Add HybridExperimental mode

2026-08-25 18:23:57 +08:00 · 2026-08-25 04:42:59 -04:00
139 changed files with 4676 additions and 3657 deletions
@@ -1,5 +1,4 @@
 import os
-import importlib
 import shutil
 import subprocess
 import sys
@@ -129,41 +128,6 @@ elif arch == "aarch64" and AGNOS:
  arch = "larch64"
 assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]

-# AGNOS 19.6 ships native dependencies as versioned Python packages. Link
-# Cap'n Proto statically from that managed package so release binaries don't
-# depend on the removed libcapnp-1.0.2.so system library.
-try:
-  capnproto = importlib.import_module("capnproto")
-except ModuleNotFoundError:
-  capnproto = None
-try:
-  ffmpeg = importlib.import_module("ffmpeg")
-except ModuleNotFoundError:
-  ffmpeg = None
-
-capnproto_include_dirs = [capnproto.INCLUDE_DIR] if capnproto is not None else []
-capnproto_lib_dirs = [capnproto.LIB_DIR] if capnproto is not None else []
-ffmpeg_include_dirs = [ffmpeg.INCLUDE_DIR] if ffmpeg is not None else []
-ffmpeg_lib_dirs = [ffmpeg.LIB_DIR] if ffmpeg is not None else []
-
-# Cross-builds install managed dependencies in /work/.venv-linux-arm64, but
-# comma devices expose the same packages from /usr/local/venv. Never embed the
-# host/container mount path in release binaries.
-ffmpeg_runtime_lib_dirs = ffmpeg_lib_dirs
-if arch == "larch64" and ffmpeg is not None:
-  ffmpeg_runtime_lib_dirs = [os.path.join("/usr/local/venv", os.path.relpath(ffmpeg.LIB_DIR, sys.prefix))]
-
-# The managed native-dependency packages keep their tools inside the package
-# instead of installing them into /usr/local/venv/bin. cereal invokes capnpc
-# directly while SConscript files are evaluated, so make the packaged tools
-# discoverable to both SCons actions and configure-time subprocesses.
-dependency_bin_dirs = [
-  package.BIN_DIR for package in (capnproto, ffmpeg)
-  if package is not None and os.path.isdir(package.BIN_DIR)
-]
-if dependency_bin_dirs:
-  os.environ["PATH"] = os.pathsep.join([*dependency_bin_dirs, os.environ["PATH"]])
-
 # Homebrew llvm can shadow Apple clang and break macOS SDK header resolution.
 # Use the system toolchain explicitly on macOS for reliable local builds.
 cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
@@ -305,10 +269,7 @@ env = Environment(
    "-Wno-vla-cxx-extension",
  ] + cflags + ccflags,

-  # Managed dependencies must precede the compatibility sysroot. The sysroot
-  # can intentionally retain legacy libraries for C3 support, but new release
-  # binaries must link against the versions shipped in the managed venv.
-  CPPPATH=capnproto_include_dirs + ffmpeg_include_dirs + cpppath + [
+  CPPPATH=cpppath + [
    "#",
    "#third_party/acados/include",
    "#third_party/acados/include/blasfeo/include",
@@ -327,11 +288,11 @@ env = Environment(
  RANLIB=ranlib,
  LINKFLAGS=ldflags,

-  RPATH=ffmpeg_runtime_lib_dirs + rpath,
+  RPATH=rpath,

  CFLAGS=["-std=gnu11"] + cflags,
  CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=capnproto_lib_dirs + ffmpeg_lib_dirs + libpath + [
+  LIBPATH=libpath + [
    "#msgq_repo",
    "#third_party",
    "#selfdrive/pandad",
@@ -410,15 +371,7 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])

 Import('socketmaster', 'msgq')
-if capnproto is not None:
-  messaging = [
-    socketmaster,
-    msgq,
-    File(os.path.join(capnproto.LIB_DIR, "libcapnp.a")),
-    File(os.path.join(capnproto.LIB_DIR, "libkj.a")),
-  ]
-else:
-  messaging = [socketmaster, msgq, 'capnp', 'kj']
+messaging = [socketmaster, msgq, 'capnp', 'kj',]
 Export('messaging')


@@ -238,6 +238,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
    {"ConditionalChill", {PERSISTENT, BOOL, "0", "0", 1}},
    {"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
+    {"HybridExpBias", {PERSISTENT, FLOAT, "0", "0", 1}},
+    {"HybridExperimental", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"HybridVisionBrakeSensitivity", {PERSISTENT, FLOAT, "1", "1", 1}},
    {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
    {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"CurveSpeedControllerNoLead", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.10"
+  export AGNOS_VERSION="19.6.2"
 fi

 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-46ae2472-DEBUG";
+const uint8_t gitversion[19] = "DEV-e28f72c6-DEBUG";
@@ -1 +1 @@
-DEV-46ae2472-DEBUG
+DEV-e28f72c6-DEBUG
@@ -29,11 +29,6 @@ dependencies = [
  "setuptools",
  "numpy >=2.0",

-  # AGNOS 19.6 native build dependencies
-  "comma-deps-capnproto; python_version >= '3.12'",
-  "comma-deps-ffmpeg; python_version >= '3.12'",
-  "libdatachannel-py>=2026.1.0.dev2; python_version >= '3.12'",
-
  # body / webrtcd
  "aiohttp",
  "aiortc",
@@ -467,66 +467,6 @@ EOF
  echo "==> larch64 scons completed in $(( $(date +%s) - started_at ))s"
 }

