fake.closed
+
+
+@pytest.mark.parametrize("error", [TimeoutError("timed out"), OSError("disconnected")])
+def test_timeout_or_eof_closes_session(monkeypatch, error):
+  responses = startup_responses() + [[]]
+  session, fake = make_session(monkeypatch, responses)
+  session.open()
+  fake.recv_error = error if isinstance(error, TimeoutError) else None
+
+  if isinstance(error, TimeoutError):
+    with pytest.raises(RuntimeError, match="transport"):
+      session.command("ATI")
+  else:
+    with pytest.raises(RuntimeError, match="connection closed"):
+      session.command("ATI")
+  assert session.socket is None and fake.closed
+
+
+def test_send_failure_closes_session(monkeypatch):
+  responses = startup_responses() + [[b"OK>"]]
+  session, fake = make_session(monkeypatch, responses)
+  session.open()
+  fake.send_error = OSError("send failed")
+
+  with pytest.raises(RuntimeError, match="transport"):
+    session.command("ATI")
+  assert session.socket is None and fake.closed
+
+
+def test_close_is_idempotent(monkeypatch):
+  session, fake = make_session(monkeypatch, startup_responses())
+  session.open()
+  session.close()
+  session.close()
+
+  assert fake.close_calls == 1
+  assert session.socket is None
+
+
+def test_simultaneous_commands_are_serialized(monkeypatch):
+  class SerializedSocket(FakeSocket):
+    def __init__(self, responses):
+      super().__init__(responses)
+      self.command_started = threading.Event()
+      self.release_command = threading.Event()
+      self._command_sends = 0
+
+    def sendall(self, value):
+      super().sendall(value)
+      self._command_sends += 1
+      if self._command_sends == 5:
+        self.command_started.set()
+        assert self.release_command.wait(timeout=1.0)
+
+  fake = SerializedSocket(startup_responses() + [[b"VALUE1>"], [b"VALUE2>"]])
+  monkeypatch.setattr(elm327.socket, "AF_BLUETOOTH", 31, raising=False)
+  monkeypatch.setattr(elm327.socket, "BTPROTO_RFCOMM", 3, raising=False)
+  monkeypatch.setattr(elm327.socket, "socket", lambda *args: fake)
+  session = elm327.ELM327Session(ADDRESS)
+  session.open()
+
+  results = []
+  first = threading.Thread(target=lambda: results.append(session.command("ONE")))
+  second = threading.Thread(target=lambda: results.append(session.command("TWO")))
+  first.start()
+  assert fake.command_started.wait(timeout=1.0)
+  second.start()
+  assert len(fake.sent) == 5
+  fake.release_command.set()
+  first.join(timeout=1.0)
+  second.join(timeout=1.0)
+
+  assert sorted(results) == ["VALUE1", "VALUE2"]
+  assert len(fake.sent) == 6
+
+
+def test_read_dtcs_runs_known_setup_and_returns_mode_three_result(monkeypatch):
+  responses = startup_responses() + [
+    [b"OK>"], [b"OK>"], [b"OK>"], [b"OK>"],
+    [b"43 01 33 04 20 00 00>"],
+  ]
+  session, fake = make_session(monkeypatch, responses)
+  session.open()
+
+  assert session.read_dtcs() == {"codes": ["P0133", "P0420"], "raw": "43 01 33 04 20 00 00"}
+  assert fake.sent[-5:] == [b"ATE0\r", b"ATL0\r", b"ATH0\r", b"ATSP0\r", b"03\r"]
+
+
+def test_non_can_dtc_is_decoded_and_padding_ignored():
+  assert elm327.parse_dtcs("43 01 33 00 00 00 00") == ["P0133"]
+
+
+def test_can_dtc_count_byte_is_skipped():
+  assert elm327.parse_dtcs("43 02 01 33 04 20") == ["P0133", "P0420"]
+
+
+def test_no_data_returns_no_codes():
+  assert elm327.parse_dtcs("NO DATA") == []
+
+
+def test_multiple_ecu_lines_are_ordered_and_deduplicated():
+  raw = "43 01 33 00 00\n43 04 20 00 00\n43 01 33 00 00"
+  assert elm327.parse_dtcs(raw) == ["P0133", "P0420"]
+
+
+def test_malformed_can_count_raises_with_raw_response():
+  raw = "43 02 01 33"
+  with pytest.raises(elm327.DTCParseError) as error:
+    elm327.parse_dtcs(raw)
+  assert error.value.raw == raw

