OBD

common/params_keys.h

@@ -676,7 +676,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"SubaruAvhOnAtStartup", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},

docs/CARS.md

@@ -76,7 +76,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 2019">Buy Here</a></sub></details>|||
 |Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt ASCM Harness 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
-|Chevrolet|Volt No-ACC 2016-18 (OBD Harness)|Redneck ACC|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2016-18 (OBD Harness)">Buy Here</a></sub></details>|||
+|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2016-18 (OBD-C / L&P Harness)">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||

modelgrab

@@ -1,5 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
-exec python3 "$DIR/scripts/model_release.py" "$@"

opendbc_repo/docs/CARS.md

@@ -85,7 +85,7 @@
 |Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
 |Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|[Upstream](#upstream)|
-|Chevrolet|Volt No-ACC 2016-18 (OBD Harness)|Redneck ACC|[Upstream](#upstream)|
+|Chevrolet|Volt No-ACC 2016-18 (OBD-C / L&P Harness)|Redneck ACC|[Upstream](#upstream)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|

opendbc_repo/opendbc/car/gm/values.py

@@ -248,7 +248,7 @@ class CAR(Platforms):
     dbc_dict=CHEVROLET_VOLT.dbc_dict,
   )
   CHEVROLET_VOLT_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt No-ACC 2016-18 (OBD Harness)", "Redneck ACC", min_enable_speed=0)],
+    [GMCarDocs("Chevrolet Volt No-ACC 2016-18 (OBD-C / L&P Harness)", "Redneck ACC", min_enable_speed=0)],
     CHEVROLET_VOLT.specs,
     dbc_dict=CHEVROLET_VOLT.dbc_dict,
   )

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

@@ -128,20 +128,6 @@ def get_test_toggles() -> SimpleNamespace:
 
 
 class TestHyundaiFingerprint:
-  def test_carnival_hev_low_speed_torque_rate_limits(self):
-    CP = CarInterface.get_params(CAR.KIA_CARNIVAL_HEV_4TH_GEN, gen_empty_fingerprint(), [],
-                                 False, False, False, None)
-    carnival_2025_cp = CarInterface.get_params(CAR.KIA_CARNIVAL_2025, gen_empty_fingerprint(), [],
-                                                False, False, False, None)
-
-    low_speed = CarControllerParams(CP, 10.0)
-    high_speed = CarControllerParams(CP, 20.0)
-    carnival_2025_low_speed = CarControllerParams(carnival_2025_cp, 10.0)
-
-    assert (low_speed.STEER_DELTA_UP, low_speed.STEER_DELTA_DOWN) == (2, 3)
-    assert (high_speed.STEER_DELTA_UP, high_speed.STEER_DELTA_DOWN) == (2, 3)
-    assert (carnival_2025_low_speed.STEER_DELTA_UP, carnival_2025_low_speed.STEER_DELTA_DOWN) == (10, 8)
-
   @pytest.mark.parametrize("candidate", (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN))
   def test_carnival_uses_clean_canfd_lfa_status(self, candidate):
     assert not preserve_stock_canfd_lfa_status(candidate)

opendbc_repo/opendbc/car/hyundai/values.py

@@ -45,12 +45,8 @@ class CarControllerParams:
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 100
       if vEgoRaw < 15.0:  # below ~34 mph - more aggressive for tight turns
-        if CP.carFingerprint == CAR.KIA_CARNIVAL_HEV_4TH_GEN:
+        self.STEER_DELTA_UP = 10
-          self.STEER_DELTA_UP = 2
+        self.STEER_DELTA_DOWN = 8
-          self.STEER_DELTA_DOWN = 3
-        else:
-          self.STEER_DELTA_UP = 10
-          self.STEER_DELTA_DOWN = 8
       else:
         self.STEER_DELTA_UP = 2
         self.STEER_DELTA_DOWN = 3

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -4,7 +4,7 @@ from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_std_steer_angle_limits, apply_steer_angle_limits_vm, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, SUBARU_AVH_CARS, SUBARU_STOP_START_CARS, CanBus, CarControllerParams, SubaruFlags
+from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, CanBus, CarControllerParams, SubaruFlags
 from opendbc.car.vehicle_model import VehicleModel
 
 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
@@ -37,10 +37,6 @@ _STOP_START_STARTUP_DELAY_FRAMES = 100
 _STOP_START_STARTUP_DEADLINE_FRAMES = 1000
 _STOP_START_PULSE_FRAMES = 30
 _STOP_START_PULSE_PERIOD_FRAMES = 5
-_AVH_STARTUP_DELAY_FRAMES = _STOP_START_STARTUP_DELAY_FRAMES
-_AVH_STARTUP_DEADLINE_FRAMES = _STOP_START_STARTUP_DEADLINE_FRAMES
-_AVH_PULSE_FRAMES = _STOP_START_PULSE_FRAMES
-_AVH_PULSE_PERIOD_FRAMES = _STOP_START_PULSE_PERIOD_FRAMES
 
 
 def get_safety_CP():
@@ -91,10 +87,6 @@ class CarController(CarControllerBase):
     self.stop_start_initial_state = None
     self.stop_start_counter = 0
     self.stop_start_acknowledged = False
-    self.avh_attempted = False
-    self.avh_request_started = False
-    self.avh_request_frame = 0
-    self.avh_counter = 0
 
   def _stop_start_off_request(self, CC, CS, starpilot_toggles):
     """Send one bounded Subaru Stop/Start OFF request after ignition.
@@ -151,55 +143,6 @@ class CarController(CarControllerBase):
     self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
     return msg
 
-  def _avh_on_request(self, CC, CS, starpilot_toggles):
-    """Send one bounded Subaru AVH ON request after ignition.
-
-    The AVH button frame was identified on the 2025 Legacy only. Keep this
-    independent from Stop/Start so the existing Outback request is unchanged.
-    """
-    if self.CP.carFingerprint not in SUBARU_AVH_CARS or \
-       not getattr(starpilot_toggles, "subaru_avh_on", False) or self.avh_attempted:
-      return None
-
-    if self.frame > _AVH_STARTUP_DEADLINE_FRAMES or getattr(CC, "enabled", False):
-      self.avh_attempted = True
-      return None
-
-    if self.frame < _AVH_STARTUP_DELAY_FRAMES or not getattr(getattr(CS, "out", None), "canValid", True):
-      return None
-
-    out = CS.out
-    if not getattr(out, "standstill", False) or out.gearShifter not in (
-      structs.CarState.GearShifter.park,
-      structs.CarState.GearShifter.neutral,
-    ):
-      return None
-
-    avh_msg = getattr(CS, "avh_msg", None)
-    avh_dat = getattr(CS, "avh_dat", None)
-    if not avh_msg or not avh_dat:
-      return None
-
-    if not self.avh_request_started:
-      self.avh_request_started = True
-      self.avh_request_frame = self.frame
-      self.avh_counter = (int(avh_msg.get("COUNTER", 0)) + 1) % 0x10
-
-    elapsed = self.frame - self.avh_request_frame
-    if elapsed >= _AVH_PULSE_FRAMES:
-      self.avh_attempted = True
-      return None
-
-    if elapsed % _AVH_PULSE_PERIOD_FRAMES != 0:
-      return None
-
-    msg = subarucan.create_avh_control(
-      self.packer, avh_msg, raw_dat=avh_dat,
-      counter=self.avh_counter, bus=CanBus.alt_for_cp(self.CP),
-    )
-    self.avh_counter = (self.avh_counter + 1) % 0x10
-    return msg
-
   def _reset_legacy_2025_handoff(self):
     self.driver_override = False
     self.angle_override_confirm_frames = 0
@@ -473,10 +416,6 @@ class CarController(CarControllerBase):
     if stop_start_msg is not None:
       can_sends.append(stop_start_msg)
 
-    avh_msg = self._avh_on_request(CC, CS, starpilot_toggles)
-    if avh_msg is not None:
-      can_sends.append(avh_msg)
-
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
       if self.CP.flags & SubaruFlags.LKAS_ANGLE:

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.subaru.values import DBC, CanBus, SUBARU_AVH_CARS, SUBARU_STOP_START_CARS, SubaruFlags
+from opendbc.car.subaru.values import DBC, CanBus, SUBARU_STOP_START_CARS, SubaruFlags
 from opendbc.car import CanSignalRateCalculator
 
 
@@ -18,8 +18,6 @@ class CarState(CarStateBase):
     self.dashlights_msg = {}
     self.dashlights_dat = b""
     self.stop_start_state = 0
-    self.avh_msg = {}
-    self.avh_dat = b""
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -35,11 +33,6 @@ class CarState(CarStateBase):
       self.dashlights_dat = stop_start_cp.vl_raw["Dashlights"]
       self.stop_start_state = stop_start_cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
 
-    if self.CP.carFingerprint in SUBARU_AVH_CARS:
-      avh_cp = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
-      self.avh_msg = copy.copy(avh_cp.vl["AVH"])
-      self.avh_dat = avh_cp.vl_raw["AVH"]
-
     throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
     ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
     if self.CP.flags & SubaruFlags.PREGLOBAL:
@@ -163,11 +156,10 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parsers(CP):
-    avh_messages = [("AVH", 0)] if CP.carFingerprint in SUBARU_AVH_CARS else []
     parsers = {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main_for_cp(CP)),
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.camera),
-      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], avh_messages, CanBus.alt_for_cp(CP))
+      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.alt_for_cp(CP))
     }
     if CP.flags & SubaruFlags.D_PLATFORM:
       parsers[Bus.main] = CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main)

opendbc_repo/opendbc/car/subaru/interface.py

@@ -3,7 +3,7 @@ from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.subaru.carcontroller import CarController
 from opendbc.car.subaru.carstate import CarState
-from opendbc.car.subaru.values import CAR, CanBus, GLOBAL_ES_ADDR, SUBARU_AVH_CARS, SUBARU_STOP_START_CARS, SubaruFlags, SubaruSafetyFlags
+from opendbc.car.subaru.values import CAR, CanBus, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, SubaruFlags, SubaruSafetyFlags
 
 
 class CarInterface(CarInterfaceBase):
@@ -42,8 +42,6 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
       if candidate in SUBARU_STOP_START_CARS:
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
-      if candidate in SUBARU_AVH_CARS:
-        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.AVH_BUTTON.value
       if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
 

opendbc_repo/opendbc/car/subaru/subarucan.py

@@ -208,31 +208,6 @@ def create_stop_start_control(packer, dashlights_msg, raw_dat=None, counter=None
   return packer.make_can_msg("Dashlights", bus, values)
 
 
-def create_avh_control(packer, avh_msg, raw_dat=None, counter=None, bus=CanBus.alt):
-  """Create the supported Subaru Legacy AVH ON request.
-
-  AVH is carried in the live 0x32b frame. Preserve the other bytes and update
-  only the rolling counter, AVH bit, and Subaru additive checksum.
-  """
-  if raw_dat:
-    dat = bytearray(raw_dat)
-    if len(dat) != 8:
-      raise ValueError(f"AVH frame must be 8 bytes, got {len(dat)}")
-    if counter is None:
-      counter = (int(avh_msg.get("COUNTER", 0)) + 1) % 0x10
-    dat[1] = (dat[1] & 0xF0) | (counter % 0x10)
-    dat[5] |= 0x20  # AVH, big-endian bit 45
-    dat[0] = ((0x32B & 0xFF) + ((0x32B >> 8) & 0xFF) + sum(dat[1:])) & 0xFF
-    return 0x32B, bytes(dat), bus
-
-  values = dict(avh_msg)
-  if counter is None:
-    counter = (int(values.get("COUNTER", 0)) + 1) % 0x10
-  values["COUNTER"] = counter % 0x10
-  values["AVH"] = 1
-  return packer.make_can_msg("AVH", bus, values)
-
-
 def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value, bus=CanBus.main):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -194,7 +194,6 @@ def test_outback_2023_uses_d_platform_bus_layout():
   assert CP.flags & SubaruFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
-  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.AVH_BUTTON)
   assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
   assert CanBus.main_for_cp(CP) == CanBus.alt
   assert CanBus.angle_for_cp(CP) == CanBus.main
@@ -225,21 +224,6 @@ def test_stop_start_inputs_are_captured_for_supported_models(platform):
   assert car_state.stop_start_state == 3
 
 
-def test_avh_inputs_are_captured_for_legacy_2025():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
-  car_state = CarState(CP, None)
-  parsers = car_state.get_can_parsers(CP)
-  raw_avh = bytes.fromhex("230f1c4208800000")
-  parsers[Bus.alt].vl["AVH"]["COUNTER"] = 15
-  parsers[Bus.alt].vl["AVH"]["AVH"] = 0
-  parsers[Bus.alt].vl_raw["AVH"] = raw_avh
-
-  car_state.update(parsers, SimpleNamespace(subaru_sng=False))
-
-  assert car_state.avh_msg["COUNTER"] == 15
-  assert car_state.avh_dat == raw_avh
-
-
 @pytest.mark.parametrize("platform, expected_bus, start_frame", [
   (CAR.SUBARU_OUTBACK_2023, CanBus.alt, 101),
   (CAR.SUBARU_LEGACY_2025, CanBus.alt, 401),
@@ -292,51 +276,6 @@ def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expect
   assert controller.stop_start_acknowledged
 