-validate_larch64_artifacts() {
-  local engine
-  engine="$(detect_engine)"
-
-  echo "==> Validating larch64 runtime dependencies"
-  "${engine}" run --rm --platform linux/arm64 \
-    --user "${DOCKER_RUN_USER}" \
-    -v "${HOST_ROOT_DIR}:/work" \
-    -v "${HOST_VENV_DIR}:/work/.venv-linux-arm64:ro" \
-    -v "${HOST_SYSROOT_DIR}:/opt/tici-sysroot:ro" \
-    -v "${HOST_SYSROOT_DIR}/system/vendor/lib64:/system/vendor/lib64:ro" \
-    -w /work \
-    "${IMAGE_NAME}" bash -lc '
-set -euo pipefail
-ffmpeg_lib_dir="/work/.venv-linux-arm64/lib/python3.12/site-packages/ffmpeg/install/lib"
-target_ffmpeg_runpath="/usr/local/venv/lib/python3.12/site-packages/ffmpeg/install/lib"
-runtime_library_path="${ffmpeg_lib_dir}:/work/third_party/acados/larch64/lib:/work/third_party/libyuv/larch64/lib:/work/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code:/work/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code:/opt/tici-sysroot/usr/local/lib:/opt/tici-sysroot/lib/aarch64-linux-gnu:/opt/tici-sysroot/usr/lib/aarch64-linux-gnu:/system/vendor/lib64"
-failures=0
-
-while IFS= read -r -d "" artifact; do
-  if ! readelf -h "${artifact}" 2>/dev/null | grep -q "Machine:.*AArch64"; then
-    continue
-  fi
-
-  dynamic="$(readelf -d "${artifact}" 2>/dev/null || true)"
-  if grep -Eq "(RPATH|RUNPATH).*\/work\/" <<<"${dynamic}"; then
-    echo "ERROR: ${artifact} embeds a build-host runtime path" >&2
-    failures=1
-  fi
-
-  has_ffmpeg=0
-  while IFS= read -r needed; do
-    case "${needed}" in
-      libavformat.so.*|libavcodec.so.*|libswresample.so.*|libavutil.so.*)
-        has_ffmpeg=1
-        if [[ ! -e "${ffmpeg_lib_dir}/${needed}" ]]; then
-          echo "ERROR: ${artifact} links ${needed}, which is not shipped by the managed FFmpeg package" >&2
-          failures=1
-        fi
-        ;;
-    esac
-  done < <(sed -n "s/.*Shared library: \[\([^]]*\)\].*/\1/p" <<<"${dynamic}")
-
-  if [[ "${has_ffmpeg}" -eq 1 ]] && ! grep -Fq "${target_ffmpeg_runpath}" <<<"${dynamic}"; then
-    echo "ERROR: ${artifact} links FFmpeg without the target managed-venv RUNPATH" >&2
-    failures=1
-  fi
-
-  missing="$(LD_LIBRARY_PATH="${runtime_library_path}" ldd "${artifact}" 2>&1 | grep "not found" || true)"
-  if [[ -n "${missing}" ]]; then
-    echo "ERROR: ${artifact} has unresolved target dependencies:" >&2
-    echo "${missing}" >&2
-    failures=1
-  fi
-done < <(git ls-files -z)
-
-exit "${failures}"
-'
-}
-
 setup_host_venv() {
  if [[ ! -f "${ROOT_DIR}/.venv/bin/activate" ]]; then
    if [[ -x "${ROOT_DIR}/tools/install_python_dependencies.sh" ]]; then
@@ -576,7 +516,6 @@ run_larch64_build() {
    cereal/messaging/bridge \
    msgq_repo/msgq/ipc_pyx.so \
    msgq_repo/msgq/visionipc/visionipc_pyx.so
-  validate_larch64_artifacts
  touch "${ROOT_DIR}/prebuilt"
 }

@@ -298,17 +298,21 @@ class Car:
      self.v_cruise_helper.v_cruise_cluster_kph = preap_v_cruise_kph
    slc_force_speed = self.params_memory.get_float("SLCForceCruiseSpeed")
    if slc_force_speed > 0:
-      if self.is_metric:
-        new_cruise_kph = round(slc_force_speed * CV.MS_TO_KPH)
-      else:
-        new_cruise_kph = round(slc_force_speed * CV.MS_TO_MPH) * IMPERIAL_INCREMENT
-      self.v_cruise_helper.v_cruise_kph = max(min(new_cruise_kph, V_CRUISE_MAX), V_CRUISE_MIN)
-      self.v_cruise_helper.v_cruise_cluster_kph = self.v_cruise_helper.v_cruise_kph
+      # Do not apply an adoption queued before SLC was switched off.
+      if self.starpilot_toggles.speed_limit_controller:
+        if self.is_metric:
+          new_cruise_kph = round(slc_force_speed * CV.MS_TO_KPH)
+        else:
+          new_cruise_kph = round(slc_force_speed * CV.MS_TO_MPH) * IMPERIAL_INCREMENT
+        self.v_cruise_helper.v_cruise_kph = max(min(new_cruise_kph, V_CRUISE_MAX), V_CRUISE_MIN)
+        self.v_cruise_helper.v_cruise_cluster_kph = self.v_cruise_helper.v_cruise_kph
      self.params_memory.remove("SLCForceCruiseSpeed")

    if self.sm['carControl'].enabled and not self.CC_prev.enabled and not preap_software_cruise:
      # Use CarState w/ buttons from the step selfdrived enables on
-      desired_speed_limit = self.sm['starpilotPlan'].slcSpeedLimit + self.sm['starpilotPlan'].slcSpeedLimitOffset
+      desired_speed_limit = self.sm['starpilotPlan'].slcSpeedLimit
+      if self.starpilot_toggles.speed_limit_controller:
+        desired_speed_limit += self.sm['starpilotPlan'].slcSpeedLimitOffset
      self.v_cruise_helper.initialize_v_cruise(
        self.CS_prev,
        self.experimental_mode,
@@ -9,6 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.starpilot.common.model_versions import is_tinygrad_model_version
+from openpilot.starpilot.controls.lib.hybrid_experimental_mode import HybridExperimentalMode
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
@@ -596,6 +597,7 @@ class LongitudinalPlanner:
    self.duplicate_vision_comfort_lead_source = None
    self.prev_experimental_mode = None
    self.experimental_release_accel_until = 0.0
+    self.hybrid_controller = HybridExperimentalMode()

    if self.is_preap:
      try:
@@ -1936,6 +1938,7 @@ class LongitudinalPlanner:
      self.a_desired = np.clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1])
      self.model_allow_throttle = True
      self.model_allow_throttle_transition_t = 0.0
+      self.hybrid_controller.reset(float(self.a_desired))

    # Prevent divergence, smooth in current v_ego
    self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
@@ -2284,26 +2287,42 @@ class LongitudinalPlanner:
      model_launch_accel = self.get_model_launch_accel(model_launch_v, model_launch_a, action_t, scene_v_ego)

    if classic_model:
-      output_a_target, output_should_stop = get_accel_from_plan_classic(
+      output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan_classic(
        self.CP, self.v_desired_trajectory, self.a_desired_trajectory, starpilot_toggles.vEgoStopping)
    elif tinygrad_model:
      output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(
        self.v_desired_trajectory, self.a_desired_trajectory,
        action_t=action_t, vEgoStopping=starpilot_toggles.vEgoStopping)
-      output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
-      output_should_stop_e2e = sm['modelV2'].action.shouldStop
-
-      if self.mode == 'acc' or self.generation == 'v9':
-        output_a_target = output_a_target_mpc
-        output_should_stop = output_should_stop_mpc
-      else:
-        output_a_target = min(output_a_target_mpc, output_a_target_e2e)
-        output_should_stop = output_should_stop_e2e or output_should_stop_mpc
    else:
-      output_a_target, output_should_stop = get_accel_from_plan(
+      output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(
        self.v_desired_trajectory, self.a_desired_trajectory,
        action_t=action_t, vEgoStopping=starpilot_toggles.vEgoStopping)