starpilot/system/the_galaxy/assets/components/tools/bluetooth.css

@@ -398,6 +398,116 @@
   animation-delay: 0.28s;
 }
 
+.bluetoothElmPanel {
+  background: var(--secondary-bg);
+  border: 1px solid rgba(169, 140, 229, 0.45);
+  border-radius: var(--border-radius-lg);
+  box-shadow: var(--shadow-sm);
+  padding: 18px;
+}
+
+.bluetoothElmHeader,
+.bluetoothElmActions,
+.bluetoothElmCommand > div {
+  align-items: center;
+  display: flex;
+  gap: 10px;
+}
+
+.bluetoothElmHeader {
+  justify-content: space-between;
+  gap: 18px;
+}
+
+.bluetoothElmHeader h3,
+.bluetoothElmHeader p,
+.bluetoothElmCodes p,
+.bluetoothElmResponse pre,
+.bluetoothElmCommand label {
+  margin: 0;
+}
+
+.bluetoothElmHeader p,
+.bluetoothElmCodes p {
+  color: var(--text-muted);
+  margin-top: 4px;
+}
+
+.bluetoothElmHeader strong {
+  color: #cbb2fa;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.bluetoothElmActions {
+  margin-top: 16px;
+}
+
+.bluetoothElmActions button,
+.bluetoothElmCommand button {
+  background: linear-gradient(135deg, #765bb6, #9474ce);
+  border: 0;
+  border-radius: var(--border-radius-md);
+  color: #fff;
+  cursor: pointer;
+  font-weight: 700;
+  padding: 10px 14px;
+}
+
+.bluetoothElmActions .bluetoothSecondaryButton {
+  background: var(--input-bg);
+  border: 1px solid var(--sidebar-border-color);
+  color: var(--text-color);
+}
+
+.bluetoothElmActions button:disabled,
+.bluetoothElmCommand button:disabled,
+.bluetoothElmCommand input:disabled {
+  cursor: not-allowed;
+  opacity: 0.45;
+}
+
+.bluetoothElmCodes,
+.bluetoothElmCommand,
+.bluetoothElmResponse {
+  margin-top: 16px;
+}
+
+.bluetoothElmCommand label {
+  color: var(--text-muted);
+  display: block;
+  font-size: 0.86rem;
+  margin-bottom: 6px;
+}
+
+.bluetoothElmCommand > div {
+  align-items: stretch;
+}
+
+.bluetoothElmCommand input {
+  background: var(--input-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  flex: 1;
+  font: inherit;
+  min-width: 0;
+  padding: 10px 12px;
+}
+
+.bluetoothElmResponse pre {
+  background: var(--input-bg);
+  border: 1px solid var(--sidebar-border-color);
+  border-radius: var(--border-radius-md);
+  color: var(--text-color);
+  margin-top: 6px;
+  max-height: 220px;
+  overflow: auto;
+  padding: 12px;
+  white-space: pre-wrap;
+}
+
 @keyframes bluetoothSpin {
   to { transform: rotate(360deg); }
 }

starpilot/system/the_galaxy/assets/components/tools/bluetooth.js

@@ -20,6 +20,11 @@ const state = reactive({
   prompt: null,
   audioTestAddress: "",
   audioTestLabel: "",
+  elmAddress: "",
+  elmName: "",
+  elmAdapter: "",
+  elmResponse: "",
+  elmCodes: null,
   error: "",
 })
 
@@ -46,7 +51,9 @@ function schedulePoll(delay = pollDelay()) {
   pollTimer = setTimeout(async () => {
     pollTimer = null
     try {
-      if (bluetoothPageActive() && document.visibilityState !== "hidden" && state.busy !== "power") {
+      if (state.elmAddress && (document.visibilityState === "hidden" || !bluetoothPageActive())) {
+        closeElm()
+      } else if (bluetoothPageActive() && document.visibilityState !== "hidden" && state.busy !== "power") {
         await refresh()
       }
     } finally {
@@ -97,8 +104,10 @@ async function request(operation, body = {}) {
     }
     state.error = ""
     await refresh()
+    return payload
   } catch (error) {
     state.error = error?.message || "Bluetooth operation failed"
+    return null
   } finally {
     state.busy = ""
     if (operation === "power") state.powerTarget = null
@@ -106,6 +115,54 @@ async function request(operation, body = {}) {
   }
 }
 