 
-def test_avh_request_sets_observed_bit_and_is_bounded():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
-  controller = CarController({}, CP)
-  controller.frame = 101
-
-  class TestActuators:
-    steeringAngleDeg = 0.0
-
-    def as_builder(self):
-      return SimpleNamespace(steeringAngleDeg=self.steeringAngleDeg)
-
-  CC = SimpleNamespace(
-    enabled=False,
-    latActive=False,
-    longActive=False,
-    actuators=TestActuators(),
-    hudControl=SimpleNamespace(leadVisible=False),
-    cruiseControl=SimpleNamespace(cancel=False),
-  )
-  CS = SimpleNamespace(
-    canValid=True,
-    avh_msg={"COUNTER": 15, "AVH": 0},
-    avh_dat=bytes.fromhex("230f1c4208800000"),
-    out=SimpleNamespace(
-      standstill=True,
-      gearShifter=structs.CarState.GearShifter.park,
-    ),
-  )
-  toggles = SimpleNamespace(subaru_stop_start_off=False, subaru_avh_on=True, subaru_sng=False)
-
-  _, can_sends = controller.update(CC, CS, 0, toggles)
-  avh_msgs = [msg for msg in can_sends if msg[0] == 0x32b]
-  assert avh_msgs == [(0x32b, bytes.fromhex("34001c4208a00000"), CanBus.alt)]
-
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("AVH", 0)], CanBus.alt)
-  parser.update([(CanBus.alt, avh_msgs)])
-  assert parser.vl["AVH"]["AVH"] == 1
-  assert parser.vl["AVH"]["COUNTER"] == 0
-
-  controller.frame = 131
-  _, can_sends = controller.update(CC, CS, 0, toggles)
-  assert not any(msg[0] == 0x32b for msg in can_sends)
-  assert controller.avh_attempted
-
-
 def test_legacy_2025_uses_gen2_angle_bus_layout():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
   parsers = CarState.get_can_parsers(CP)
@@ -348,7 +287,6 @@ def test_legacy_2025_uses_gen2_angle_bus_layout():
   assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM_CAMERA)
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
   assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
-  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.AVH_BUTTON
   assert CanBus.main_for_cp(CP) == CanBus.main
   assert CanBus.angle_for_cp(CP) == CanBus.main
   assert parsers[Bus.pt].bus == CanBus.main

opendbc_repo/opendbc/car/subaru/values.py

@@ -89,7 +89,6 @@ class SubaruSafetyFlags(IntFlag):
   D_PLATFORM_CAMERA = 64
   FIXED_ANGLE_LIMITS = 128
   STOP_START_BUTTON = 256
-  AVH_BUTTON = 512
   LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS
 
 
@@ -276,10 +275,6 @@ SUBARU_STOP_START_CARS = (
   CAR.SUBARU_LEGACY_2025,
 )
 
-SUBARU_AVH_CARS = (
-  CAR.SUBARU_LEGACY_2025,
-)
-
 
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)

opendbc_repo/opendbc/car/volvo/carstate.py

@@ -10,8 +10,6 @@ TransmissionType = structs.CarParams.TransmissionType
 # main-bus SPEED (0x60) is raw counts in the DBC; measured against GPS ground speed.
 # Must match VOLVO_SPEED_TO_MS in opendbc/safety/modes/volvo.h.
 SPEED_TO_MS = 0.003977
-STEERING_PRESSED_THRESHOLD = 2
-STEERING_DISENGAGE_THRESHOLD = 5
 
 
 class CarState(CarStateBase):
@@ -77,9 +75,7 @@ class CarState(CarStateBase):
 
     # Driver steering torque feedback (used for driver override detection)
     ret.steeringTorque = -cp_party.vl['DRIVER_INPUT']['STEERING_DRIVER_INPUT']  # Car right turn is negative, openpilot right turn is positive
-    driver_input = abs(cp_party.vl['DRIVER_INPUT']['STEERING_DRIVER_INPUT'])
+    ret.steeringPressed = abs(cp_party.vl['DRIVER_INPUT']['STEERING_DRIVER_INPUT']) > 2
-    ret.steeringPressed = driver_input > STEERING_PRESSED_THRESHOLD
-    ret.steeringDisengage = driver_input > STEERING_DISENGAGE_THRESHOLD
 
     # EPS status - placeholder until actual signal is found
     self.eps_active = True  # Assume EPS is active for now

opendbc_repo/opendbc/dbc/generator/subaru/subaru_global_2017.dbc

@@ -1,10 +1,5 @@
 CM_ "IMPORT _subaru_global.dbc";
 
-BO_ 811 AVH: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ AVH : 45|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 72 Transmission: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/dbc/subaru_global_2017_generated.dbc

@@ -307,11 +307,6 @@ VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB
 
 CM_ "subaru_global_2017.dbc starts here";
 
-BO_ 811 AVH: 8 XXX
- SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
- SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX
- SG_ AVH : 45|1@0+ (1,0) [0|1] "" XXX
-
 BO_ 72 Transmission: 8 XXX
  SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX

opendbc_repo/opendbc/safety/modes/subaru.h

@@ -42,7 +42,6 @@
 #define MSG_SUBARU_ES_STATIC_1           0x22aU
 #define MSG_SUBARU_ES_STATIC_2           0x325U
 #define MSG_SUBARU_Dashlights            0x390U
-#define MSG_SUBARU_AVH                  0x32bU
 
 #define SUBARU_MAIN_BUS 0U
 #define SUBARU_ALT_BUS  1U
@@ -66,13 +65,6 @@
 #define SUBARU_STOP_START_TX_MSGS(bus) \
   {MSG_SUBARU_Dashlights, bus, 8, .check_relay = false}, \
 
-#define SUBARU_AVH_TX_MSGS(bus) \
-  {MSG_SUBARU_AVH, bus, 8, .check_relay = false}, \
-
-#define SUBARU_STOP_START_AVH_TX_MSGS(bus) \
-  SUBARU_STOP_START_TX_MSGS(bus) \
-  SUBARU_AVH_TX_MSGS(bus)
-
 #define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \
   {MSG_SUBARU_ES_Distance,       alt_bus,         8, .check_relay = true}, \
   {MSG_SUBARU_ES_Brake,          alt_bus,         8, .check_relay = true}, \
@@ -121,7 +113,6 @@ static bool subaru_lkas_angle = false;
 static bool subaru_d_platform = false;
 static bool subaru_fixed_angle_limits = false;
 static bool subaru_stop_start_button = false;
-static bool subaru_avh_button = false;
 
 static uint32_t subaru_get_checksum(const CANPacket_t *msg) {
   return (uint8_t)msg->data[0];
@@ -306,13 +297,6 @@ static bool subaru_tx_hook(const CANPacket_t *msg) {
     violation |= subaru_get_checksum(msg) != subaru_compute_checksum(msg);
   }
 
-  if (msg->addr == MSG_SUBARU_AVH) {
-    violation |= !subaru_avh_button;
-    violation |= msg->bus != (subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS);
-    violation |= !GET_BIT(msg, 45U);
-    violation |= subaru_get_checksum(msg) != subaru_compute_checksum(msg);
-  }
-
   if (violation){
     tx = false;
   }
@@ -363,12 +347,6 @@ static safety_config subaru_init(uint16_t param) {
     SUBARU_STOP_START_TX_MSGS(SUBARU_ALT_BUS)
   };
 
-  static const CanMsg SUBARU_GEN2_LKAS_ANGLE_STOP_START_AVH_TX_MSGS[] = {
-    SUBARU_BASE_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS_ANGLE)
-    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
-    SUBARU_STOP_START_AVH_TX_MSGS(SUBARU_ALT_BUS)
-  };
-
   static const CanMsg SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS[] = {
     SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_MAIN_BUS)
     SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
@@ -380,12 +358,6 @@ static safety_config subaru_init(uint16_t param) {
     SUBARU_STOP_START_TX_MSGS(SUBARU_ALT_BUS)
   };
 
-  static const CanMsg SUBARU_D_PLATFORM_ANGLE_STOP_START_AVH_MAIN_TX_MSGS[] = {
-    SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_MAIN_BUS)
-    SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
-    SUBARU_STOP_START_AVH_TX_MSGS(SUBARU_ALT_BUS)
-  };
-
   static const CanMsg SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS[] = {
     SUBARU_D_PLATFORM_ANGLE_TX_MSGS(SUBARU_CAM_BUS)
     SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS)
@@ -433,9 +405,6 @@ static safety_config subaru_init(uint16_t param) {
   const uint16_t SUBARU_PARAM_STOP_START_BUTTON = 256;
   subaru_stop_start_button = GET_FLAG(param, SUBARU_PARAM_STOP_START_BUTTON);
 
-  const uint16_t SUBARU_PARAM_AVH_BUTTON = 512;
-  subaru_avh_button = GET_FLAG(param, SUBARU_PARAM_AVH_BUTTON);
-
 #ifdef ALLOW_DEBUG
   const uint16_t SUBARU_PARAM_LONGITUDINAL = 2;
   subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL);
@@ -443,12 +412,10 @@ static safety_config subaru_init(uint16_t param) {
 
   safety_config ret;
   if (subaru_lkas_angle) {
-    ret = subaru_d_platform ? (subaru_stop_start_button ? (subaru_avh_button ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_STOP_START_AVH_MAIN_TX_MSGS) : \
+    ret = subaru_d_platform ? (subaru_stop_start_button ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS) : \
-                              BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_STOP_START_MAIN_TX_MSGS)) : \
                               (subaru_d_platform_camera ? BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_CAMERA_TX_MSGS) : \
                               BUILD_SAFETY_CFG(subaru_d_platform_angle_rx_checks, SUBARU_D_PLATFORM_ANGLE_MAIN_TX_MSGS))) : \
-          subaru_gen2 ? (subaru_stop_start_button ? (subaru_avh_button ? BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_STOP_START_AVH_TX_MSGS) : \
+          subaru_gen2 ? (subaru_stop_start_button ? BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_STOP_START_TX_MSGS) : \
-                         BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_STOP_START_TX_MSGS)) : \
                          BUILD_SAFETY_CFG(subaru_gen2_lkas_angle_rx_checks, SUBARU_GEN2_LKAS_ANGLE_TX_MSGS)) : \
                         BUILD_SAFETY_CFG(subaru_lkas_angle_rx_checks, SUBARU_LKAS_ANGLE_TX_MSGS);
   } else if (subaru_gen2) {

opendbc_repo/opendbc/safety/modes/volvo.h

@@ -43,7 +43,7 @@
 #define VOLVO_ANGLE_DEG_TO_CAN 17.869907f
 #define VOLVO_MAX_ANGLE_CAN 9650
 #define VOLVO_RELAY_ANGLE_TOLERANCE 54  // approximately 3 degrees
-#define VOLVO_DRIVER_OVERRIDE 5
+#define VOLVO_DRIVER_OVERRIDE 2
 
 
 // CAN bus definitions for Volvo

opendbc_repo/opendbc/safety/tests/test_subaru.py

@@ -37,7 +37,6 @@ class SubaruMsg(enum.IntEnum):
   ES_STATIC_1       = 0x22a
   ES_STATIC_2       = 0x325
   Dashlights        = 0x390
-  AVH               = 0x32b
 
 
 SUBARU_MAIN_BUS = 0
@@ -386,20 +385,6 @@ class TestSubaruGen2FixedAngleStopStartSafety(TestSubaruGen2FixedAngleSafety):
     self.assertFalse(self._tx(self._stop_start_msg(False)))
 
 
-class TestSubaruGen2FixedAngleStopStartAvhSafety(TestSubaruGen2FixedAngleStopStartSafety):
-  FLAGS = TestSubaruGen2FixedAngleStopStartSafety.FLAGS | SubaruSafetyFlags.AVH_BUTTON
-  TX_MSGS = TestSubaruGen2FixedAngleStopStartSafety.TX_MSGS + [[SubaruMsg.AVH, SUBARU_ALT_BUS]]
-
-  def _avh_msg(self, pressed):
-    return self.packer.make_can_msg_safety(
-      "AVH", SUBARU_ALT_BUS, {"COUNTER": 0, "AVH": pressed},
-    )
-
-  def test_avh_tx_requires_pressed_bit(self):
-    self.assertTrue(self._tx(self._avh_msg(True)))
-    self.assertFalse(self._tx(self._avh_msg(False)))
-
-
 class TestSubaruDPlatformAngleSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruAngleSafetyBase):
   FLAGS = SubaruSafetyFlags.GEN2 | SubaruSafetyFlags.LKAS_ANGLE | SubaruSafetyFlags.D_PLATFORM
   ALT_MAIN_BUS = SUBARU_ALT_BUS

opendbc_repo/opendbc/safety/tests/test_volvo.py

@@ -201,19 +201,10 @@ class TestVolvoSafetyBase(common.CarSafetyTest):
     self.assertFalse(self._tx(invalid))
 
   def test_driver_override_disengages_controls(self):
-    def driver_input_msg(value):
-      return self.mid_packer.make_can_msg_safety(
-        "DRIVER_INPUT", VOLVO_PARTY_BUS, {"STEERING_DRIVER_INPUT": value})
-
-    for value in (2, 3, 5):
-      self._rx(driver_input_msg(0))
-      self.safety.set_controls_allowed(True)
-      self._rx(driver_input_msg(value))
-      self.assertTrue(self.safety.get_controls_allowed(), f"unexpected disengage at {value=}")
-
-    self._rx(driver_input_msg(0))
     self.safety.set_controls_allowed(True)
-    self._rx(driver_input_msg(6))
+    msg = self.mid_packer.make_can_msg_safety(
+      "DRIVER_INPUT", VOLVO_PARTY_BUS, {"STEERING_DRIVER_INPUT": 6})
+    self._rx(msg)
     self.assertFalse(self.safety.get_controls_allowed())
 