+    if bool(getattr(starpilot_toggles, "hybrid_experimental_mode", False)):
+      self.hybrid_controller.set_tuning(
+        getattr(starpilot_toggles, "hybrid_exp_bias", 0.0),
+        getattr(starpilot_toggles, "hybrid_vision_brake_sensitivity", 1.0),
+      )
+      output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+      output_should_stop_e2e = sm['modelV2'].action.shouldStop
+      output_a_target = self.hybrid_controller.update(
+        v_ego=scene_v_ego,
+        v_cruise=v_cruise,
+        lead_one=self.lead_one,
+        model_v2=sm['modelV2'],
+        a_chill=output_a_target_mpc,
+        a_exp=output_a_target_e2e,
+      )
+      output_should_stop = output_should_stop_mpc or output_should_stop_e2e
+    elif tinygrad_model and self.mode != 'acc' and self.generation != 'v9':
+      output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+      output_should_stop_e2e = sm['modelV2'].action.shouldStop
+      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
+      output_should_stop = output_should_stop_e2e or output_should_stop_mpc
+    else:
+      output_a_target = output_a_target_mpc
+      output_should_stop = output_should_stop_mpc
+
    comfort_output_accel_min = get_vehicle_min_accel(self.CP, v_ego) if experimental_mlsim else accel_limits_turns[0]
    vision_cap_accel_min = min(comfort_output_accel_min, get_vehicle_min_accel(self.CP, v_ego))
    output_accel_min = comfort_output_accel_min
@@ -514,6 +514,46 @@ def test_experimental_mlsim_uses_vehicle_min_accel_floor(model_version):
  assert planner.output_a_target < comfort_min_accel


+def test_hybrid_mode_shields_unconfirmed_vision_braking():
+  v_ego = 20.0
+  desired_accel = -2.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+
+  # Hybrid mode clamps unconfirmed vision braking to a gentle coast (no lead,
+  # model not predicting a stop), instead of passing the raw E2E target.
+  hybrid_toggles = SimpleNamespace(**vars(make_toggles("v11")), hybrid_experimental_mode=True)
+  planner_hybrid = LongitudinalPlanner(CP, init_v=v_ego)
+  sm = make_sm(v_ego, desired_accel, -2.0, experimental_mode=False)
+  planner_hybrid.update(sm, hybrid_toggles)
+  assert planner_hybrid.mode == "acc"
+  assert planner_hybrid.output_a_target >= -0.6
+
+  # Without the hybrid shield, experimental mode lets the raw E2E target through.
+  planner_exp = LongitudinalPlanner(CP, init_v=v_ego)
+  sm_exp = make_sm(v_ego, desired_accel, -2.0, experimental_mode=True)
+  planner_exp.update(sm_exp, make_toggles("v11"))
+  assert planner_exp.output_a_target <= -1.5
+
+
+def test_hybrid_mode_arbitrates_vision_braking_with_lead():
+  v_ego = 20.0
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  hybrid_toggles = SimpleNamespace(**vars(make_toggles("v11")), hybrid_experimental_mode=True)
+
+  # With a tracked lead, the hybrid grants full E2E braking authority.
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  sm = make_sm(
+    v_ego,
+    desired_accel=-2.0,
+    min_accel=-2.0,
+    experimental_mode=False,
+    tracking_lead=True,
+    lead_one=make_lead(status=True, d_rel=30.0, v_lead=10.0),
+  )
+  planner.update(sm, hybrid_toggles)
+  assert planner.output_a_target < 0.0
+
+
 def test_gm_pedal_vehicle_min_accel_uses_brand_when_car_name_is_missing():
  CP = SimpleNamespace(
    carName=None,
@@ -175,6 +175,23 @@ def test_lateral_resume_delay_ignores_signal_cycles_that_never_slow_enough(monke
    planner.shutdown()


+def test_hybrid_mode_runs_continuous_controller(monkeypatch):
+  planner = make_planner(monkeypatch)
+  monkeypatch.setattr(planner.starpilot_cem, "update", lambda *args, **kwargs: None)
+
+  try:
+    toggles = make_toggles(hybrid_experimental_mode=True)
+
+    planner.update(0.0, False, make_sm(planner, frame=1, v_ego=20.0, left_blinker=False), toggles)
+
+    assert planner.hybrid_controller is not None
+    assert planner.hybrid_acceleration != 0.0
+    assert planner.starpilot_ccm.experimental_mode is False
+    assert planner.starpilot_cem.experimental_mode is False
+  finally:
+    planner.shutdown()
+
+
 def test_radarless_follow_hold_applies_to_tracked_vision_lead(monkeypatch):
  planner = StarPilotPlanner(Path("/tmp/nonexistent"), DummyThemeManager())