+function clearElmState() {
+  state.elmAddress = ""
+  state.elmName = ""
+  state.elmAdapter = ""
+  state.elmResponse = ""
+  state.elmCodes = null
+}
+
+function closeElm() {
+  const address = state.elmAddress
+  if (!address) return
+  clearElmState()
+  request("elm_close", { address })
+}
+
+async function openElm(address) {
+  const device = state.devices.find((item) => normalizedAddress(item) === String(address || "").toUpperCase())
+  const payload = await request("elm_open", { address })
+  if (!payload || !device) return
+  state.elmAddress = address
+  state.elmName = device.name || address
+  state.elmAdapter = String(payload.adapter || "")
+  state.elmResponse = ""
+  state.elmCodes = null
+}
+
+async function readElmCodes() {
+  const address = state.elmAddress
+  if (!address) return
+  const payload = await request("elm_read_dtcs", { address })
+  if (!payload || state.elmAddress !== address) return
+  state.elmCodes = Array.isArray(payload.codes) ? payload.codes.map(String) : []
+  state.elmResponse = String(payload.raw || "")
+}
+
+async function sendElmCommand() {
+  const address = state.elmAddress
+  const input = document.getElementById("bluetoothElmCommand")
+  const command = input?.value.trim() || ""
+  if (!address || !command) {
+    state.error = "Enter an ELM327 command."
+    return
+  }
+  const payload = await request("elm_command", { address, value: command })
+  if (!payload || state.elmAddress !== address) return
+  state.elmResponse = `${command}\n${String(payload.response || "")}`.trim()
+}
+
 async function refreshOnce() {
   const statusUrl = `${galaxyPath("/api/bluetooth/status")}?_=${Date.now()}`
   const response = await fetch(statusUrl, { cache: "no-store" })
@@ -126,6 +183,10 @@ async function refreshOnce() {
     devices,
   })
   state.devices = devices
+  if (state.elmAddress && (!state.enabled || !state.offroad ||
+      !devices.some((device) => normalizedAddress(device) === state.elmAddress.toUpperCase() && device.paired))) {
+    closeElm()
+  }
   if (state.deviceSignature !== deviceSignature) {
     state.deviceSignature = deviceSignature
     state.revision++
@@ -223,7 +284,11 @@ function initialize() {
   window.addEventListener("focus", refresh)
   window.addEventListener("pageshow", refresh)
   document.addEventListener("visibilitychange", () => {
-    if (document.visibilityState !== "hidden" && bluetoothPageActive()) refresh()
+    if (document.visibilityState === "hidden" || !bluetoothPageActive()) {
+      closeElm()
+    } else {
+      refresh()
+    }
   })
   refresh()
   schedulePoll(0)
@@ -248,6 +313,7 @@ function deviceCapabilities(device) {
   const capabilities = []
   if (device.audio) capabilities.push("Audio")
   if (device.controller) capabilities.push("Controller")
+  if (device.serial) capabilities.push("Serial")
   return capabilities.join(" · ") || "Bluetooth device"
 }
 