   # ---- Volvo-specific consistency tests ----

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-3fb2bcdc-DEBUG";
+const uint8_t gitversion[19] = "DEV-ec64617f-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-3fb2bcdc-DEBUG
+DEV-ec64617f-DEBUG

scripts/MODEL_RELEASE.md

@@ -1,57 +0,0 @@
-# Model Release Tool
-
-`./scripts/model_release.py` automates the single-supercombo release path:
-
-1. Paste the model bot message.
-2. The tool parses the branch, ONNX path, model name, release date, model ID, and commit SHAs.
-3. It scans every listed upstream commit for `tinygrad`, `modeld`, or Chestnut runtime changes.
-4. It downloads the Git LFS object without loading it into shell variables.
-5. It asks for the comma IP, transfers the ONNX, and runs the device compiler.
-6. It verifies the returned PKL or multipart checksum.
-7. It uploads `models/<id>/`, `onnx/<id>/`, and `manifests/` to Hugging Face.
-8. It pushes GitHub one artifact part per commit and the manifest last.
-
-Run interactively:
-
-```sh
-./scripts/model_release.py
-```
-
-Paste the complete bot message, press `Ctrl-D`, then enter the comma IP. The
-default runtime behavior version is `v16`; the `Model vN` line is treated as
-the model iteration/name, not the runtime behavior version. Override an
-ambiguous ID with `--model-id`, or the runtime contract with
-`--behavior-version v15`.
-
-For the normal model bot flow, a commit SHA alone is also accepted:
-
-```sh
-./modelgrab f877d7a0ccc3cce943c76e285214c020cd65c899
-```
-
-The tool resolves the commit's changed driving ONNX, associated pull-request
-branch/title, GPU status, and commit date through GitHub. If GitHub cannot
-associate a human model title with the SHA, it derives the name from the ONNX
-filename; use `--model-id` when an exact local naming convention is required.
-
-Useful non-interactive form:
-
-```sh
-./scripts/model_release.py \
-  --text-file release-message.txt \
-  --ip 192.168.3.110
-```
-
-The tool refuses `192.168.3.109`. It also stops before downloading or compiling
-if any supplied commit changes runtime code. Review the warning first, then
-rerun with `--allow-runtime-changes` only after Firestar approves it.
-
-The default resources checkout is `~/StarPilot-Resources` on branch `Models`.
-It must be clean and synchronized before starting. The default Hugging Face
-bucket is `firestar4430/StarPilot-Resources`; authenticate with `hf auth login`
-before use. Use `--dry-run` to test parsing and the runtime scan without
-touching the device or either resource store.
-
-Failed runs leave the source, compiled parts, logs, and result JSON in the
-workspace so the cause can be inspected. A rerun requires `--force` when the
-same source path already exists.