@@ -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_7084348270501559549) {
-   out_7084348270501559549[0] = delta_x[0] + nom_x[0];
-   out_7084348270501559549[1] = delta_x[1] + nom_x[1];
-   out_7084348270501559549[2] = delta_x[2] + nom_x[2];
-   out_7084348270501559549[3] = delta_x[3] + nom_x[3];
-   out_7084348270501559549[4] = delta_x[4] + nom_x[4];
-   out_7084348270501559549[5] = delta_x[5] + nom_x[5];
-   out_7084348270501559549[6] = delta_x[6] + nom_x[6];
-   out_7084348270501559549[7] = delta_x[7] + nom_x[7];
-   out_7084348270501559549[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_8339538066892951453) {
+   out_8339538066892951453[0] = delta_x[0] + nom_x[0];
+   out_8339538066892951453[1] = delta_x[1] + nom_x[1];
+   out_8339538066892951453[2] = delta_x[2] + nom_x[2];
+   out_8339538066892951453[3] = delta_x[3] + nom_x[3];
+   out_8339538066892951453[4] = delta_x[4] + nom_x[4];
+   out_8339538066892951453[5] = delta_x[5] + nom_x[5];
+   out_8339538066892951453[6] = delta_x[6] + nom_x[6];
+   out_8339538066892951453[7] = delta_x[7] + nom_x[7];
+   out_8339538066892951453[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199) {
-   out_693097121251649199[0] = -nom_x[0] + true_x[0];
-   out_693097121251649199[1] = -nom_x[1] + true_x[1];
-   out_693097121251649199[2] = -nom_x[2] + true_x[2];
-   out_693097121251649199[3] = -nom_x[3] + true_x[3];
-   out_693097121251649199[4] = -nom_x[4] + true_x[4];
-   out_693097121251649199[5] = -nom_x[5] + true_x[5];
-   out_693097121251649199[6] = -nom_x[6] + true_x[6];
-   out_693097121251649199[7] = -nom_x[7] + true_x[7];
-   out_693097121251649199[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489) {
+   out_1869575881362213489[0] = -nom_x[0] + true_x[0];
+   out_1869575881362213489[1] = -nom_x[1] + true_x[1];
+   out_1869575881362213489[2] = -nom_x[2] + true_x[2];
+   out_1869575881362213489[3] = -nom_x[3] + true_x[3];
+   out_1869575881362213489[4] = -nom_x[4] + true_x[4];
+   out_1869575881362213489[5] = -nom_x[5] + true_x[5];
+   out_1869575881362213489[6] = -nom_x[6] + true_x[6];
+   out_1869575881362213489[7] = -nom_x[7] + true_x[7];
+   out_1869575881362213489[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_1623843232183312219) {
-   out_1623843232183312219[0] = 1.0;
-   out_1623843232183312219[1] = 0.0;
-   out_1623843232183312219[2] = 0.0;
-   out_1623843232183312219[3] = 0.0;
-   out_1623843232183312219[4] = 0.0;
-   out_1623843232183312219[5] = 0.0;
-   out_1623843232183312219[6] = 0.0;
-   out_1623843232183312219[7] = 0.0;
-   out_1623843232183312219[8] = 0.0;
-   out_1623843232183312219[9] = 0.0;
-   out_1623843232183312219[10] = 1.0;
-   out_1623843232183312219[11] = 0.0;
-   out_1623843232183312219[12] = 0.0;
-   out_1623843232183312219[13] = 0.0;
-   out_1623843232183312219[14] = 0.0;
-   out_1623843232183312219[15] = 0.0;
-   out_1623843232183312219[16] = 0.0;
-   out_1623843232183312219[17] = 0.0;
-   out_1623843232183312219[18] = 0.0;
-   out_1623843232183312219[19] = 0.0;
-   out_1623843232183312219[20] = 1.0;
-   out_1623843232183312219[21] = 0.0;
-   out_1623843232183312219[22] = 0.0;
-   out_1623843232183312219[23] = 0.0;
-   out_1623843232183312219[24] = 0.0;
-   out_1623843232183312219[25] = 0.0;
-   out_1623843232183312219[26] = 0.0;
-   out_1623843232183312219[27] = 0.0;
-   out_1623843232183312219[28] = 0.0;
-   out_1623843232183312219[29] = 0.0;
-   out_1623843232183312219[30] = 1.0;
-   out_1623843232183312219[31] = 0.0;
-   out_1623843232183312219[32] = 0.0;
-   out_1623843232183312219[33] = 0.0;
-   out_1623843232183312219[34] = 0.0;
-   out_1623843232183312219[35] = 0.0;
-   out_1623843232183312219[36] = 0.0;
-   out_1623843232183312219[37] = 0.0;
-   out_1623843232183312219[38] = 0.0;
-   out_1623843232183312219[39] = 0.0;
-   out_1623843232183312219[40] = 1.0;
-   out_1623843232183312219[41] = 0.0;
-   out_1623843232183312219[42] = 0.0;
-   out_1623843232183312219[43] = 0.0;
-   out_1623843232183312219[44] = 0.0;
-   out_1623843232183312219[45] = 0.0;
-   out_1623843232183312219[46] = 0.0;
-   out_1623843232183312219[47] = 0.0;
-   out_1623843232183312219[48] = 0.0;
-   out_1623843232183312219[49] = 0.0;
-   out_1623843232183312219[50] = 1.0;
-   out_1623843232183312219[51] = 0.0;
-   out_1623843232183312219[52] = 0.0;
-   out_1623843232183312219[53] = 0.0;
-   out_1623843232183312219[54] = 0.0;
-   out_1623843232183312219[55] = 0.0;
-   out_1623843232183312219[56] = 0.0;
-   out_1623843232183312219[57] = 0.0;
-   out_1623843232183312219[58] = 0.0;
-   out_1623843232183312219[59] = 0.0;
-   out_1623843232183312219[60] = 1.0;
-   out_1623843232183312219[61] = 0.0;
-   out_1623843232183312219[62] = 0.0;
-   out_1623843232183312219[63] = 0.0;
-   out_1623843232183312219[64] = 0.0;
-   out_1623843232183312219[65] = 0.0;
-   out_1623843232183312219[66] = 0.0;
-   out_1623843232183312219[67] = 0.0;
-   out_1623843232183312219[68] = 0.0;
-   out_1623843232183312219[69] = 0.0;
-   out_1623843232183312219[70] = 1.0;
-   out_1623843232183312219[71] = 0.0;
-   out_1623843232183312219[72] = 0.0;
-   out_1623843232183312219[73] = 0.0;
-   out_1623843232183312219[74] = 0.0;
-   out_1623843232183312219[75] = 0.0;
-   out_1623843232183312219[76] = 0.0;
-   out_1623843232183312219[77] = 0.0;
-   out_1623843232183312219[78] = 0.0;
-   out_1623843232183312219[79] = 0.0;
-   out_1623843232183312219[80] = 1.0;
+void H_mod_fun(double *state, double *out_4134445094065349854) {
+   out_4134445094065349854[0] = 1.0;
+   out_4134445094065349854[1] = 0.0;
+   out_4134445094065349854[2] = 0.0;
+   out_4134445094065349854[3] = 0.0;
+   out_4134445094065349854[4] = 0.0;
+   out_4134445094065349854[5] = 0.0;
+   out_4134445094065349854[6] = 0.0;
+   out_4134445094065349854[7] = 0.0;
+   out_4134445094065349854[8] = 0.0;
+   out_4134445094065349854[9] = 0.0;
+   out_4134445094065349854[10] = 1.0;
+   out_4134445094065349854[11] = 0.0;
+   out_4134445094065349854[12] = 0.0;
+   out_4134445094065349854[13] = 0.0;
+   out_4134445094065349854[14] = 0.0;
+   out_4134445094065349854[15] = 0.0;
+   out_4134445094065349854[16] = 0.0;
+   out_4134445094065349854[17] = 0.0;
+   out_4134445094065349854[18] = 0.0;
+   out_4134445094065349854[19] = 0.0;
+   out_4134445094065349854[20] = 1.0;
+   out_4134445094065349854[21] = 0.0;
+   out_4134445094065349854[22] = 0.0;
+   out_4134445094065349854[23] = 0.0;
+   out_4134445094065349854[24] = 0.0;
+   out_4134445094065349854[25] = 0.0;
+   out_4134445094065349854[26] = 0.0;
+   out_4134445094065349854[27] = 0.0;
+   out_4134445094065349854[28] = 0.0;
+   out_4134445094065349854[29] = 0.0;
+   out_4134445094065349854[30] = 1.0;
+   out_4134445094065349854[31] = 0.0;
+   out_4134445094065349854[32] = 0.0;
+   out_4134445094065349854[33] = 0.0;
+   out_4134445094065349854[34] = 0.0;
+   out_4134445094065349854[35] = 0.0;
+   out_4134445094065349854[36] = 0.0;
+   out_4134445094065349854[37] = 0.0;
+   out_4134445094065349854[38] = 0.0;
+   out_4134445094065349854[39] = 0.0;
+   out_4134445094065349854[40] = 1.0;
+   out_4134445094065349854[41] = 0.0;
+   out_4134445094065349854[42] = 0.0;
+   out_4134445094065349854[43] = 0.0;
+   out_4134445094065349854[44] = 0.0;
+   out_4134445094065349854[45] = 0.0;
+   out_4134445094065349854[46] = 0.0;
+   out_4134445094065349854[47] = 0.0;