@@ -353,7 +419,14 @@ function renderDeviceActions(device) {
     actions.push("<button data-bluetooth-operation=\"pair\" data-address=\"" + address + "\"" +
       renderDisabledAttribute(!state.offroad || !!state.busy || pairing) + ">" + (pairing ? "Pairing…" : "Pair") + "</button>")
   }
-  if (device.paired || device.connected) {
+  if (device.paired && device.serial) {
+    actions.push("<button data-bluetooth-operation=\"elm_open\" data-address=\"" + address + "\"" +
+      renderDisabledAttribute(!state.offroad || !!state.busy) + ">ELM327</button>")
+    actions.push("<button class=\"bluetoothIconButton bluetoothForgetButton\" data-bluetooth-operation=\"forget\" data-address=\"" +
+      address + "\" data-device-name=\"" + name + "\" title=\"Forget device\" aria-label=\"Forget " + name + "\"" +
+      renderDisabledAttribute(!state.offroad || !!state.busy) + "><i class=\"bi bi-trash3\" aria-hidden=\"true\"></i></button>")
+  }
+  if ((device.paired || device.connected) && !device.serial) {
     const operation = device.connected ? "disconnect" : "connect"
     actions.push("<button data-bluetooth-operation=\"" + operation + "\" data-address=\"" + address + "\"" +
       renderDisabledAttribute(!!state.busy) + ">" + (device.connected ? "Disconnect" : "Connect") + "</button>")
@@ -407,7 +480,48 @@ function handleDeviceListClick(event) {
   const operation = button.dataset.bluetoothOperation
   const address = button.dataset.address || ""
   if (operation === "forget" && !window.confirm("Forget " + (button.dataset.deviceName || "this device") + "?")) return
-  request(operation, { address })
+  if (operation === "elm_open") {
+    openElm(address)
+  } else {
+    request(operation, { address })
+  }
+}
+
+function renderElmPanel() {
+  if (!state.elmAddress) return ""
+  return html`
+    <section class="bluetoothElmPanel">
+      <div class="bluetoothElmHeader">
+        <div>
+          <h3>ELM327</h3>
+          <p>${() => state.elmName || state.elmAddress}</p>
+        </div>
+        <strong>${() => state.elmAdapter || "Connecting…"}</strong>
+      </div>
+      <div class="bluetoothElmActions">
+        <button disabled="${() => !state.offroad || !!state.busy}" @click="${readElmCodes}">Read Codes</button>
+        <button class="bluetoothSecondaryButton" disabled="${() => !!state.busy}" @click="${closeElm}">Close</button>
+      </div>
+      ${() => state.elmCodes !== null ? html`
+        <div class="bluetoothElmCodes">
+          <strong>Stored Codes</strong>
+          <p>${() => state.elmCodes.length ? state.elmCodes.join(" · ") : "No stored codes reported."}</p>
+        </div>
+      ` : ""}
+      <div class="bluetoothElmCommand">
+        <label for="bluetoothElmCommand">Command</label>
+        <div>
+          <input id="bluetoothElmCommand" type="text" autocomplete="off" placeholder="ATI"
+                 disabled="${() => !state.offroad || !!state.busy}" />
+          <button disabled="${() => !state.offroad || !!state.busy}" @click="${sendElmCommand}">Send</button>
+        </div>
+      </div>
+      <div class="bluetoothElmResponse">
+        <strong>Response</strong>
+        <pre>${() => state.elmResponse || "—"}</pre>
+      </div>
+    </section>
+  `
 }
 
 export function Bluetooth() {
@@ -440,6 +554,7 @@ export function Bluetooth() {
           <span>The test sound is sent at NOW. The audible gap is Bluetooth latency.</span>
         </div>
       ` : ""}
+      ${() => renderElmPanel()}
 
       <div class="bluetoothToolbar">
         <button disabled="${() => !state.offroad || !state.enabled || !!state.busy}"

starpilot/system/the_galaxy/assets/mobile/css/material.css

@@ -342,10 +342,6 @@ ul { list-style: none; margin: 0; padding: 0; }
 .gx-appbar__back:active { transform: scale(0.92); }
 
 .gx-appbar__title {
-  background: linear-gradient(135deg, #8b6cc5 0%, #5ec8c8 55%, #d4789c 100%);
-  -webkit-background-clip: text;
-  background-clip: text;
-  -webkit-text-fill-color: transparent;
   font-size: var(--fs-lg);
   font-weight: var(--fw-bold);
   white-space: nowrap;

starpilot/system/the_galaxy/assets/mobile/index.html

@@ -7,7 +7,7 @@
   <meta name="mobile-web-app-capable" content="yes">
   <meta name="apple-mobile-web-app-capable" content="yes">
   <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
-  <meta name="apple-mobile-web-app-title" content="Big Dipper">
+  <meta name="apple-mobile-web-app-title" content="Galaxy">
   <meta name="format-detection" content="telephone=no">
   <meta name="theme-color" content="#8b6cc5" />
   <link rel="manifest" href="/assets/mobile/manifest.json" crossorigin="use-credentials">
@@ -26,7 +26,7 @@
     }
   </script>
 
-  <title>Big Dipper</title>
+  <title>Galaxy</title>
 </head>
 
 <body>

starpilot/system/the_galaxy/assets/mobile/js/api.js

@@ -105,38 +105,11 @@ export const api = {
   deleteAllRoutes(includePreserved) { return request(`/api/routes/delete_all?include_preserved=${includePreserved}`, { method: "DELETE" }) },
   getRouteLogs(name) { return request(`/api/routes/${encodeURIComponent(name)}/logs`) },
 