scripts/model_release.py

@@ -1,786 +0,0 @@
-#!/usr/bin/env python3
-"""Release one upstream model through the device compiler and resource stores.
-
-The command is intentionally fail-closed when the supplied upstream commits
-touch tinygrad or modeld runtime code. A model source update is safe to build
-only after that runtime change has been reviewed separately.
-"""
-
-from __future__ import annotations
-
-import argparse
-import datetime as dt
-import hashlib
-import ipaddress
-import json
-import os
-import re
-import shlex
-import shutil
-import subprocess
-import sys
-import urllib.error
-import urllib.parse
-import urllib.request
-from dataclasses import dataclass
-from typing import Any
-from pathlib import Path
-
-
-OPENPILOT_REPO = "commaai/openpilot"
-RESOURCES_REPO = os.environ.get("STARPILOT_RESOURCES_REPO", "firestar5683/StarPilot-Resources")
-HF_BUCKET = os.environ.get("STARPILOT_HF_BUCKET", "firestar4430/StarPilot-Resources")
-RESOURCE_BRANCH = "Models"
-MANIFEST_VERSION = "v24"
-DEFAULT_BEHAVIOR_VERSION = "v16"
-DEVICE_ROOT = "/data/openpilot"
-REPOSITORY_FILE_LIMIT = 100_000_000
-LFS_POINTER_PREFIX = b"version https://git-lfs.github.com/spec/v1"
-CHUNK_SUFFIX_RE = re.compile(r"\.p\d{2}$")
-SHA_RE = re.compile(r"(?<![0-9a-f])([0-9a-f]{40})(?![0-9a-f])", re.IGNORECASE)
-DATE_RE = re.compile(r"([A-Za-z]+\s+\d{1,2},\s+\d{4})")
-MODEL_ID_RE = re.compile(r"^[a-z0-9][a-z0-9_-]*$")
-
-RUNTIME_PATH_PREFIXES = (
-  "tinygrad/",
-  "tinygrad_repo/",
-  "openpilot/tinygrad/",
-  "openpilot/tinygrad_repo/",
-  "selfdrive/modeld/",
-  "openpilot/selfdrive/modeld/",
-  "system/hardware/chestnut/",
-  "openpilot/system/hardware/chestnut/",
-)
-
-
-class ReleaseError(RuntimeError):
-  pass
-
-
-@dataclass
-class ReleaseInfo:
-  model_id: str
-  display_name: str
-  release_date: str
-  branch: str
-  source_ref: str
-  source_path: str
-  input_format: str
-  behavior_version: str
-  uses_external_gpu: bool
-  commits: list[str]
-  model_iteration: str
-
-
-def default_workspace() -> Path:
-  t5 = Path("/Volumes/T5")
-  if t5.is_dir():
-    return t5 / "StarPilot-Model-Releases"
-  return Path.home() / "Desktop" / "StarPilot-Model-Releases"
-
-
-def run(command: list[str], *, cwd: Path | None = None, capture: bool = False) -> subprocess.CompletedProcess:
-  print("$ " + " ".join(shlex.quote(part) for part in command))
-  return subprocess.run(
-    command,
-    cwd=cwd,
-    check=True,
-    text=capture,
-    capture_output=capture,
-  )
-
-
-def sha256_file(path: Path) -> str:
-  digest = hashlib.sha256()
-  with path.open("rb") as source:
-    for chunk in iter(lambda: source.read(1024 * 1024), b""):
-      digest.update(chunk)
-  return digest.hexdigest()
-
-
-def http_request(url: str, *, method: str = "GET", payload: bytes | None = None, headers: dict[str, str] | None = None):
-  request_headers = {"User-Agent": "StarPilot-model-release/1.0", **(headers or {})}
-  token = os.environ.get("GITHUB_TOKEN") or os.environ.get("GH_TOKEN")
-  if token and "api.github.com" in url:
-    request_headers["Authorization"] = f"Bearer {token}"
-  request = urllib.request.Request(url, data=payload, headers=request_headers, method=method)
-  try:
-    return urllib.request.urlopen(request, timeout=30)
-  except urllib.error.HTTPError as error:
-    detail = error.read(500).decode("utf-8", errors="replace")
-    raise ReleaseError(f"HTTP {error.code} from {url}: {detail}") from error
-  except urllib.error.URLError as error:
-    raise ReleaseError(f"Unable to reach {url}: {error.reason}") from error
-
-
-def get_json_value(url: str) -> Any:
-  with http_request(url, headers={"Accept": "application/vnd.github+json"}) as response:
-    try:
-      return json.loads(response.read().decode("utf-8"))
-    except json.JSONDecodeError as error:
-      raise ReleaseError(f"Invalid JSON response from {url}") from error
-
-
-def get_json(url: str) -> dict:
-  payload = get_json_value(url)
-  if not isinstance(payload, dict):
-    raise ReleaseError(f"Unexpected JSON response from {url}")
-  return payload
-
-
-def parse_lfs_pointer(data: bytes) -> tuple[str, int] | None:
-  if not data.startswith(LFS_POINTER_PREFIX):
-    return None
-  fields: dict[str, str] = {}
-  for line in data.decode("ascii", errors="strict").splitlines():
-    if " " in line:
-      key, value = line.split(" ", 1)
-      fields[key] = value
-  oid = fields.get("oid", "").removeprefix("sha256:")
-  size = fields.get("size", "")
-  if not re.fullmatch(r"[0-9a-f]{64}", oid) or not size.isdigit():
-    raise ReleaseError("Malformed Git LFS pointer")
-  return oid, int(size)
-
-
-def stream_response(response, destination: Path, prefix: bytes = b"") -> tuple[int, str]:
-  digest = hashlib.sha256()
-  size = 0
-  with destination.open("wb") as output:
-    if prefix:
-      output.write(prefix)
-      digest.update(prefix)
-      size += len(prefix)
-    for chunk in iter(lambda: response.read(1024 * 1024), b""):
-      output.write(chunk)
-      digest.update(chunk)
-      size += len(chunk)
-  return size, digest.hexdigest()
-
-
-def download_lfs_object(oid: str, expected_size: int, ref: str, destination: Path) -> tuple[int, str]:
-  batch_url = f"https://github.com/{OPENPILOT_REPO}.git/info/lfs/objects/batch"
-  payload = json.dumps({
-    "operation": "download",
-    "transfers": ["basic"],
-    "objects": [{"oid": oid, "size": expected_size}],
-    "ref": {"name": ref},
-  }).encode("utf-8")
-  with http_request(
-    batch_url,
-    method="POST",
-    payload=payload,
-    headers={"Accept": "application/vnd.git-lfs+json", "Content-Type": "application/vnd.git-lfs+json"},
-  ) as response:
-    batch = json.loads(response.read().decode("utf-8"))
-
-  objects = batch.get("objects", []) if isinstance(batch, dict) else []
-  if not objects or "error" in objects[0]:
-    raise ReleaseError(f"Git LFS download was not available for {oid}")
-  action = objects[0].get("actions", {}).get("download")
-  if not action or not action.get("href"):
-    raise ReleaseError(f"Git LFS returned no download action for {oid}")
-  headers = {str(key): str(value) for key, value in action.get("header", {}).items()}
-  with http_request(action["href"], headers=headers) as response:
-    size, digest = stream_response(response, destination)
-  if size != expected_size or digest != oid:
-    raise ReleaseError(f"LFS object verification failed: size {size}/{expected_size}, sha256 {digest}/{oid}")
-  return size, digest
-
-
-def download_source(ref: str, git_path: str, destination: Path, force: bool) -> dict:
-  destination.parent.mkdir(parents=True, exist_ok=True)
-  if destination.exists() and not force:
-    raise ReleaseError(f"Source already exists: {destination}; use --force to fetch the requested commit")
-
-  encoded_ref = urllib.parse.quote(ref, safe="/")
-  encoded_path = "/".join(urllib.parse.quote(part, safe="") for part in git_path.split("/"))
-  raw_url = f"https://raw.githubusercontent.com/{OPENPILOT_REPO}/{encoded_ref}/{encoded_path}"
-  temporary = destination.with_name(destination.name + ".part")
-  temporary.unlink(missing_ok=True)
-
-  with http_request(raw_url) as response:
-    prefix = response.read(512)
-    pointer = parse_lfs_pointer(prefix)
-    if pointer is None:
-      size, digest = stream_response(response, temporary, prefix)
-    else:
-      temporary.unlink(missing_ok=True)
-      size, digest = download_lfs_object(pointer[0], pointer[1], ref, temporary)
-
-  temporary.replace(destination)
-  print(f"Downloaded source: {size} bytes, sha256 {digest}")
-  return {"path": str(destination), "size": size, "sha256": digest, "url": raw_url, "ref": ref, "git_path": git_path}
-
-
-def clean_markdown(value: str) -> str:
-  value = re.sub(r"\[([^]]+)\]\([^)]*\)", r"\1", value)
-  value = re.sub(r"[*_`]+", "", value)
-  return " ".join(value.split()).strip()
-
-
-def slug_model_id(name: str) -> str:
-  tokens = re.findall(r"[a-z0-9]+", name.lower())
-  return "".join(tokens)
-
-
-def parse_release_date(text: str) -> str | None:
-  match = DATE_RE.search(text)
-  if not match:
-    return None
-  for fmt in ("%B %d, %Y", "%b %d, %Y"):
-    try:
-      return dt.datetime.strptime(match.group(1), fmt).date().isoformat()
-    except ValueError:
-      continue
-  return None
-
-
-def commit_local_date(payload: dict) -> str:
-  commit_data = payload.get("commit", {})
-  for author_key in ("committer", "author"):
-    timestamp = commit_data.get(author_key, {}).get("date") if isinstance(commit_data, dict) else None
-    if not timestamp:
-      continue
-    try:
-      return dt.datetime.fromisoformat(str(timestamp).replace("Z", "+00:00")).astimezone().date().isoformat()
-    except ValueError:
-      continue
-  return dt.date.today().isoformat()
-
-
-def source_name_from_path(source_path: str) -> str:
-  stem = Path(source_path).stem
-  stem = re.sub(r"^(?:big_)?driving_supercombo$", "", stem, flags=re.IGNORECASE)
-  stem = re.sub(r"_driving_(?:supercombo|vision|policy)$", "", stem, flags=re.IGNORECASE)
-  stem = stem.strip("_-")
-  return stem.replace("_", " ").replace("-", " ").title() or "Model"
-
-
-def select_model_source(files: list[Any], commit: str) -> str:
-  paths = [
-    str(item.get("filename", ""))
-    for item in files
-    if isinstance(item, dict) and str(item.get("filename", "")).lower().endswith(".onnx")
-  ]
-  preferred = [path for path in paths if Path(path).name.lower().endswith("driving_supercombo.onnx")]
-  candidates = preferred or paths
-  if len(candidates) != 1:
-    if not candidates:
-      raise ReleaseError(f"Commit {commit} does not change a driving ONNX file")
-    raise ReleaseError(f"Commit {commit} changes multiple ONNX files; provide the full bot message to disambiguate")
-  return candidates[0]
-
-
-def resolve_commit_release(commit: str, model_id_override: str | None, behavior_version: str) -> ReleaseInfo:
-  commit_payload = get_json(f"https://api.github.com/repos/{OPENPILOT_REPO}/commits/{commit}")
-  files = commit_payload.get("files", [])
-  if not isinstance(files, list):
-    raise ReleaseError(f"GitHub returned no file list for commit {commit}")
-  source_path = select_model_source(files, commit)
-
-  branch = ""
-  display_name = ""
-  pulls = get_json_value(f"https://api.github.com/repos/{OPENPILOT_REPO}/commits/{commit}/pulls")
-  if isinstance(pulls, list):
-    for pull in pulls:
-      if not isinstance(pull, dict):
-        continue
-      head = pull.get("head", {})
-      if isinstance(head, dict) and str(head.get("sha", "")).lower() == commit:
-        branch = str(head.get("ref") or "")
-        display_name = clean_markdown(str(pull.get("title") or ""))
-        break
-
-  if not branch:
-    branches = get_json_value(
-      f"https://api.github.com/repos/{OPENPILOT_REPO}/commits/{commit}/branches-where-head"
-    )
-    if isinstance(branches, list):
-      names = [str(item.get("name")) for item in branches if isinstance(item, dict) and item.get("name")]
-      branch = next((name for name in names if name.lower() != "master"), names[0] if names else "")
-  branch = branch or commit
-
-  if not display_name or display_name.lower() in {"big", "model", "update model"}:
-    display_name = source_name_from_path(source_path)
-  model_id = model_id_override or slug_model_id(display_name)
-  if not MODEL_ID_RE.fullmatch(model_id):
-    raise ReleaseError(f"Invalid model ID {model_id!r}; use lowercase letters, digits, '-' or '_'")
-  uses_external_gpu = Path(source_path).name.lower().startswith("big_")
-  model_iteration_match = re.search(r"\b(v\d+)\b", display_name, flags=re.IGNORECASE)
-  return ReleaseInfo(
-    model_id=model_id,
-    display_name=display_name,
-    release_date=commit_local_date(commit_payload),
-    branch=branch,
-    source_ref=commit,
-    source_path=source_path,
-    input_format="supercombo" if "supercombo" in Path(source_path).name else "split",
-    behavior_version=behavior_version,
-    uses_external_gpu=uses_external_gpu,
-    commits=[commit],
-    model_iteration=model_iteration_match.group(1).lower() if model_iteration_match else "",
-  )
-
-
-def parse_pasted_release(text: str, model_id_override: str | None, behavior_version: str) -> ReleaseInfo:
-  cleaned_text = text.replace("\\u00a0", " ")
-  commits = list(dict.fromkeys(match.lower() for match in SHA_RE.findall(cleaned_text)))
-  if re.fullmatch(r"\s*[0-9a-f]{40}\s*", cleaned_text, flags=re.IGNORECASE):
-    return resolve_commit_release(commits[0], model_id_override, behavior_version)
-
-  source_match = re.search(
-    r"https?://github\.com/commaai/openpilot/(?:blob|raw)/([^/\s]+)/([^\s)\]]+)",
-    cleaned_text,
-    flags=re.IGNORECASE,
-  )
-  if source_match:
-    branch = urllib.parse.unquote(source_match.group(1))
-    source_path = urllib.parse.unquote(source_match.group(2)).rstrip(".,")
-  else:
-    branch_match = re.search(r"\[([^]]+)\]\s*\(Branch\s+v?\d+\)", cleaned_text, flags=re.IGNORECASE)
-    branch = clean_markdown(branch_match.group(1)) if branch_match else ""
-    family_match = re.search(r"\[([a-z0-9_-]+)\]\s*\(Branch", cleaned_text, flags=re.IGNORECASE)
-    family = family_match.group(1).lower() if family_match else ""
-    source_path = f"openpilot/selfdrive/modeld/models/{family}_driving_supercombo.onnx" if family else ""
-
-  if not branch:
-    raise ReleaseError("Could not parse the openpilot branch from the pasted release block")
-  if not source_path or not source_path.endswith(".onnx"):
-    raise ReleaseError("Could not parse the upstream ONNX path from the pasted release block")
-
-  name = ""
-  release_date = None
-  for line in cleaned_text.splitlines():
-    plain = clean_markdown(line)
-    date_match = DATE_RE.search(plain)
-    if date_match:
-      candidate = plain[:date_match.start()].strip(" :-(\t")
-      candidate = re.sub(r"^(?:model name|name)\s*[:=-]?\s*", "", candidate, flags=re.IGNORECASE)
-      if candidate and "next model version" not in candidate.lower():
-        name = candidate
-        release_date = parse_release_date(plain)
-        break
-  if not name:
-    family_match = re.search(r"\[([a-z0-9_-]+)\]\s*\(Branch", cleaned_text, flags=re.IGNORECASE)
-    name = family_match.group(1).replace("-", " ").title() if family_match else Path(source_path).stem
-    release_date = dt.date.today().isoformat()
-  release_date = release_date or dt.date.today().isoformat()
-
-  iteration_match = re.search(r"\b(v\d+)\b", name, flags=re.IGNORECASE)
-  model_iteration = iteration_match.group(1).lower() if iteration_match else ""
-  model_id = model_id_override or slug_model_id(name)
-  if not MODEL_ID_RE.fullmatch(model_id):
-    raise ReleaseError(f"Invalid model ID {model_id!r}; use lowercase letters, digits, '-' or '_'")
-
-  uses_external_gpu = bool(
-    re.search(r"\[big\]|\bbig[_ -]model\b", cleaned_text, flags=re.IGNORECASE)
-    or Path(source_path).name.startswith("big_")
-  )
-  source_ref = commits[0] if commits else branch
-  input_format = "supercombo" if "supercombo" in Path(source_path).name else "split"
-  return ReleaseInfo(
-    model_id=model_id,
-    display_name=name,
-    release_date=release_date,
-    branch=branch,
-    source_ref=source_ref,
-    source_path=source_path,
-    input_format=input_format,
-    behavior_version=behavior_version,
-    uses_external_gpu=uses_external_gpu,
-    commits=commits,
-    model_iteration=model_iteration,
-  )
-
-
-def resolve_branch_commit(branch: str) -> str:
-  url = f"https://api.github.com/repos/{OPENPILOT_REPO}/commits/{urllib.parse.quote(branch, safe='')}"
-  payload = get_json(url)
-  sha = str(payload.get("sha") or "")
-  if not SHA_RE.fullmatch(sha):
-    raise ReleaseError(f"Could not resolve branch head for {branch}")
-  return sha
-
-
-def runtime_file(path: str) -> bool:
-  normalized = path.lstrip("./")
-  if normalized.lower().endswith(".onnx"):
-    return False
-  return normalized.startswith(RUNTIME_PATH_PREFIXES)
-
-
-def scan_runtime_changes(info: ReleaseInfo) -> list[dict]:
-  commits = info.commits or [resolve_branch_commit(info.branch)]
-  findings: list[dict] = []
-  for commit in commits:
-    url = f"https://api.github.com/repos/{OPENPILOT_REPO}/commits/{commit}"
-    payload = get_json(url)
-    files = payload.get("files", [])
-    if not isinstance(files, list):
-      raise ReleaseError(f"GitHub returned no file list for commit {commit}")
-    changed = [str(item.get("filename", "")) for item in files if isinstance(item, dict)]
-    runtime_paths = [path for path in changed if runtime_file(path)]
-    if runtime_paths:
-      findings.append({"commit": commit, "message": str(payload.get("commit", {}).get("message", "")).splitlines()[0], "paths": runtime_paths})
-  return findings
-
-
-def print_summary(info: ReleaseInfo) -> None:
-  print("\nRelease summary")
-  print(f"  model ID:       {info.model_id}")
-  print(f"  display name:   {info.display_name}")
-  print(f"  release date:   {info.release_date}")
-  print(f"  behavior:       {info.behavior_version}")
-  print(f"  source ref:     {info.source_ref}")
-  print(f"  source path:    {info.source_path}")
-  print(f"  input format:   {info.input_format}")
-  print(f"  external GPU:   {info.uses_external_gpu}")
-
-
-def print_runtime_warning(findings: list[dict]) -> None:
-  print("\n" + "!" * 88)
-  print("STOP: UPSTREAM TINYGRAD/MODELD RUNTIME CHANGES DETECTED")
-  print("Ask Firestar to review these changes before compiling this model.")
-  for finding in findings:
-    print(f"  {finding['commit'][:12]} {finding['message']}")
-    for path in finding["paths"]:
-      print(f"    - {path}")
-  print("The release tool will not compile until --allow-runtime-changes is supplied.")
-  print("!" * 88 + "\n")
-
-
-def choose_device_ip(args: argparse.Namespace) -> str:
-  if args.ip:
-    value = args.ip.strip()
-  elif sys.stdin.isatty():
-    value = input("Comma IP [192.168.3.110]: ").strip() or "192.168.3.110"
-  else:
-    raise ReleaseError("Pass --ip when the release text is piped on stdin")
-  try:
-    address = ipaddress.ip_address(value)
-  except ValueError as error:
-    raise ReleaseError(f"Invalid comma IP: {value}") from error
-  if str(address).split(".")[-1] == "109":
-    raise ReleaseError("Refusing to use .109. This workflow is restricted to the requested device, not 192.168.3.109.")
-  return str(address)
-
-
-def ssh_base(ip: str) -> list[str]:
-  return ["ssh", "-o", "ConnectTimeout=10", "-o", "ConnectionAttempts=1", "-o", "ServerAliveInterval=30", f"comma@{ip}"]
-
-
-def scp_base(ip: str) -> list[str]:
-  return ["scp", "-p", "-o", "ConnectTimeout=10", "-o", "ConnectionAttempts=1"]
-
-
-def remote_compile(info: ReleaseInfo, source: Path, ip: str, workspace: Path, keep_device_files: bool) -> dict:
-  if info.input_format != "supercombo":
-    raise ReleaseError("The release tool currently requires a single supercombo ONNX source")
-
-  input_dir = f"{DEVICE_ROOT}/uncompiledmodels"
-  output_dir = f"{DEVICE_ROOT}/compiledmodels"
-  remote_source = f"{input_dir}/{info.model_id}_driving_supercombo.onnx"
-  artifact_prefix = f"{info.model_id}_driving_tinygrad.pkl"
-  safe_id = shlex.quote(info.model_id)
-  cleanup_command = f"rm -f {shlex.quote(remote_source)} {shlex.quote(output_dir)}/{artifact_prefix}*"
-  run(ssh_base(ip) + [f"mkdir -p {shlex.quote(input_dir)} {shlex.quote(output_dir)} && {cleanup_command}"])
-  run(scp_base(ip) + [str(source), f"comma@{ip}:{remote_source}"])
-
-  command = [
-    f"cd {shlex.quote(DEVICE_ROOT)} && ./models",
-    f"--model {safe_id}",
-    f"--input-dir {shlex.quote(input_dir)}",
-    f"--output-dir {shlex.quote(output_dir)}",
-    f"--input-format supercombo",
-    f"--version {shlex.quote(info.behavior_version)}",
-  ]
-  if info.uses_external_gpu:
-    command.append("--gpu")
-  remote_command = " ".join(command)
-  log_path = workspace / "logs" / f"{info.model_id}.log"
-  log_path.parent.mkdir(parents=True, exist_ok=True)
-  print(f"\nCompiling on comma@{ip}. Output is also logged to {log_path}")
-  with log_path.open("w", encoding="utf-8") as log:
-    process = subprocess.Popen(
-      ssh_base(ip) + [remote_command],
-      stdout=subprocess.PIPE,
-      stderr=subprocess.STDOUT,
-      text=True,
-      bufsize=1,
-    )
-    assert process.stdout is not None
-    for line in process.stdout:
-      print(f"[device] {line}", end="")
-      log.write(line)
-    return_code = process.wait()
-  if return_code != 0:
-    raise ReleaseError(f"Device compilation failed; see {log_path}")
-
-  list_command = f"for f in {shlex.quote(output_dir)}/{artifact_prefix}*; do [ -f \"$f\" ] && basename \"$f\"; done"
-  listed = run(ssh_base(ip) + [list_command], capture=True).stdout.splitlines()
-  remote_files = sorted(name for name in listed if name.startswith(artifact_prefix))
-  if not remote_files:
-    raise ReleaseError(f"Device compiler produced no {artifact_prefix} output")
-
-  artifact_dir = workspace / "compiled" / info.model_id
-  artifact_dir.mkdir(parents=True, exist_ok=True)
-  for stale in artifact_dir.iterdir():
-    if stale.is_file():
-      stale.unlink()
-  for filename in remote_files:
-    run(scp_base(ip) + [f"comma@{ip}:{output_dir}/{filename}", str(artifact_dir / filename)])
-
-  parts = sorted(artifact_dir.glob(f"{artifact_prefix}.p[0-9][0-9]"))
-  full_artifact = artifact_dir / artifact_prefix
-  checksum_path = artifact_dir / f"{artifact_prefix}.sha256"
-  if parts:
-    if full_artifact.exists() or not checksum_path.is_file():
-      raise ReleaseError("Device returned invalid multipart output")
-    expected = checksum_path.read_text(encoding="utf-8").split()[0].lower()
-    digest = hashlib.sha256()
-    size = 0
-    for part in parts:
-      with part.open("rb") as source_part:
-        for chunk in iter(lambda: source_part.read(1024 * 1024), b""):
-          digest.update(chunk)
-          size += len(chunk)
-    actual = digest.hexdigest()
-    if actual != expected:
-      raise ReleaseError(f"Multipart checksum mismatch: {actual} != {expected}")
-    artifact_files = [*parts, checksum_path]
-  elif full_artifact.is_file():
-    size = full_artifact.stat().st_size
-    actual = sha256_file(full_artifact)
-    artifact_files = [full_artifact]
-    expected = actual
-  else:
-    raise ReleaseError("Device returned no usable artifact")
-
-  if not keep_device_files:
-    run(ssh_base(ip) + [cleanup_command])
-  result = {
-    "id": info.model_id,
-    "status": "compiled",
-    "size": size,
-    "sha256": expected,
-    "multipart": bool(parts),
-    "files": [path.name for path in artifact_files],
-    "path": str(artifact_dir),
-  }
-  (workspace / "results").mkdir(parents=True, exist_ok=True)
-  (workspace / "results" / f"{info.model_id}.json").write_text(json.dumps(result, indent=2) + "\n", encoding="utf-8")
-  return result
-
-
-def manifest_entry(info: ReleaseInfo, result: dict) -> dict:
-  display_name = info.display_name
-  if "👀" not in display_name and "📡" not in display_name:
-    display_name += " 👀📡"
-  return {
-    "id": info.model_id,
-    "name": display_name,
-    "version": info.behavior_version,
-    "series": "OP Series",
-    "released": info.release_date,
-    "community_favorite": False,
-    "artifact_format": "tinygrad_single_v1",
-    "artifact_size": result["size"],
-    "artifact_sha256": result["sha256"],
-    "uses_external_gpu": info.uses_external_gpu,
-  }
-
-
-def update_manifest(repo: Path, info: ReleaseInfo, result: dict, manifest_version: str) -> Path:
-  path = repo / f"model_names_{manifest_version}.json"
-  if not path.is_file():
-    raise ReleaseError(f"Manifest not found: {path}")
-  payload = json.loads(path.read_text(encoding="utf-8"))
-  models = payload.get("models", payload) if isinstance(payload, dict) else payload
-  if not isinstance(models, list):
-    raise ReleaseError(f"Unsupported manifest shape: {path}")
-  entry = manifest_entry(info, result)
-  replaced = False
-  updated = []
-  for model in models:
-    if isinstance(model, dict) and model.get("id") == info.model_id:
-      updated.append(entry)
-      replaced = True
-    else:
-      updated.append(model)
-  if not replaced:
-    updated.append(entry)
-  output = {**payload, "models": updated} if isinstance(payload, dict) else {"models": updated}
-  path.write_text(json.dumps(output, indent=2, ensure_ascii=False) + "\n", encoding="utf-8")
-  return path
-
-
-def find_hf() -> str:
-  candidates = [shutil.which("hf"), str(Path.home() / ".local/bin/hf")]
-  for candidate in candidates:
-    if candidate and Path(candidate).is_file():
-      return candidate
-  raise ReleaseError("Hugging Face CLI not found; install/authenticate `hf` first")
-
-
-def hf_copy(source: Path, bucket: str, remote_path: str) -> None:
-  hf = find_hf()
-  destination = f"hf://buckets/{bucket}/{remote_path}"
-  run([hf, "buckets", "cp", str(source), destination, "--format", "quiet"])
-
-
-def upload_huggingface(info: ReleaseInfo, result: dict, workspace: Path, bucket: str, manifest: Path, upload_onnx: bool, source: Path) -> None:
-  artifact_dir = Path(result["path"])
-  for filename in result["files"]:
-    hf_copy(artifact_dir / filename, bucket, f"models/{info.model_id}/{filename}")
-  if upload_onnx:
-    hf_copy(source, bucket, f"onnx/{info.model_id}/{source.name}")
-  hf_copy(manifest, bucket, f"manifests/{manifest.name}")
-  print(f"Hugging Face upload complete: {bucket}/models/{info.model_id}/")
-
-
-def git_output(repo: Path, args: list[str]) -> str:
-  return run(["git", "-C", str(repo), *args], capture=True).stdout.strip()
-
-
-def check_resources_repo(repo: Path, branch: str) -> None:
-  if not (repo / ".git").exists():
-    raise ReleaseError(f"GitHub resources checkout not found: {repo}")
-  status = git_output(repo, ["status", "--porcelain"])
-  if status:
-    raise ReleaseError(f"Resources checkout is dirty; refusing to modify it:\n{status}")
-  current_branch = git_output(repo, ["branch", "--show-current"])
-  if current_branch != branch:
-    raise ReleaseError(f"Resources checkout is on {current_branch!r}, expected {branch!r}")
-  remote_head = git_output(repo, ["rev-parse", f"origin/{branch}"])
-  local_head = git_output(repo, ["rev-parse", "HEAD"])
-  if remote_head != local_head:
-    raise ReleaseError("Resources checkout has unpushed or missing remote commits; sync it before releasing")
-
-
-def push_github(info: ReleaseInfo, result: dict, resources_repo: Path, manifest: Path, branch: str, force: bool) -> None:
-  artifact_dir = Path(result["path"])
-  artifact_names = list(result["files"])
-  destination_paths = []
-  stale_relative: list[str] = []
-  for filename in artifact_names:
-    destination = resources_repo / filename
-    if destination.exists() and not force:
-      raise ReleaseError(f"Artifact already exists in GitHub checkout: {destination}; use --force to replace it")
-    shutil.copy2(artifact_dir / filename, destination)
-    destination_paths.append(destination)
-
-  prefix = f"{info.model_id}_driving_tinygrad.pkl"
-  if force:
-    allowed = {path.name for path in destination_paths}
-    for stale in resources_repo.glob(f"{prefix}*"):
-      if stale.name not in allowed and stale.is_file():
-        stale.unlink()
-        stale_relative.append(str(stale.relative_to(resources_repo)))
-
-  for index, destination in enumerate(destination_paths):
-    relative = destination.relative_to(resources_repo)
-    paths_to_stage = [str(relative)]
-    if index == 0:
-      paths_to_stage.extend(stale_relative)
-    run(["git", "-C", str(resources_repo), "add", "-A", "--", *paths_to_stage])
-    run(["git", "-C", str(resources_repo), "commit", "-m", f"Add {info.model_id} artifact {destination.name}", "--", *paths_to_stage])
-    run(["git", "-C", str(resources_repo), "push", "origin", f"HEAD:{branch}"])
-
-  run(["git", "-C", str(resources_repo), "add", "--", str(manifest.relative_to(resources_repo))])
-  if git_output(resources_repo, ["diff", "--cached", "--name-only"]):
-    run(["git", "-C", str(resources_repo), "commit", "-m", f"Add {info.display_name} to {manifest.name}", "--", str(manifest.relative_to(resources_repo))])
-    run(["git", "-C", str(resources_repo), "push", "origin", f"HEAD:{branch}"])
-  print(f"GitHub upload complete: {RESOURCES_REPO}/{branch}")
-
-
-def read_release_text(args: argparse.Namespace) -> str:
-  if args.commit:
-    return args.commit
-  if args.text_file:
-    return args.text_file.read_text(encoding="utf-8")
-  if args.text:
-    return args.text
-  if not sys.stdin.isatty():
-    return sys.stdin.read()
-  print("Paste the model bot message. Press Ctrl-D when finished.")
-  return sys.stdin.read()
-
-
-def parse_args() -> argparse.Namespace:
-  parser = argparse.ArgumentParser(description="Download, device-compile, verify, and publish one upstream model.")
-  parser.add_argument("commit", nargs="?", help="A single openpilot commit SHA; metadata is resolved from GitHub.")
-  parser.add_argument("--text", help="Release text, otherwise paste it into stdin.")
-  parser.add_argument("--text-file", type=Path, help="Read the pasted release text from a file.")
-  parser.add_argument("--model-id", help="Override the ID parsed from the model name.")
-  parser.add_argument("--behavior-version", default=DEFAULT_BEHAVIOR_VERSION, help="Runtime behavior version (default: v16).")
-  parser.add_argument("--ip", help="Comma IP; prompted interactively when omitted.")
-  parser.add_argument("--workspace", type=Path, default=default_workspace())
-  parser.add_argument("--resources-repo", type=Path, default=Path.home() / "StarPilot-Resources")
-  parser.add_argument("--resources-branch", default=RESOURCE_BRANCH)
-  parser.add_argument("--manifest-version", default=MANIFEST_VERSION)
-  parser.add_argument("--hf-bucket", default=HF_BUCKET)
-  gpu = parser.add_mutually_exclusive_group()
-  gpu.add_argument("--gpu", dest="gpu", action="store_true", help="Force external-GPU compilation.")
-  gpu.add_argument("--no-gpu", dest="gpu", action="store_false", help="Disable external-GPU compilation.")
-  parser.set_defaults(gpu=None)
-  parser.add_argument("--allow-runtime-changes", action="store_true", help="Continue only after reviewing the runtime-change warning.")
-  parser.add_argument("--no-onnx-upload", action="store_true", help="Do not archive the source ONNX in Hugging Face.")
-  parser.add_argument("--keep-device-files", action="store_true", help="Leave the staged source and compiled output on the comma.")
-  parser.add_argument("--force", action="store_true", help="Replace an existing source/artifact/model ID.")
-  parser.add_argument("--dry-run", action="store_true", help="Parse and scan only; do not download, compile, or publish.")
-  return parser.parse_args()
-
-
-def main() -> int:
-  args = parse_args()
-  try:
-    if not re.fullmatch(r"v\d+", args.behavior_version.strip(), flags=re.IGNORECASE):
-      raise ReleaseError("--behavior-version must look like v16")
-    text = read_release_text(args)
-    if not text.strip():
-      raise ReleaseError("No release text was supplied")
-    info = parse_pasted_release(text, args.model_id, args.behavior_version.strip().lower())
-    if args.gpu is not None:
-      info.uses_external_gpu = args.gpu
-    print_summary(info)
-
-    findings = scan_runtime_changes(info)
-    if findings:
-      print_runtime_warning(findings)
-      if not args.allow_runtime_changes:
-        return 2
-    else:
-      print("Runtime scan: no tinygrad/modeld runtime files changed in the supplied commits.")
-
-    if args.dry_run:
-      print("Dry run complete; no device or repository changes made.")
-      return 0
-
-    ip = choose_device_ip(args)
-    workspace = args.workspace / info.model_id
-    for relative in ("onnx", "compiled", "logs", "results"):
-      (workspace / relative).mkdir(parents=True, exist_ok=True)
-    source = workspace / "onnx" / f"{info.model_id}_driving_supercombo.onnx"
-    source_result = download_source(info.source_ref, info.source_path, source, args.force)
-    (workspace / "release.txt").write_text(text, encoding="utf-8")
-    (workspace / "source.json").write_text(json.dumps({**source_result, "model": info.__dict__}, indent=2) + "\n", encoding="utf-8")
-
-    result = remote_compile(info, source, ip, workspace, args.keep_device_files)
-    resources_repo = args.resources_repo.expanduser().resolve()
-    check_resources_repo(resources_repo, args.resources_branch)
-    manifest = update_manifest(resources_repo, info, result, args.manifest_version)
-    upload_huggingface(info, result, workspace, args.hf_bucket, manifest, not args.no_onnx_upload, source)
-    push_github(info, result, resources_repo, manifest, args.resources_branch, args.force)
-    print("\nRelease complete.")
-    print(f"  local artifact: {result['path']}")
-    print(f"  Hugging Face:  {args.hf_bucket}/models/{info.model_id}/")
-    print(f"  GitHub:        {RESOURCES_REPO}/{args.resources_branch}")
-    return 0
-  except (ReleaseError, subprocess.CalledProcessError) as error:
-    print(f"ERROR: {error}", file=sys.stderr)
-    return 1
-
-
-if __name__ == "__main__":
-  raise SystemExit(main())