+   out_4134445094065349854[48] = 0.0;
+   out_4134445094065349854[49] = 0.0;
+   out_4134445094065349854[50] = 1.0;
+   out_4134445094065349854[51] = 0.0;
+   out_4134445094065349854[52] = 0.0;
+   out_4134445094065349854[53] = 0.0;
+   out_4134445094065349854[54] = 0.0;
+   out_4134445094065349854[55] = 0.0;
+   out_4134445094065349854[56] = 0.0;
+   out_4134445094065349854[57] = 0.0;
+   out_4134445094065349854[58] = 0.0;
+   out_4134445094065349854[59] = 0.0;
+   out_4134445094065349854[60] = 1.0;
+   out_4134445094065349854[61] = 0.0;
+   out_4134445094065349854[62] = 0.0;
+   out_4134445094065349854[63] = 0.0;
+   out_4134445094065349854[64] = 0.0;
+   out_4134445094065349854[65] = 0.0;
+   out_4134445094065349854[66] = 0.0;
+   out_4134445094065349854[67] = 0.0;
+   out_4134445094065349854[68] = 0.0;
+   out_4134445094065349854[69] = 0.0;
+   out_4134445094065349854[70] = 1.0;
+   out_4134445094065349854[71] = 0.0;
+   out_4134445094065349854[72] = 0.0;
+   out_4134445094065349854[73] = 0.0;
+   out_4134445094065349854[74] = 0.0;
+   out_4134445094065349854[75] = 0.0;
+   out_4134445094065349854[76] = 0.0;
+   out_4134445094065349854[77] = 0.0;
+   out_4134445094065349854[78] = 0.0;
+   out_4134445094065349854[79] = 0.0;
+   out_4134445094065349854[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_1622952619636770739) {
-   out_1622952619636770739[0] = state[0];
-   out_1622952619636770739[1] = state[1];
-   out_1622952619636770739[2] = state[2];
-   out_1622952619636770739[3] = state[3];
-   out_1622952619636770739[4] = state[4];
-   out_1622952619636770739[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_1622952619636770739[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_1622952619636770739[7] = state[7];
-   out_1622952619636770739[8] = state[8];
+void f_fun(double *state, double dt, double *out_1187519494066628558) {
+   out_1187519494066628558[0] = state[0];
+   out_1187519494066628558[1] = state[1];
+   out_1187519494066628558[2] = state[2];
+   out_1187519494066628558[3] = state[3];
+   out_1187519494066628558[4] = state[4];
+   out_1187519494066628558[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_1187519494066628558[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_1187519494066628558[7] = state[7];
+   out_1187519494066628558[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_7142842168519911469) {
-   out_7142842168519911469[0] = 1;
-   out_7142842168519911469[1] = 0;
-   out_7142842168519911469[2] = 0;
-   out_7142842168519911469[3] = 0;
-   out_7142842168519911469[4] = 0;
-   out_7142842168519911469[5] = 0;
-   out_7142842168519911469[6] = 0;
-   out_7142842168519911469[7] = 0;
-   out_7142842168519911469[8] = 0;
-   out_7142842168519911469[9] = 0;
-   out_7142842168519911469[10] = 1;
-   out_7142842168519911469[11] = 0;
-   out_7142842168519911469[12] = 0;
-   out_7142842168519911469[13] = 0;
-   out_7142842168519911469[14] = 0;
-   out_7142842168519911469[15] = 0;
-   out_7142842168519911469[16] = 0;
-   out_7142842168519911469[17] = 0;
-   out_7142842168519911469[18] = 0;
-   out_7142842168519911469[19] = 0;
-   out_7142842168519911469[20] = 1;
-   out_7142842168519911469[21] = 0;
-   out_7142842168519911469[22] = 0;
-   out_7142842168519911469[23] = 0;
-   out_7142842168519911469[24] = 0;
-   out_7142842168519911469[25] = 0;
-   out_7142842168519911469[26] = 0;
-   out_7142842168519911469[27] = 0;
-   out_7142842168519911469[28] = 0;
-   out_7142842168519911469[29] = 0;
-   out_7142842168519911469[30] = 1;
-   out_7142842168519911469[31] = 0;
-   out_7142842168519911469[32] = 0;
-   out_7142842168519911469[33] = 0;
-   out_7142842168519911469[34] = 0;
-   out_7142842168519911469[35] = 0;
-   out_7142842168519911469[36] = 0;
-   out_7142842168519911469[37] = 0;
-   out_7142842168519911469[38] = 0;
-   out_7142842168519911469[39] = 0;
-   out_7142842168519911469[40] = 1;
-   out_7142842168519911469[41] = 0;
-   out_7142842168519911469[42] = 0;
-   out_7142842168519911469[43] = 0;
-   out_7142842168519911469[44] = 0;
-   out_7142842168519911469[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_7142842168519911469[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_7142842168519911469[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7142842168519911469[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7142842168519911469[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_7142842168519911469[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_7142842168519911469[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_7142842168519911469[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7142842168519911469[53] = -9.8100000000000005*dt;
-   out_7142842168519911469[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_7142842168519911469[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_7142842168519911469[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7142842168519911469[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7142842168519911469[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_7142842168519911469[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_7142842168519911469[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_7142842168519911469[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7142842168519911469[62] = 0;
-   out_7142842168519911469[63] = 0;
-   out_7142842168519911469[64] = 0;
-   out_7142842168519911469[65] = 0;
-   out_7142842168519911469[66] = 0;
-   out_7142842168519911469[67] = 0;
-   out_7142842168519911469[68] = 0;
-   out_7142842168519911469[69] = 0;
-   out_7142842168519911469[70] = 1;
-   out_7142842168519911469[71] = 0;
-   out_7142842168519911469[72] = 0;
-   out_7142842168519911469[73] = 0;
-   out_7142842168519911469[74] = 0;
-   out_7142842168519911469[75] = 0;
-   out_7142842168519911469[76] = 0;
-   out_7142842168519911469[77] = 0;
-   out_7142842168519911469[78] = 0;
-   out_7142842168519911469[79] = 0;
-   out_7142842168519911469[80] = 1;
+void F_fun(double *state, double dt, double *out_638221139616797346) {
+   out_638221139616797346[0] = 1;
+   out_638221139616797346[1] = 0;
+   out_638221139616797346[2] = 0;
+   out_638221139616797346[3] = 0;
+   out_638221139616797346[4] = 0;
+   out_638221139616797346[5] = 0;
+   out_638221139616797346[6] = 0;
+   out_638221139616797346[7] = 0;
+   out_638221139616797346[8] = 0;
+   out_638221139616797346[9] = 0;
+   out_638221139616797346[10] = 1;
+   out_638221139616797346[11] = 0;
+   out_638221139616797346[12] = 0;
+   out_638221139616797346[13] = 0;
+   out_638221139616797346[14] = 0;
+   out_638221139616797346[15] = 0;
+   out_638221139616797346[16] = 0;
+   out_638221139616797346[17] = 0;
+   out_638221139616797346[18] = 0;
+   out_638221139616797346[19] = 0;
+   out_638221139616797346[20] = 1;
+   out_638221139616797346[21] = 0;
+   out_638221139616797346[22] = 0;
+   out_638221139616797346[23] = 0;
+   out_638221139616797346[24] = 0;
+   out_638221139616797346[25] = 0;
+   out_638221139616797346[26] = 0;
+   out_638221139616797346[27] = 0;
+   out_638221139616797346[28] = 0;
+   out_638221139616797346[29] = 0;
+   out_638221139616797346[30] = 1;
+   out_638221139616797346[31] = 0;
+   out_638221139616797346[32] = 0;
+   out_638221139616797346[33] = 0;
+   out_638221139616797346[34] = 0;
+   out_638221139616797346[35] = 0;
+   out_638221139616797346[36] = 0;