-  async screenRecordingsStream({ onProgress, onRecordings, signal } = {}) {
+  getScreenRecordings() { return request("/api/screen_recordings/list") },
-    const res = await fetch("/api/screen_recordings/list", { signal })
-    if (!res.ok || !res.body) throw new Error(`Screen recordings request failed (${res.status})`)
-    const reader = res.body.getReader()
-    const decoder = new TextDecoder()
-    let buffer = ""
-    while (true) {
-      const { value, done } = await reader.read()
-      if (done) break
-      buffer += decoder.decode(value, { stream: true })
-      const events = buffer.split(/\r?\n\r?\n/)
-      buffer = events.pop() || ""
-      for (const event of events) {
-        const lines = event.split(/\r?\n/).filter((l) => l.startsWith("data:"))
-        if (!lines.length) continue
-        try {
-          const payload = JSON.parse(lines.map((l) => l.slice(5).trimStart()).join("\n"))
-          if (Number.isFinite(payload.progress)) onProgress?.(payload.progress)
-          onRecordings?.(Array.isArray(payload.recordings) ? payload.recordings : [])
-        } catch (e) {  }
-      }
-    }
-  },
-  screenRecordingVideoUrl(filename) { return `/api/screen_recordings/download/${encodeURIComponent(filename)}` },
   deleteScreenRecording(filename) { return request(`/api/screen_recordings/delete/${encodeURIComponent(filename)}`, { method: "DELETE" }) },
   deleteAllScreenRecordings() { return request("/api/screen_recordings/delete_all", { method: "DELETE" }) },
   renameScreenRecording(oldName, newName) { return request("/api/screen_recordings/rename", { method: "POST", data: { old: oldName, new: newName } }) },
 
-  getModelLab() { return request("/api/model-laboratory", { cache: "no-store" }) },
-  saveModelLab(config) { return request("/api/model-laboratory", { method: "PUT", data: config }) },
-  prepareModelLabArtifact(model) { return request("/api/model-laboratory/download", { method: "POST", data: { model } }) },
-
   getErrorLogs() { return request("/api/error_logs", { headers: { Accept: "application/json" } }) },
   getErrorLog(filename) { return fetch(`/api/error_logs/${encodeURIComponent(filename)}`).then((r) => r.text()) },
   deleteErrorLog(filename) { return delOk(`/api/error_logs/${encodeURIComponent(filename)}`) },

starpilot/system/the_galaxy/assets/mobile/js/app.js

@@ -18,7 +18,6 @@ import { ModelManager } from "./views/ModelManager.js"
 import { Plots } from "./views/Plots.js"
 import { TestingGround } from "./views/TestingGround.js"
 import { ThemeMaker } from "./views/ThemeMaker.js"
-import { ModelLaboratory } from "./views/ModelLaboratory.js"
 import { Cameras } from "./views/Cameras.js"
 import { store, initRouter, navigate } from "./store.js"
 import { showSnackbar } from "./api.js"
@@ -53,7 +52,6 @@ const VIEWS = {
   "/plots": Plots,
   "/testing_ground": TestingGround,
   "/theme_maker": ThemeMaker,
-  "/model_laboratory": ModelLaboratory,
   "/cameras": Cameras,
 }
 

starpilot/system/the_galaxy/assets/mobile/js/components/AppShell.js

@@ -102,7 +102,7 @@ export const AppShell = {
           <button type="button" class="gx-icon-btn gx-menu-btn" aria-label="Menu" @click="store.drawerOpen = true">
             <i class="bi bi-list"></i>
           </button>
-          <span class="gx-appbar__title">Big Dipper</span>
+          <span class="gx-appbar__title">Galaxy</span>
           <div class="gx-searchwrap">
             <input ref="searchInput" class="gx-search gx-appbar__search" type="search" placeholder="Search toggles..."
               v-model="search" aria-label="Search toggles" />
@@ -128,8 +128,8 @@ export const AppShell = {
       </transition>
       <aside class="gx-drawer" :class="{ open: store.drawerOpen }">
         <div class="gx-drawer__header">
-          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Big Dipper logo" />
+          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
-          <span class="gx-drawer-title">Big Dipper</span>
+          <span class="gx-drawer-title">Galaxy</span>
         </div>
         <div class="gx-nav-section">
           <div class="gx-nav-section__title">Main</div>