scripts/tests/test_model_release.py

@@ -1,96 +0,0 @@
-from __future__ import annotations
-
-import json
-from pathlib import Path
-
-from scripts import model_release
-from scripts.model_release import parse_lfs_pointer, parse_pasted_release, runtime_file, update_manifest
-
-
-RELEASE_TEXT = """
-**BRANCH UPDATED — BIG**
-[remove-avgpool](https://github.com/commaai/openpilot/pull/38681) #38681 [big] (Branch v5)
-**Changed Files**
-[big_driving_supercombo](https://github.com/commaai/openpilot/blob/remove-avgpool/openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx)
-**Recent Commits [f877]**
-[f877d7a0ccc3cce943c76e285214c020cd65c899](https://github.com/commaai/openpilot/commit/f877d7a0ccc3cce943c76e285214c020cd65c899)
-[faster compile](https://github.com/commaai/openpilot/commit/83a461eb4f0cb5737132c24b7a5ad5de46fc0fbb)
-**Next Model Version [big]**
-Model v4
-
-Bmrlnap v4 (August 30, 2026) f877
-"""
-
-
-def test_parse_release_block():
-  info = parse_pasted_release(RELEASE_TEXT, None, "v16")
-  assert info.model_id == "bmrlnapv4"
-  assert info.display_name == "Bmrlnap v4"
-  assert info.release_date == "2026-08-30"
-  assert info.branch == "remove-avgpool"
-  assert info.source_ref == "f877d7a0ccc3cce943c76e285214c020cd65c899"
-  assert info.source_path.endswith("big_driving_supercombo.onnx")
-  assert info.input_format == "supercombo"
-  assert info.uses_external_gpu
-  assert info.commits == [
-    "f877d7a0ccc3cce943c76e285214c020cd65c899",
-    "83a461eb4f0cb5737132c24b7a5ad5de46fc0fbb",
-  ]
-
-
-def test_lfs_pointer_parser():
-  pointer = (
-    b"version https://git-lfs.github.com/spec/v1\n"
-    b"oid sha256:" + b"a" * 64 + b"\n"
-    b"size 123\n"
-  )
-  assert parse_lfs_pointer(pointer) == ("a" * 64, 123)
-
-
-def test_sha_only_resolves_commit_metadata(monkeypatch):
-  commit = "f877d7a0ccc3cce943c76e285214c020cd65c899"
-  payloads = {
-    f"https://api.github.com/repos/commaai/openpilot/commits/{commit}": {
-      "commit": {"committer": {"date": "2026-08-31T00:41:06Z"}},
-      "files": [{"filename": "openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx"}],
-    },
-    f"https://api.github.com/repos/commaai/openpilot/commits/{commit}/pulls": [
-      {"title": "BMRLNAP", "head": {"sha": commit, "ref": "remove-avgpool"}},
-    ],
-  }
-
-  monkeypatch.setattr(model_release, "get_json_value", lambda url: payloads[url])
-  info = parse_pasted_release(commit, None, "v16")
-
-  assert info.model_id == "bmrlnap"
-  assert info.display_name == "BMRLNAP"
-  assert info.release_date == "2026-08-30"
-  assert info.branch == "remove-avgpool"
-  assert info.source_ref == commit
-  assert info.source_path.endswith("big_driving_supercombo.onnx")
-  assert info.uses_external_gpu
-
-
-def test_runtime_scan_excludes_model_weights_but_flags_runtime_code():
-  assert not runtime_file("openpilot/selfdrive/modeld/models/big_driving_supercombo.onnx")
-  assert runtime_file("openpilot/selfdrive/modeld/compile_modeld.py")
-  assert runtime_file("tinygrad/engine/jit.py")
-  assert not runtime_file("README.md")
-
-
-def test_update_manifest_replaces_one_entry(tmp_path: Path):
-  manifest = tmp_path / "model_names_v24.json"
-  manifest.write_text(json.dumps({"models": [{"id": "old"}]}) + "\n")
-  info = parse_pasted_release(RELEASE_TEXT, "bmrlnapv4", "v16")
-  path = update_manifest(
-    tmp_path,
-    info,
-    {"size": 123, "sha256": "a" * 64},
-    "v24",
-  )
-  payload = json.loads(path.read_text())
-  assert len(payload["models"]) == 2
-  entry = payload["models"][1]
-  assert entry["id"] == "bmrlnapv4"
-  assert entry["artifact_size"] == 123
-  assert entry["uses_external_gpu"]