+   out_638221139616797346[37] = 0;
+   out_638221139616797346[38] = 0;
+   out_638221139616797346[39] = 0;
+   out_638221139616797346[40] = 1;
+   out_638221139616797346[41] = 0;
+   out_638221139616797346[42] = 0;
+   out_638221139616797346[43] = 0;
+   out_638221139616797346[44] = 0;
+   out_638221139616797346[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_638221139616797346[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_638221139616797346[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_638221139616797346[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_638221139616797346[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_638221139616797346[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_638221139616797346[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_638221139616797346[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_638221139616797346[53] = -9.8100000000000005*dt;
+   out_638221139616797346[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_638221139616797346[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_638221139616797346[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_638221139616797346[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_638221139616797346[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_638221139616797346[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_638221139616797346[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_638221139616797346[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_638221139616797346[62] = 0;
+   out_638221139616797346[63] = 0;
+   out_638221139616797346[64] = 0;
+   out_638221139616797346[65] = 0;
+   out_638221139616797346[66] = 0;
+   out_638221139616797346[67] = 0;
+   out_638221139616797346[68] = 0;
+   out_638221139616797346[69] = 0;
+   out_638221139616797346[70] = 1;
+   out_638221139616797346[71] = 0;
+   out_638221139616797346[72] = 0;
+   out_638221139616797346[73] = 0;
+   out_638221139616797346[74] = 0;
+   out_638221139616797346[75] = 0;
+   out_638221139616797346[76] = 0;
+   out_638221139616797346[77] = 0;
+   out_638221139616797346[78] = 0;
+   out_638221139616797346[79] = 0;
+   out_638221139616797346[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_7699167154037203435) {
-   out_7699167154037203435[0] = state[6];
+void h_25(double *state, double *unused, double *out_6007362445110034756) {
+   out_6007362445110034756[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_1899137417806179458) {
-   out_1899137417806179458[0] = 0;
-   out_1899137417806179458[1] = 0;
-   out_1899137417806179458[2] = 0;
-   out_1899137417806179458[3] = 0;
-   out_1899137417806179458[4] = 0;
-   out_1899137417806179458[5] = 0;
-   out_1899137417806179458[6] = 1;
-   out_1899137417806179458[7] = 0;
-   out_1899137417806179458[8] = 0;
+void H_25(double *state, double *unused, double *out_5119110753731964525) {
+   out_5119110753731964525[0] = 0;
+   out_5119110753731964525[1] = 0;
+   out_5119110753731964525[2] = 0;
+   out_5119110753731964525[3] = 0;
+   out_5119110753731964525[4] = 0;
+   out_5119110753731964525[5] = 0;
+   out_5119110753731964525[6] = 1;
+   out_5119110753731964525[7] = 0;
+   out_5119110753731964525[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_5775267180984789848) {
-   out_5775267180984789848[0] = state[4];
-   out_5775267180984789848[1] = state[5];
+void h_24(double *state, double *unused, double *out_5449620096162801389) {
+   out_5449620096162801389[0] = state[4];
+   out_5449620096162801389[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_273512181199320108) {
-   out_273512181199320108[0] = 0;
-   out_273512181199320108[1] = 0;
-   out_273512181199320108[2] = 0;
-   out_273512181199320108[3] = 0;
-   out_273512181199320108[4] = 1;
-   out_273512181199320108[5] = 0;
-   out_273512181199320108[6] = 0;
-   out_273512181199320108[7] = 0;
-   out_273512181199320108[8] = 0;
-   out_273512181199320108[9] = 0;
-   out_273512181199320108[10] = 0;
-   out_273512181199320108[11] = 0;
-   out_273512181199320108[12] = 0;
-   out_273512181199320108[13] = 0;
-   out_273512181199320108[14] = 1;
-   out_273512181199320108[15] = 0;
-   out_273512181199320108[16] = 0;
-   out_273512181199320108[17] = 0;
+void H_24(double *state, double *unused, double *out_2946461154726464959) {
+   out_2946461154726464959[0] = 0;
+   out_2946461154726464959[1] = 0;
+   out_2946461154726464959[2] = 0;
+   out_2946461154726464959[3] = 0;
+   out_2946461154726464959[4] = 1;
+   out_2946461154726464959[5] = 0;
+   out_2946461154726464959[6] = 0;
+   out_2946461154726464959[7] = 0;
+   out_2946461154726464959[8] = 0;
+   out_2946461154726464959[9] = 0;
+   out_2946461154726464959[10] = 0;
+   out_2946461154726464959[11] = 0;
+   out_2946461154726464959[12] = 0;
+   out_2946461154726464959[13] = 0;
+   out_2946461154726464959[14] = 1;
+   out_2946461154726464959[15] = 0;
+   out_2946461154726464959[16] = 0;
+   out_2946461154726464959[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_940710322681338449) {
-   out_940710322681338449[0] = state[4];
+void h_30(double *state, double *unused, double *out_2369912916856012406) {
+   out_2369912916856012406[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_8815827759297796213) {
-   out_8815827759297796213[0] = 0;
-   out_8815827759297796213[1] = 0;
-   out_8815827759297796213[2] = 0;
-   out_8815827759297796213[3] = 0;
-   out_8815827759297796213[4] = 1;
-   out_8815827759297796213[5] = 0;
-   out_8815827759297796213[6] = 0;
-   out_8815827759297796213[7] = 0;
-   out_8815827759297796213[8] = 0;
+void H_30(double *state, double *unused, double *out_7637443712239213152) {
+   out_7637443712239213152[0] = 0;
+   out_7637443712239213152[1] = 0;
+   out_7637443712239213152[2] = 0;
+   out_7637443712239213152[3] = 0;
+   out_7637443712239213152[4] = 1;
+   out_7637443712239213152[5] = 0;
+   out_7637443712239213152[6] = 0;
+   out_7637443712239213152[7] = 0;
+   out_7637443712239213152[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_1922794416016636561) {
-   out_1922794416016636561[0] = state[7];
+void h_26(double *state, double *unused, double *out_6836290203325307661) {
+   out_6836290203325307661[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_1842365901067876766) {
-   out_1842365901067876766[0] = 0;
-   out_1842365901067876766[1] = 0;
-   out_1842365901067876766[2] = 0;
-   out_1842365901067876766[3] = 0;
-   out_1842365901067876766[4] = 0;
-   out_1842365901067876766[5] = 0;
-   out_1842365901067876766[6] = 0;
-   out_1842365901067876766[7] = 1;
-   out_1842365901067876766[8] = 0;
+void H_26(double *state, double *unused, double *out_1377607434857908301) {
+   out_1377607434857908301[0] = 0;
+   out_1377607434857908301[1] = 0;
+   out_1377607434857908301[2] = 0;
+   out_1377607434857908301[3] = 0;
+   out_1377607434857908301[4] = 0;
+   out_1377607434857908301[5] = 0;
+   out_1377607434857908301[6] = 0;
+   out_1377607434857908301[7] = 1;
+   out_1377607434857908301[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3098231746361013839) {
-   out_3098231746361013839[0] = state[3];
+void h_27(double *state, double *unused, double *out_2710474474758657570) {
+   out_2710474474758657570[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_6641064447497371302) {
-   out_6641064447497371302[0] = 0;