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_7311248151803822396) {
+void err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934) {
-   out_7311248151803822396[0] = delta_x[0] + nom_x[0];
+   out_1982741958495934934[0] = delta_x[0] + nom_x[0];
-   out_7311248151803822396[1] = delta_x[1] + nom_x[1];
+   out_1982741958495934934[1] = delta_x[1] + nom_x[1];
-   out_7311248151803822396[2] = delta_x[2] + nom_x[2];
+   out_1982741958495934934[2] = delta_x[2] + nom_x[2];
-   out_7311248151803822396[3] = delta_x[3] + nom_x[3];
+   out_1982741958495934934[3] = delta_x[3] + nom_x[3];
-   out_7311248151803822396[4] = delta_x[4] + nom_x[4];
+   out_1982741958495934934[4] = delta_x[4] + nom_x[4];
-   out_7311248151803822396[5] = delta_x[5] + nom_x[5];
+   out_1982741958495934934[5] = delta_x[5] + nom_x[5];
-   out_7311248151803822396[6] = delta_x[6] + nom_x[6];
+   out_1982741958495934934[6] = delta_x[6] + nom_x[6];
-   out_7311248151803822396[7] = delta_x[7] + nom_x[7];
+   out_1982741958495934934[7] = delta_x[7] + nom_x[7];
-   out_7311248151803822396[8] = delta_x[8] + nom_x[8];
+   out_1982741958495934934[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) {
+void inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) {
-   out_5602719869542378501[0] = -nom_x[0] + true_x[0];
+   out_1965858196176103805[0] = -nom_x[0] + true_x[0];
-   out_5602719869542378501[1] = -nom_x[1] + true_x[1];
+   out_1965858196176103805[1] = -nom_x[1] + true_x[1];
-   out_5602719869542378501[2] = -nom_x[2] + true_x[2];
+   out_1965858196176103805[2] = -nom_x[2] + true_x[2];
-   out_5602719869542378501[3] = -nom_x[3] + true_x[3];
+   out_1965858196176103805[3] = -nom_x[3] + true_x[3];
-   out_5602719869542378501[4] = -nom_x[4] + true_x[4];
+   out_1965858196176103805[4] = -nom_x[4] + true_x[4];
-   out_5602719869542378501[5] = -nom_x[5] + true_x[5];
+   out_1965858196176103805[5] = -nom_x[5] + true_x[5];
-   out_5602719869542378501[6] = -nom_x[6] + true_x[6];
+   out_1965858196176103805[6] = -nom_x[6] + true_x[6];
-   out_5602719869542378501[7] = -nom_x[7] + true_x[7];
+   out_1965858196176103805[7] = -nom_x[7] + true_x[7];
-   out_5602719869542378501[8] = -nom_x[8] + true_x[8];
+   out_1965858196176103805[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_6859429191092688662) {
+void H_mod_fun(double *state, double *out_7322816943518629238) {
-   out_6859429191092688662[0] = 1.0;
+   out_7322816943518629238[0] = 1.0;
-   out_6859429191092688662[1] = 0.0;
+   out_7322816943518629238[1] = 0.0;
-   out_6859429191092688662[2] = 0.0;
+   out_7322816943518629238[2] = 0.0;
-   out_6859429191092688662[3] = 0.0;
+   out_7322816943518629238[3] = 0.0;
-   out_6859429191092688662[4] = 0.0;
+   out_7322816943518629238[4] = 0.0;
-   out_6859429191092688662[5] = 0.0;
+   out_7322816943518629238[5] = 0.0;
-   out_6859429191092688662[6] = 0.0;
+   out_7322816943518629238[6] = 0.0;
-   out_6859429191092688662[7] = 0.0;
+   out_7322816943518629238[7] = 0.0;
-   out_6859429191092688662[8] = 0.0;
+   out_7322816943518629238[8] = 0.0;
-   out_6859429191092688662[9] = 0.0;
+   out_7322816943518629238[9] = 0.0;
-   out_6859429191092688662[10] = 1.0;
+   out_7322816943518629238[10] = 1.0;
-   out_6859429191092688662[11] = 0.0;
+   out_7322816943518629238[11] = 0.0;
-   out_6859429191092688662[12] = 0.0;
+   out_7322816943518629238[12] = 0.0;
-   out_6859429191092688662[13] = 0.0;
+   out_7322816943518629238[13] = 0.0;
-   out_6859429191092688662[14] = 0.0;
+   out_7322816943518629238[14] = 0.0;
-   out_6859429191092688662[15] = 0.0;
+   out_7322816943518629238[15] = 0.0;
-   out_6859429191092688662[16] = 0.0;
+   out_7322816943518629238[16] = 0.0;
-   out_6859429191092688662[17] = 0.0;
+   out_7322816943518629238[17] = 0.0;
-   out_6859429191092688662[18] = 0.0;
+   out_7322816943518629238[18] = 0.0;
-   out_6859429191092688662[19] = 0.0;
+   out_7322816943518629238[19] = 0.0;
-   out_6859429191092688662[20] = 1.0;
+   out_7322816943518629238[20] = 1.0;
-   out_6859429191092688662[21] = 0.0;
+   out_7322816943518629238[21] = 0.0;
-   out_6859429191092688662[22] = 0.0;
+   out_7322816943518629238[22] = 0.0;
-   out_6859429191092688662[23] = 0.0;
+   out_7322816943518629238[23] = 0.0;
-   out_6859429191092688662[24] = 0.0;
+   out_7322816943518629238[24] = 0.0;
-   out_6859429191092688662[25] = 0.0;
+   out_7322816943518629238[25] = 0.0;
-   out_6859429191092688662[26] = 0.0;
+   out_7322816943518629238[26] = 0.0;
-   out_6859429191092688662[27] = 0.0;
+   out_7322816943518629238[27] = 0.0;
-   out_6859429191092688662[28] = 0.0;
+   out_7322816943518629238[28] = 0.0;
-   out_6859429191092688662[29] = 0.0;
+   out_7322816943518629238[29] = 0.0;
-   out_6859429191092688662[30] = 1.0;
+   out_7322816943518629238[30] = 1.0;
-   out_6859429191092688662[31] = 0.0;
+   out_7322816943518629238[31] = 0.0;
-   out_6859429191092688662[32] = 0.0;
+   out_7322816943518629238[32] = 0.0;
-   out_6859429191092688662[33] = 0.0;
+   out_7322816943518629238[33] = 0.0;
-   out_6859429191092688662[34] = 0.0;
+   out_7322816943518629238[34] = 0.0;
-   out_6859429191092688662[35] = 0.0;
+   out_7322816943518629238[35] = 0.0;
-   out_6859429191092688662[36] = 0.0;
+   out_7322816943518629238[36] = 0.0;
-   out_6859429191092688662[37] = 0.0;
+   out_7322816943518629238[37] = 0.0;
-   out_6859429191092688662[38] = 0.0;
+   out_7322816943518629238[38] = 0.0;
-   out_6859429191092688662[39] = 0.0;
+   out_7322816943518629238[39] = 0.0;
-   out_6859429191092688662[40] = 1.0;
+   out_7322816943518629238[40] = 1.0;
-   out_6859429191092688662[41] = 0.0;
+   out_7322816943518629238[41] = 0.0;
-   out_6859429191092688662[42] = 0.0;
+   out_7322816943518629238[42] = 0.0;
-   out_6859429191092688662[43] = 0.0;
+   out_7322816943518629238[43] = 0.0;
-   out_6859429191092688662[44] = 0.0;
+   out_7322816943518629238[44] = 0.0;
-   out_6859429191092688662[45] = 0.0;
+   out_7322816943518629238[45] = 0.0;
-   out_6859429191092688662[46] = 0.0;
+   out_7322816943518629238[46] = 0.0;
-   out_6859429191092688662[47] = 0.0;
+   out_7322816943518629238[47] = 0.0;
-   out_6859429191092688662[48] = 0.0;
+   out_7322816943518629238[48] = 0.0;
-   out_6859429191092688662[49] = 0.0;
+   out_7322816943518629238[49] = 0.0;
-   out_6859429191092688662[50] = 1.0;
+   out_7322816943518629238[50] = 1.0;
-   out_6859429191092688662[51] = 0.0;
+   out_7322816943518629238[51] = 0.0;
-   out_6859429191092688662[52] = 0.0;
+   out_7322816943518629238[52] = 0.0;
-   out_6859429191092688662[53] = 0.0;
+   out_7322816943518629238[53] = 0.0;
-   out_6859429191092688662[54] = 0.0;
+   out_7322816943518629238[54] = 0.0;
-   out_6859429191092688662[55] = 0.0;
+   out_7322816943518629238[55] = 0.0;
-   out_6859429191092688662[56] = 0.0;
+   out_7322816943518629238[56] = 0.0;
-   out_6859429191092688662[57] = 0.0;
+   out_7322816943518629238[57] = 0.0;
-   out_6859429191092688662[58] = 0.0;
+   out_7322816943518629238[58] = 0.0;
-   out_6859429191092688662[59] = 0.0;
+   out_7322816943518629238[59] = 0.0;
-   out_6859429191092688662[60] = 1.0;
+   out_7322816943518629238[60] = 1.0;
-   out_6859429191092688662[61] = 0.0;
+   out_7322816943518629238[61] = 0.0;
-   out_6859429191092688662[62] = 0.0;
+   out_7322816943518629238[62] = 0.0;
-   out_6859429191092688662[63] = 0.0;
+   out_7322816943518629238[63] = 0.0;
-   out_6859429191092688662[64] = 0.0;
+   out_7322816943518629238[64] = 0.0;
-   out_6859429191092688662[65] = 0.0;
+   out_7322816943518629238[65] = 0.0;
-   out_6859429191092688662[66] = 0.0;
+   out_7322816943518629238[66] = 0.0;
-   out_6859429191092688662[67] = 0.0;
+   out_7322816943518629238[67] = 0.0;
-   out_6859429191092688662[68] = 0.0;
+   out_7322816943518629238[68] = 0.0;
-   out_6859429191092688662[69] = 0.0;
+   out_7322816943518629238[69] = 0.0;
-   out_6859429191092688662[70] = 1.0;
+   out_7322816943518629238[70] = 1.0;
-   out_6859429191092688662[71] = 0.0;
+   out_7322816943518629238[71] = 0.0;
-   out_6859429191092688662[72] = 0.0;
+   out_7322816943518629238[72] = 0.0;
-   out_6859429191092688662[73] = 0.0;
+   out_7322816943518629238[73] = 0.0;
-   out_6859429191092688662[74] = 0.0;
+   out_7322816943518629238[74] = 0.0;
-   out_6859429191092688662[75] = 0.0;
+   out_7322816943518629238[75] = 0.0;
-   out_6859429191092688662[76] = 0.0;
+   out_7322816943518629238[76] = 0.0;
-   out_6859429191092688662[77] = 0.0;
+   out_7322816943518629238[77] = 0.0;
-   out_6859429191092688662[78] = 0.0;
+   out_7322816943518629238[78] = 0.0;
-   out_6859429191092688662[79] = 0.0;
+   out_7322816943518629238[79] = 0.0;
-   out_6859429191092688662[80] = 1.0;
+   out_7322816943518629238[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_3400060270232460893) {
+void f_fun(double *state, double dt, double *out_6429621653186063469) {
-   out_3400060270232460893[0] = state[0];
+   out_6429621653186063469[0] = state[0];
-   out_3400060270232460893[1] = state[1];
+   out_6429621653186063469[1] = state[1];
-   out_3400060270232460893[2] = state[2];
+   out_6429621653186063469[2] = state[2];
-   out_3400060270232460893[3] = state[3];
+   out_6429621653186063469[3] = state[3];
-   out_3400060270232460893[4] = state[4];
+   out_6429621653186063469[4] = state[4];
-   out_3400060270232460893[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_6429621653186063469[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_3400060270232460893[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_6429621653186063469[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_3400060270232460893[7] = state[7];
+   out_6429621653186063469[7] = state[7];
-   out_3400060270232460893[8] = state[8];
+   out_6429621653186063469[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_6511275578440991802) {
+void F_fun(double *state, double dt, double *out_4451613020495234820) {
-   out_6511275578440991802[0] = 1;
+   out_4451613020495234820[0] = 1;
-   out_6511275578440991802[1] = 0;
+   out_4451613020495234820[1] = 0;
-   out_6511275578440991802[2] = 0;
+   out_4451613020495234820[2] = 0;
-   out_6511275578440991802[3] = 0;
+   out_4451613020495234820[3] = 0;
-   out_6511275578440991802[4] = 0;
+   out_4451613020495234820[4] = 0;
-   out_6511275578440991802[5] = 0;
+   out_4451613020495234820[5] = 0;
-   out_6511275578440991802[6] = 0;
+   out_4451613020495234820[6] = 0;
-   out_6511275578440991802[7] = 0;
+   out_4451613020495234820[7] = 0;
-   out_6511275578440991802[8] = 0;
+   out_4451613020495234820[8] = 0;
-   out_6511275578440991802[9] = 0;
+   out_4451613020495234820[9] = 0;
-   out_6511275578440991802[10] = 1;
+   out_4451613020495234820[10] = 1;
-   out_6511275578440991802[11] = 0;
+   out_4451613020495234820[11] = 0;
-   out_6511275578440991802[12] = 0;
+   out_4451613020495234820[12] = 0;
-   out_6511275578440991802[13] = 0;
+   out_4451613020495234820[13] = 0;
-   out_6511275578440991802[14] = 0;
+   out_4451613020495234820[14] = 0;
-   out_6511275578440991802[15] = 0;
+   out_4451613020495234820[15] = 0;
-   out_6511275578440991802[16] = 0;
+   out_4451613020495234820[16] = 0;
-   out_6511275578440991802[17] = 0;
+   out_4451613020495234820[17] = 0;
-   out_6511275578440991802[18] = 0;
+   out_4451613020495234820[18] = 0;
-   out_6511275578440991802[19] = 0;
+   out_4451613020495234820[19] = 0;
-   out_6511275578440991802[20] = 1;
+   out_4451613020495234820[20] = 1;
-   out_6511275578440991802[21] = 0;
+   out_4451613020495234820[21] = 0;
-   out_6511275578440991802[22] = 0;
+   out_4451613020495234820[22] = 0;
-   out_6511275578440991802[23] = 0;
+   out_4451613020495234820[23] = 0;
-   out_6511275578440991802[24] = 0;
+   out_4451613020495234820[24] = 0;
-   out_6511275578440991802[25] = 0;
+   out_4451613020495234820[25] = 0;
-   out_6511275578440991802[26] = 0;
+   out_4451613020495234820[26] = 0;
-   out_6511275578440991802[27] = 0;
+   out_4451613020495234820[27] = 0;
-   out_6511275578440991802[28] = 0;
+   out_4451613020495234820[28] = 0;
-   out_6511275578440991802[29] = 0;
+   out_4451613020495234820[29] = 0;
-   out_6511275578440991802[30] = 1;
+   out_4451613020495234820[30] = 1;
-   out_6511275578440991802[31] = 0;
+   out_4451613020495234820[31] = 0;
-   out_6511275578440991802[32] = 0;
+   out_4451613020495234820[32] = 0;
-   out_6511275578440991802[33] = 0;
+   out_4451613020495234820[33] = 0;
-   out_6511275578440991802[34] = 0;
+   out_4451613020495234820[34] = 0;
-   out_6511275578440991802[35] = 0;
+   out_4451613020495234820[35] = 0;
-   out_6511275578440991802[36] = 0;
+   out_4451613020495234820[36] = 0;
-   out_6511275578440991802[37] = 0;
+   out_4451613020495234820[37] = 0;
-   out_6511275578440991802[38] = 0;
+   out_4451613020495234820[38] = 0;
-   out_6511275578440991802[39] = 0;
+   out_4451613020495234820[39] = 0;
-   out_6511275578440991802[40] = 1;
+   out_4451613020495234820[40] = 1;
-   out_6511275578440991802[41] = 0;
+   out_4451613020495234820[41] = 0;
-   out_6511275578440991802[42] = 0;
+   out_4451613020495234820[42] = 0;
-   out_6511275578440991802[43] = 0;
+   out_4451613020495234820[43] = 0;
-   out_6511275578440991802[44] = 0;
+   out_4451613020495234820[44] = 0;
-   out_6511275578440991802[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_4451613020495234820[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_6511275578440991802[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_4451613020495234820[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_6511275578440991802[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_4451613020495234820[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6511275578440991802[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_4451613020495234820[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6511275578440991802[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_4451613020495234820[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_6511275578440991802[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_4451613020495234820[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_6511275578440991802[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_4451613020495234820[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_6511275578440991802[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_4451613020495234820[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6511275578440991802[53] = -9.8100000000000005*dt;
+   out_4451613020495234820[53] = -9.8100000000000005*dt;
-   out_6511275578440991802[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_4451613020495234820[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_6511275578440991802[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_4451613020495234820[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_6511275578440991802[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4451613020495234820[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6511275578440991802[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4451613020495234820[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6511275578440991802[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_4451613020495234820[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_6511275578440991802[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_4451613020495234820[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_6511275578440991802[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_4451613020495234820[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_6511275578440991802[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4451613020495234820[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6511275578440991802[62] = 0;
+   out_4451613020495234820[62] = 0;
-   out_6511275578440991802[63] = 0;
+   out_4451613020495234820[63] = 0;
-   out_6511275578440991802[64] = 0;
+   out_4451613020495234820[64] = 0;
-   out_6511275578440991802[65] = 0;
+   out_4451613020495234820[65] = 0;
-   out_6511275578440991802[66] = 0;
+   out_4451613020495234820[66] = 0;
-   out_6511275578440991802[67] = 0;
+   out_4451613020495234820[67] = 0;
-   out_6511275578440991802[68] = 0;
+   out_4451613020495234820[68] = 0;
-   out_6511275578440991802[69] = 0;
+   out_4451613020495234820[69] = 0;
-   out_6511275578440991802[70] = 1;
+   out_4451613020495234820[70] = 1;
-   out_6511275578440991802[71] = 0;
+   out_4451613020495234820[71] = 0;
-   out_6511275578440991802[72] = 0;
+   out_4451613020495234820[72] = 0;
-   out_6511275578440991802[73] = 0;
+   out_4451613020495234820[73] = 0;
-   out_6511275578440991802[74] = 0;
+   out_4451613020495234820[74] = 0;
-   out_6511275578440991802[75] = 0;
+   out_4451613020495234820[75] = 0;
-   out_6511275578440991802[76] = 0;
+   out_4451613020495234820[76] = 0;
-   out_6511275578440991802[77] = 0;
+   out_4451613020495234820[77] = 0;
-   out_6511275578440991802[78] = 0;
+   out_4451613020495234820[78] = 0;
-   out_6511275578440991802[79] = 0;
+   out_4451613020495234820[79] = 0;
-   out_6511275578440991802[80] = 1;
+   out_4451613020495234820[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_2633570630840598096) {
+void h_25(double *state, double *unused, double *out_5140546513771631716) {
-   out_2633570630840598096[0] = state[6];
+   out_5140546513771631716[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_2394126656704625717) {