-   out_6641064447497371302[1] = 0;
-   out_6641064447497371302[2] = 0;
-   out_6641064447497371302[3] = 1;
-   out_6641064447497371302[4] = 0;
-   out_6641064447497371302[5] = 0;
-   out_6641064447497371302[6] = 0;
-   out_6641064447497371302[7] = 0;
-   out_6641064447497371302[8] = 0;
+void H_27(double *state, double *unused, double *out_8585706290286395247) {
+   out_8585706290286395247[0] = 0;
+   out_8585706290286395247[1] = 0;
+   out_8585706290286395247[2] = 0;
+   out_8585706290286395247[3] = 1;
+   out_8585706290286395247[4] = 0;
+   out_8585706290286395247[5] = 0;
+   out_8585706290286395247[6] = 0;
+   out_8585706290286395247[7] = 0;
+   out_8585706290286395247[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_539217781893008511) {
-   out_539217781893008511[0] = state[1];
+void h_29(double *state, double *unused, double *out_1542363084005055587) {
+   out_1542363084005055587[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_4927701720627820269) {
-   out_4927701720627820269[0] = 0;
-   out_4927701720627820269[1] = 1;
-   out_4927701720627820269[2] = 0;
-   out_4927701720627820269[3] = 0;
-   out_4927701720627820269[4] = 0;
-   out_4927701720627820269[5] = 0;
-   out_4927701720627820269[6] = 0;
-   out_4927701720627820269[7] = 0;
-   out_4927701720627820269[8] = 0;
+void H_29(double *state, double *unused, double *out_8147675056553605336) {
+   out_8147675056553605336[0] = 0;
+   out_8147675056553605336[1] = 1;
+   out_8147675056553605336[2] = 0;
+   out_8147675056553605336[3] = 0;
+   out_8147675056553605336[4] = 0;
+   out_8147675056553605336[5] = 0;
+   out_8147675056553605336[6] = 0;
+   out_8147675056553605336[7] = 0;
+   out_8147675056553605336[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_822702928747961705) {
-   out_822702928747961705[0] = state[0];
+void h_28(double *state, double *unused, double *out_7712147742419503215) {
+   out_7712147742419503215[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_154697296441710305) {
-   out_154697296441710305[0] = 1;
-   out_154697296441710305[1] = 0;
-   out_154697296441710305[2] = 0;
-   out_154697296441710305[3] = 0;
-   out_154697296441710305[4] = 0;
-   out_154697296441710305[5] = 0;
-   out_154697296441710305[6] = 0;
-   out_154697296441710305[7] = 0;
-   out_154697296441710305[8] = 0;
+void H_28(double *state, double *unused, double *out_3065276039484074762) {
+   out_3065276039484074762[0] = 1;
+   out_3065276039484074762[1] = 0;
+   out_3065276039484074762[2] = 0;
+   out_3065276039484074762[3] = 0;
+   out_3065276039484074762[4] = 0;
+   out_3065276039484074762[5] = 0;
+   out_3065276039484074762[6] = 0;
+   out_3065276039484074762[7] = 0;
+   out_3065276039484074762[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_6649273621392976317) {
-   out_6649273621392976317[0] = state[8];
+void h_31(double *state, double *unused, double *out_6282556507394540645) {
+   out_6282556507394540645[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_1929783379683139886) {
-   out_1929783379683139886[0] = 0;
-   out_1929783379683139886[1] = 0;
-   out_1929783379683139886[2] = 0;
-   out_1929783379683139886[3] = 0;
-   out_1929783379683139886[4] = 0;
-   out_1929783379683139886[5] = 0;
-   out_1929783379683139886[6] = 0;
-   out_1929783379683139886[7] = 0;
-   out_1929783379683139886[8] = 1;
+void H_31(double *state, double *unused, double *out_5149756715608924953) {
+   out_5149756715608924953[0] = 0;
+   out_5149756715608924953[1] = 0;
+   out_5149756715608924953[2] = 0;
+   out_5149756715608924953[3] = 0;
+   out_5149756715608924953[4] = 0;
+   out_5149756715608924953[5] = 0;
+   out_5149756715608924953[6] = 0;
+   out_5149756715608924953[7] = 0;
+   out_5149756715608924953[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_7084348270501559549) {
-  err_fun(nom_x, delta_x, out_7084348270501559549);
+void car_err_fun(double *nom_x, double *delta_x, double *out_8339538066892951453) {
+  err_fun(nom_x, delta_x, out_8339538066892951453);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199) {
-  inv_err_fun(nom_x, true_x, out_693097121251649199);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489) {
+  inv_err_fun(nom_x, true_x, out_1869575881362213489);
 }
-void car_H_mod_fun(double *state, double *out_1623843232183312219) {
-  H_mod_fun(state, out_1623843232183312219);
+void car_H_mod_fun(double *state, double *out_4134445094065349854) {
+  H_mod_fun(state, out_4134445094065349854);
 }
-void car_f_fun(double *state, double dt, double *out_1622952619636770739) {
-  f_fun(state,  dt, out_1622952619636770739);
+void car_f_fun(double *state, double dt, double *out_1187519494066628558) {
+  f_fun(state,  dt, out_1187519494066628558);
 }
-void car_F_fun(double *state, double dt, double *out_7142842168519911469) {
-  F_fun(state,  dt, out_7142842168519911469);
+void car_F_fun(double *state, double dt, double *out_638221139616797346) {
+  F_fun(state,  dt, out_638221139616797346);
 }
-void car_h_25(double *state, double *unused, double *out_7699167154037203435) {
-  h_25(state, unused, out_7699167154037203435);
+void car_h_25(double *state, double *unused, double *out_6007362445110034756) {
+  h_25(state, unused, out_6007362445110034756);
 }
-void car_H_25(double *state, double *unused, double *out_1899137417806179458) {
-  H_25(state, unused, out_1899137417806179458);
+void car_H_25(double *state, double *unused, double *out_5119110753731964525) {
+  H_25(state, unused, out_5119110753731964525);
 }
-void car_h_24(double *state, double *unused, double *out_5775267180984789848) {
-  h_24(state, unused, out_5775267180984789848);
+void car_h_24(double *state, double *unused, double *out_5449620096162801389) {
+  h_24(state, unused, out_5449620096162801389);
 }
-void car_H_24(double *state, double *unused, double *out_273512181199320108) {
-  H_24(state, unused, out_273512181199320108);
+void car_H_24(double *state, double *unused, double *out_2946461154726464959) {
+  H_24(state, unused, out_2946461154726464959);
 }
-void car_h_30(double *state, double *unused, double *out_940710322681338449) {
-  h_30(state, unused, out_940710322681338449);
+void car_h_30(double *state, double *unused, double *out_2369912916856012406) {
+  h_30(state, unused, out_2369912916856012406);
 }
-void car_H_30(double *state, double *unused, double *out_8815827759297796213) {
-  H_30(state, unused, out_8815827759297796213);
+void car_H_30(double *state, double *unused, double *out_7637443712239213152) {
+  H_30(state, unused, out_7637443712239213152);
 }
-void car_h_26(double *state, double *unused, double *out_1922794416016636561) {
-  h_26(state, unused, out_1922794416016636561);
+void car_h_26(double *state, double *unused, double *out_6836290203325307661) {
+  h_26(state, unused, out_6836290203325307661);
 }
-void car_H_26(double *state, double *unused, double *out_1842365901067876766) {
-  H_26(state, unused, out_1842365901067876766);
+void car_H_26(double *state, double *unused, double *out_1377607434857908301) {
+  H_26(state, unused, out_1377607434857908301);
 }
-void car_h_27(double *state, double *unused, double *out_3098231746361013839) {
-  h_27(state, unused, out_3098231746361013839);
+void car_h_27(double *state, double *unused, double *out_2710474474758657570) {
+  h_27(state, unused, out_2710474474758657570);
 }
-void car_H_27(double *state, double *unused, double *out_6641064447497371302) {
-  H_27(state, unused, out_6641064447497371302);
+void car_H_27(double *state, double *unused, double *out_8585706290286395247) {
+  H_27(state, unused, out_8585706290286395247);
 }
-void car_h_29(double *state, double *unused, double *out_539217781893008511) {
-  h_29(state, unused, out_539217781893008511);
+void car_h_29(double *state, double *unused, double *out_1542363084005055587) {
+  h_29(state, unused, out_1542363084005055587);
 }
-void car_H_29(double *state, double *unused, double *out_4927701720627820269) {
-  H_29(state, unused, out_4927701720627820269);
+void car_H_29(double *state, double *unused, double *out_8147675056553605336) {
+  H_29(state, unused, out_8147675056553605336);
 }
-void car_h_28(double *state, double *unused, double *out_822702928747961705) {
-  h_28(state, unused, out_822702928747961705);
+void car_h_28(double *state, double *unused, double *out_7712147742419503215) {
+  h_28(state, unused, out_7712147742419503215);
 }
-void car_H_28(double *state, double *unused, double *out_154697296441710305) {
-  H_28(state, unused, out_154697296441710305);
+void car_H_28(double *state, double *unused, double *out_3065276039484074762) {
+  H_28(state, unused, out_3065276039484074762);
 }
-void car_h_31(double *state, double *unused, double *out_6649273621392976317) {
-  h_31(state, unused, out_6649273621392976317);
+void car_h_31(double *state, double *unused, double *out_6282556507394540645) {
+  h_31(state, unused, out_6282556507394540645);
 }
-void car_H_31(double *state, double *unused, double *out_1929783379683139886) {
-  H_31(state, unused, out_1929783379683139886);
+void car_H_31(double *state, double *unused, double *out_5149756715608924953) {
+  H_31(state, unused, out_5149756715608924953);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
@@ -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_7084348270501559549);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_693097121251649199);
-void car_H_mod_fun(double *state, double *out_1623843232183312219);
-void car_f_fun(double *state, double dt, double *out_1622952619636770739);
-void car_F_fun(double *state, double dt, double *out_7142842168519911469);
-void car_h_25(double *state, double *unused, double *out_7699167154037203435);
-void car_H_25(double *state, double *unused, double *out_1899137417806179458);
-void car_h_24(double *state, double *unused, double *out_5775267180984789848);
-void car_H_24(double *state, double *unused, double *out_273512181199320108);
-void car_h_30(double *state, double *unused, double *out_940710322681338449);
-void car_H_30(double *state, double *unused, double *out_8815827759297796213);
-void car_h_26(double *state, double *unused, double *out_1922794416016636561);
-void car_H_26(double *state, double *unused, double *out_1842365901067876766);
-void car_h_27(double *state, double *unused, double *out_3098231746361013839);
-void car_H_27(double *state, double *unused, double *out_6641064447497371302);
-void car_h_29(double *state, double *unused, double *out_539217781893008511);
-void car_H_29(double *state, double *unused, double *out_4927701720627820269);
-void car_h_28(double *state, double *unused, double *out_822702928747961705);
-void car_H_28(double *state, double *unused, double *out_154697296441710305);
-void car_h_31(double *state, double *unused, double *out_6649273621392976317);
-void car_H_31(double *state, double *unused, double *out_1929783379683139886);
+void car_err_fun(double *nom_x, double *delta_x, double *out_8339538066892951453);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1869575881362213489);
+void car_H_mod_fun(double *state, double *out_4134445094065349854);
+void car_f_fun(double *state, double dt, double *out_1187519494066628558);
+void car_F_fun(double *state, double dt, double *out_638221139616797346);
+void car_h_25(double *state, double *unused, double *out_6007362445110034756);
+void car_H_25(double *state, double *unused, double *out_5119110753731964525);
+void car_h_24(double *state, double *unused, double *out_5449620096162801389);
+void car_H_24(double *state, double *unused, double *out_2946461154726464959);
+void car_h_30(double *state, double *unused, double *out_2369912916856012406);
+void car_H_30(double *state, double *unused, double *out_7637443712239213152);
+void car_h_26(double *state, double *unused, double *out_6836290203325307661);
+void car_H_26(double *state, double *unused, double *out_1377607434857908301);
+void car_h_27(double *state, double *unused, double *out_2710474474758657570);
+void car_H_27(double *state, double *unused, double *out_8585706290286395247);
+void car_h_29(double *state, double *unused, double *out_1542363084005055587);
+void car_H_29(double *state, double *unused, double *out_8147675056553605336);
+void car_h_28(double *state, double *unused, double *out_7712147742419503215);
+void car_H_28(double *state, double *unused, double *out_3065276039484074762);
+void car_h_31(double *state, double *unused, double *out_6282556507394540645);
+void car_H_31(double *state, double *unused, double *out_5149756715608924953);
 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);
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_2551549382290402050);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3575109948453160374);
-void pose_H_mod_fun(double *state, double *out_2954011976512996711);
-void pose_f_fun(double *state, double dt, double *out_4081841541460951824);
-void pose_F_fun(double *state, double dt, double *out_2326707394449301144);
-void pose_h_4(double *state, double *unused, double *out_5242858642703077087);
-void pose_H_4(double *state, double *unused, double *out_1660615060416319653);
-void pose_h_10(double *state, double *unused, double *out_8287724405821980303);
-void pose_H_10(double *state, double *unused, double *out_8634670991932313772);
-void pose_h_13(double *state, double *unused, double *out_936388540160520926);
-void pose_H_13(double *state, double *unused, double *out_4872888885748652454);
-void pose_h_14(double *state, double *unused, double *out_3784911557802666238);
-void pose_H_14(double *state, double *unused, double *out_5623855916755804182);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_8230036097863094971);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8741051770711475830);
+void pose_H_mod_fun(double *state, double *out_1900632188772248703);
+void pose_f_fun(double *state, double dt, double *out_3077738493587277525);
+void pose_F_fun(double *state, double dt, double *out_474426866180563475);
+void pose_h_4(double *state, double *unused, double *out_616527671886839495);
+void pose_H_4(double *state, double *unused, double *out_702684706889350599);
+void pose_h_10(double *state, double *unused, double *out_767369525646024651);
+void pose_H_10(double *state, double *unused, double *out_8347276505705953254);
+void pose_h_13(double *state, double *unused, double *out_7518652466578138352);
+void pose_H_13(double *state, double *unused, double *out_2509589118442982202);
+void pose_h_14(double *state, double *unused, double *out_7727744869207997497);
+void pose_H_14(double *state, double *unused, double *out_8183830522169091023);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
--- a/Show More
+++ b/Show More