+void H_25(double *state, double *unused, double *out_1930738904278685141) {
-   out_2394126656704625717[0] = 0;
+   out_1930738904278685141[0] = 0;
-   out_2394126656704625717[1] = 0;
+   out_1930738904278685141[1] = 0;
-   out_2394126656704625717[2] = 0;
+   out_1930738904278685141[2] = 0;
-   out_2394126656704625717[3] = 0;
+   out_1930738904278685141[3] = 0;
-   out_2394126656704625717[4] = 0;
+   out_1930738904278685141[4] = 0;
-   out_2394126656704625717[5] = 0;
+   out_1930738904278685141[5] = 0;
-   out_2394126656704625717[6] = 1;
+   out_1930738904278685141[6] = 1;
-   out_2394126656704625717[7] = 0;
+   out_1930738904278685141[7] = 0;
-   out_2394126656704625717[8] = 0;
+   out_1930738904278685141[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_3094145344632818755) {
+void h_24(double *state, double *unused, double *out_867003127290538570) {
-   out_3094145344632818755[0] = state[4];
+   out_867003127290538570[0] = state[4];
-   out_3094145344632818755[1] = state[5];
+   out_867003127290538570[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_665263537527311648) {
+void H_24(double *state, double *unused, double *out_4156446688257553703) {
-   out_665263537527311648[0] = 0;
+   out_4156446688257553703[0] = 0;
-   out_665263537527311648[1] = 0;
+   out_4156446688257553703[1] = 0;
-   out_665263537527311648[2] = 0;
+   out_4156446688257553703[2] = 0;
-   out_665263537527311648[3] = 0;
+   out_4156446688257553703[3] = 0;
-   out_665263537527311648[4] = 1;
+   out_4156446688257553703[4] = 1;
-   out_665263537527311648[5] = 0;
+   out_4156446688257553703[5] = 0;
-   out_665263537527311648[6] = 0;
+   out_4156446688257553703[6] = 0;
-   out_665263537527311648[7] = 0;
+   out_4156446688257553703[7] = 0;
-   out_665263537527311648[8] = 0;
+   out_4156446688257553703[8] = 0;
-   out_665263537527311648[9] = 0;
+   out_4156446688257553703[9] = 0;
-   out_665263537527311648[10] = 0;
+   out_4156446688257553703[10] = 0;
-   out_665263537527311648[11] = 0;
+   out_4156446688257553703[11] = 0;
-   out_665263537527311648[12] = 0;
+   out_4156446688257553703[12] = 0;
-   out_665263537527311648[13] = 0;
+   out_4156446688257553703[13] = 0;
-   out_665263537527311648[14] = 1;
+   out_4156446688257553703[14] = 1;
-   out_665263537527311648[15] = 0;
+   out_4156446688257553703[15] = 0;
-   out_665263537527311648[16] = 0;
+   out_4156446688257553703[16] = 0;
-   out_665263537527311648[17] = 0;
+   out_4156446688257553703[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_1872662776110252318) {
+void h_30(double *state, double *unused, double *out_5297733182122760861) {
-   out_1872662776110252318[0] = state[4];
+   out_5297733182122760861[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_9135927075513309144) {
+void H_30(double *state, double *unused, double *out_8847429245770301896) {
-   out_9135927075513309144[0] = 0;
+   out_8847429245770301896[0] = 0;
-   out_9135927075513309144[1] = 0;
+   out_8847429245770301896[1] = 0;
-   out_9135927075513309144[2] = 0;
+   out_8847429245770301896[2] = 0;
-   out_9135927075513309144[3] = 0;
+   out_8847429245770301896[3] = 0;
-   out_9135927075513309144[4] = 1;
+   out_8847429245770301896[4] = 1;
-   out_9135927075513309144[5] = 0;
+   out_8847429245770301896[5] = 0;
-   out_9135927075513309144[6] = 0;
+   out_8847429245770301896[6] = 0;
-   out_9135927075513309144[7] = 0;
+   out_8847429245770301896[7] = 0;
-   out_9135927075513309144[8] = 0;
+   out_8847429245770301896[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_2552698139187979215) {
+void h_26(double *state, double *unused, double *out_8147337623925945110) {
-   out_2552698139187979215[0] = state[7];
+   out_8147337623925945110[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_1347376662169430507) {
+void H_26(double *state, double *unused, double *out_1810764414595371083) {
-   out_1347376662169430507[0] = 0;
+   out_1810764414595371083[0] = 0;
-   out_1347376662169430507[1] = 0;
+   out_1810764414595371083[1] = 0;
-   out_1347376662169430507[2] = 0;
+   out_1810764414595371083[2] = 0;
-   out_1347376662169430507[3] = 0;
+   out_1810764414595371083[3] = 0;
-   out_1347376662169430507[4] = 0;
+   out_1810764414595371083[4] = 0;
-   out_1347376662169430507[5] = 0;
+   out_1810764414595371083[5] = 0;
-   out_1347376662169430507[6] = 0;
+   out_1810764414595371083[6] = 0;
-   out_1347376662169430507[7] = 1;
+   out_1810764414595371083[7] = 1;
-   out_1347376662169430507[8] = 0;
+   out_1810764414595371083[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_8276300501921554931) {
+void h_27(double *state, double *unused, double *out_217345790508090885) {
-   out_8276300501921554931[0] = state[3];
+   out_217345790508090885[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_7136053686395817561) {
+void H_27(double *state, double *unused, double *out_6672665933969876985) {
-   out_7136053686395817561[0] = 0;
+   out_6672665933969876985[0] = 0;
-   out_7136053686395817561[1] = 0;
+   out_6672665933969876985[1] = 0;
-   out_7136053686395817561[2] = 0;
+   out_6672665933969876985[2] = 0;
-   out_7136053686395817561[3] = 1;
+   out_6672665933969876985[3] = 1;
-   out_7136053686395817561[4] = 0;
+   out_6672665933969876985[4] = 0;
-   out_7136053686395817561[5] = 0;
+   out_6672665933969876985[5] = 0;
-   out_7136053686395817561[6] = 0;
+   out_6672665933969876985[6] = 0;
-   out_7136053686395817561[7] = 0;
+   out_6672665933969876985[7] = 0;
-   out_7136053686395817561[8] = 0;
+   out_6672665933969876985[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_6874336043771097963) {
+void h_29(double *state, double *unused, double *out_675547152666652547) {
-   out_6874336043771097963[0] = state[1];
+   out_675547152666652547[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_8625695731198916960) {
+void H_29(double *state, double *unused, double *out_9089083483624857536) {
-   out_8625695731198916960[0] = 0;
+   out_9089083483624857536[0] = 0;
-   out_8625695731198916960[1] = 1;
+   out_9089083483624857536[1] = 1;
-   out_8625695731198916960[2] = 0;
+   out_9089083483624857536[2] = 0;
-   out_8625695731198916960[3] = 0;
+   out_9089083483624857536[3] = 0;
-   out_8625695731198916960[4] = 0;
+   out_9089083483624857536[4] = 0;
-   out_8625695731198916960[5] = 0;
+   out_9089083483624857536[5] = 0;
-   out_8625695731198916960[6] = 0;
+   out_9089083483624857536[6] = 0;
-   out_8625695731198916960[7] = 0;
+   out_9089083483624857536[7] = 0;
-   out_8625695731198916960[8] = 0;
+   out_9089083483624857536[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_1452606651919304359) {
+void h_28(double *state, double *unused, double *out_4927544272607556652) {
-   out_1452606651919304359[0] = state[0];
+   out_4927544272607556652[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_340291942456735954) {
+void H_28(double *state, double *unused, double *out_123095809969204622) {
-   out_340291942456735954[0] = 1;
+   out_123095809969204622[0] = 1;
-   out_340291942456735954[1] = 0;
+   out_123095809969204622[1] = 0;
-   out_340291942456735954[2] = 0;
+   out_123095809969204622[2] = 0;
-   out_340291942456735954[3] = 0;
+   out_123095809969204622[3] = 0;
-   out_340291942456735954[4] = 0;
+   out_123095809969204622[4] = 0;
-   out_340291942456735954[5] = 0;
+   out_123095809969204622[5] = 0;
-   out_340291942456735954[6] = 0;
+   out_123095809969204622[6] = 0;
-   out_340291942456735954[7] = 0;
+   out_123095809969204622[7] = 0;
-   out_340291942456735954[8] = 0;
+   out_123095809969204622[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_4557978482014913700) {
+void h_31(double *state, double *unused, double *out_2544246198651735911) {
-   out_4557978482014913700[0] = state[8];
+   out_2544246198651735911[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_2424772618581586145) {
+void H_31(double *state, double *unused, double *out_1961384866155645569) {
-   out_2424772618581586145[0] = 0;
+   out_1961384866155645569[0] = 0;
-   out_2424772618581586145[1] = 0;
+   out_1961384866155645569[1] = 0;
-   out_2424772618581586145[2] = 0;
+   out_1961384866155645569[2] = 0;
-   out_2424772618581586145[3] = 0;
+   out_1961384866155645569[3] = 0;
-   out_2424772618581586145[4] = 0;
+   out_1961384866155645569[4] = 0;
-   out_2424772618581586145[5] = 0;
+   out_1961384866155645569[5] = 0;
-   out_2424772618581586145[6] = 0;
+   out_1961384866155645569[6] = 0;
-   out_2424772618581586145[7] = 0;
+   out_1961384866155645569[7] = 0;
-   out_2424772618581586145[8] = 1;
+   out_1961384866155645569[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_7311248151803822396) {
+void car_err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934) {
-  err_fun(nom_x, delta_x, out_7311248151803822396);
+  err_fun(nom_x, delta_x, out_1982741958495934934);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501) {
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805) {
-  inv_err_fun(nom_x, true_x, out_5602719869542378501);
+  inv_err_fun(nom_x, true_x, out_1965858196176103805);
 }
-void car_H_mod_fun(double *state, double *out_6859429191092688662) {
+void car_H_mod_fun(double *state, double *out_7322816943518629238) {
-  H_mod_fun(state, out_6859429191092688662);
+  H_mod_fun(state, out_7322816943518629238);
 }
-void car_f_fun(double *state, double dt, double *out_3400060270232460893) {
+void car_f_fun(double *state, double dt, double *out_6429621653186063469) {
-  f_fun(state,  dt, out_3400060270232460893);
+  f_fun(state,  dt, out_6429621653186063469);
 }
-void car_F_fun(double *state, double dt, double *out_6511275578440991802) {
+void car_F_fun(double *state, double dt, double *out_4451613020495234820) {
-  F_fun(state,  dt, out_6511275578440991802);
+  F_fun(state,  dt, out_4451613020495234820);
 }
-void car_h_25(double *state, double *unused, double *out_2633570630840598096) {
+void car_h_25(double *state, double *unused, double *out_5140546513771631716) {
-  h_25(state, unused, out_2633570630840598096);
+  h_25(state, unused, out_5140546513771631716);
 }
-void car_H_25(double *state, double *unused, double *out_2394126656704625717) {
+void car_H_25(double *state, double *unused, double *out_1930738904278685141) {
-  H_25(state, unused, out_2394126656704625717);
+  H_25(state, unused, out_1930738904278685141);
 }
-void car_h_24(double *state, double *unused, double *out_3094145344632818755) {
+void car_h_24(double *state, double *unused, double *out_867003127290538570) {
-  h_24(state, unused, out_3094145344632818755);
+  h_24(state, unused, out_867003127290538570);
 }
-void car_H_24(double *state, double *unused, double *out_665263537527311648) {
+void car_H_24(double *state, double *unused, double *out_4156446688257553703) {
-  H_24(state, unused, out_665263537527311648);
+  H_24(state, unused, out_4156446688257553703);
 }
-void car_h_30(double *state, double *unused, double *out_1872662776110252318) {
+void car_h_30(double *state, double *unused, double *out_5297733182122760861) {
-  h_30(state, unused, out_1872662776110252318);
+  h_30(state, unused, out_5297733182122760861);
 }
-void car_H_30(double *state, double *unused, double *out_9135927075513309144) {
+void car_H_30(double *state, double *unused, double *out_8847429245770301896) {
-  H_30(state, unused, out_9135927075513309144);
+  H_30(state, unused, out_8847429245770301896);
 }
-void car_h_26(double *state, double *unused, double *out_2552698139187979215) {
+void car_h_26(double *state, double *unused, double *out_8147337623925945110) {
-  h_26(state, unused, out_2552698139187979215);
+  h_26(state, unused, out_8147337623925945110);
 }
-void car_H_26(double *state, double *unused, double *out_1347376662169430507) {
+void car_H_26(double *state, double *unused, double *out_1810764414595371083) {
-  H_26(state, unused, out_1347376662169430507);
+  H_26(state, unused, out_1810764414595371083);
 }
-void car_h_27(double *state, double *unused, double *out_8276300501921554931) {
+void car_h_27(double *state, double *unused, double *out_217345790508090885) {
-  h_27(state, unused, out_8276300501921554931);
+  h_27(state, unused, out_217345790508090885);
 }
-void car_H_27(double *state, double *unused, double *out_7136053686395817561) {
+void car_H_27(double *state, double *unused, double *out_6672665933969876985) {
-  H_27(state, unused, out_7136053686395817561);
+  H_27(state, unused, out_6672665933969876985);
 }
-void car_h_29(double *state, double *unused, double *out_6874336043771097963) {
+void car_h_29(double *state, double *unused, double *out_675547152666652547) {
-  h_29(state, unused, out_6874336043771097963);
+  h_29(state, unused, out_675547152666652547);
 }
-void car_H_29(double *state, double *unused, double *out_8625695731198916960) {
+void car_H_29(double *state, double *unused, double *out_9089083483624857536) {
-  H_29(state, unused, out_8625695731198916960);
+  H_29(state, unused, out_9089083483624857536);
 }
-void car_h_28(double *state, double *unused, double *out_1452606651919304359) {
+void car_h_28(double *state, double *unused, double *out_4927544272607556652) {
-  h_28(state, unused, out_1452606651919304359);
+  h_28(state, unused, out_4927544272607556652);
 }
-void car_H_28(double *state, double *unused, double *out_340291942456735954) {
+void car_H_28(double *state, double *unused, double *out_123095809969204622) {
-  H_28(state, unused, out_340291942456735954);
+  H_28(state, unused, out_123095809969204622);
 }
-void car_h_31(double *state, double *unused, double *out_4557978482014913700) {
+void car_h_31(double *state, double *unused, double *out_2544246198651735911) {
-  h_31(state, unused, out_4557978482014913700);
+  h_31(state, unused, out_2544246198651735911);
 }
-void car_H_31(double *state, double *unused, double *out_2424772618581586145) {
+void car_H_31(double *state, double *unused, double *out_1961384866155645569) {
-  H_31(state, unused, out_2424772618581586145);
+  H_31(state, unused, out_1961384866155645569);
 }
 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_7311248151803822396);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1982741958495934934);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5602719869542378501);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1965858196176103805);
-void car_H_mod_fun(double *state, double *out_6859429191092688662);
+void car_H_mod_fun(double *state, double *out_7322816943518629238);
-void car_f_fun(double *state, double dt, double *out_3400060270232460893);
+void car_f_fun(double *state, double dt, double *out_6429621653186063469);
-void car_F_fun(double *state, double dt, double *out_6511275578440991802);
+void car_F_fun(double *state, double dt, double *out_4451613020495234820);
-void car_h_25(double *state, double *unused, double *out_2633570630840598096);
+void car_h_25(double *state, double *unused, double *out_5140546513771631716);
-void car_H_25(double *state, double *unused, double *out_2394126656704625717);
+void car_H_25(double *state, double *unused, double *out_1930738904278685141);
-void car_h_24(double *state, double *unused, double *out_3094145344632818755);
+void car_h_24(double *state, double *unused, double *out_867003127290538570);
-void car_H_24(double *state, double *unused, double *out_665263537527311648);
+void car_H_24(double *state, double *unused, double *out_4156446688257553703);
-void car_h_30(double *state, double *unused, double *out_1872662776110252318);
+void car_h_30(double *state, double *unused, double *out_5297733182122760861);
-void car_H_30(double *state, double *unused, double *out_9135927075513309144);
+void car_H_30(double *state, double *unused, double *out_8847429245770301896);
-void car_h_26(double *state, double *unused, double *out_2552698139187979215);
+void car_h_26(double *state, double *unused, double *out_8147337623925945110);
-void car_H_26(double *state, double *unused, double *out_1347376662169430507);
+void car_H_26(double *state, double *unused, double *out_1810764414595371083);
-void car_h_27(double *state, double *unused, double *out_8276300501921554931);
+void car_h_27(double *state, double *unused, double *out_217345790508090885);
-void car_H_27(double *state, double *unused, double *out_7136053686395817561);
+void car_H_27(double *state, double *unused, double *out_6672665933969876985);
-void car_h_29(double *state, double *unused, double *out_6874336043771097963);
+void car_h_29(double *state, double *unused, double *out_675547152666652547);
-void car_H_29(double *state, double *unused, double *out_8625695731198916960);
+void car_H_29(double *state, double *unused, double *out_9089083483624857536);
-void car_h_28(double *state, double *unused, double *out_1452606651919304359);
+void car_h_28(double *state, double *unused, double *out_4927544272607556652);
-void car_H_28(double *state, double *unused, double *out_340291942456735954);
+void car_H_28(double *state, double *unused, double *out_123095809969204622);
-void car_h_31(double *state, double *unused, double *out_4557978482014913700);
+void car_h_31(double *state, double *unused, double *out_2544246198651735911);
-void car_H_31(double *state, double *unused, double *out_2424772618581586145);
+void car_H_31(double *state, double *unused, double *out_1961384866155645569);
 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);