SLC Alert QoL

build - first from me
big dipper
2026-09-06 16:13:48 +08:00 · 2026-09-06 02:04:33 -04:00 · 2026-09-06 01:58:30 -04:00 · 2026-09-06 01:35:01 -04:00
108 changed files with 1944 additions and 1404 deletions
@@ -310,6 +310,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
    {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
    {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_ADVANCED}},
    {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
    {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-cec1a0fb-DEBUG";
+const uint8_t gitversion[19] = "DEV-9cb1b6b1-DEBUG";
@@ -1 +1 @@
-DEV-cec1a0fb-DEBUG
+DEV-9cb1b6b1-DEBUG
@@ -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_5825026556611430403) {
-   out_5825026556611430403[0] = delta_x[0] + nom_x[0];
-   out_5825026556611430403[1] = delta_x[1] + nom_x[1];
-   out_5825026556611430403[2] = delta_x[2] + nom_x[2];
-   out_5825026556611430403[3] = delta_x[3] + nom_x[3];
-   out_5825026556611430403[4] = delta_x[4] + nom_x[4];
-   out_5825026556611430403[5] = delta_x[5] + nom_x[5];
-   out_5825026556611430403[6] = delta_x[6] + nom_x[6];
-   out_5825026556611430403[7] = delta_x[7] + nom_x[7];
-   out_5825026556611430403[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_694062864366320957) {
+   out_694062864366320957[0] = delta_x[0] + nom_x[0];
+   out_694062864366320957[1] = delta_x[1] + nom_x[1];
+   out_694062864366320957[2] = delta_x[2] + nom_x[2];
+   out_694062864366320957[3] = delta_x[3] + nom_x[3];
+   out_694062864366320957[4] = delta_x[4] + nom_x[4];
+   out_694062864366320957[5] = delta_x[5] + nom_x[5];
+   out_694062864366320957[6] = delta_x[6] + nom_x[6];
+   out_694062864366320957[7] = delta_x[7] + nom_x[7];
+   out_694062864366320957[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698) {
-   out_8876036798993240698[0] = -nom_x[0] + true_x[0];
-   out_8876036798993240698[1] = -nom_x[1] + true_x[1];
-   out_8876036798993240698[2] = -nom_x[2] + true_x[2];
-   out_8876036798993240698[3] = -nom_x[3] + true_x[3];
-   out_8876036798993240698[4] = -nom_x[4] + true_x[4];
-   out_8876036798993240698[5] = -nom_x[5] + true_x[5];
-   out_8876036798993240698[6] = -nom_x[6] + true_x[6];
-   out_8876036798993240698[7] = -nom_x[7] + true_x[7];
-   out_8876036798993240698[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_7656216431051591408) {
+   out_7656216431051591408[0] = -nom_x[0] + true_x[0];
+   out_7656216431051591408[1] = -nom_x[1] + true_x[1];
+   out_7656216431051591408[2] = -nom_x[2] + true_x[2];
+   out_7656216431051591408[3] = -nom_x[3] + true_x[3];
+   out_7656216431051591408[4] = -nom_x[4] + true_x[4];
+   out_7656216431051591408[5] = -nom_x[5] + true_x[5];
+   out_7656216431051591408[6] = -nom_x[6] + true_x[6];
+   out_7656216431051591408[7] = -nom_x[7] + true_x[7];
+   out_7656216431051591408[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_6203949078932441352) {
-   out_6203949078932441352[0] = 1.0;
-   out_6203949078932441352[1] = 0.0;
-   out_6203949078932441352[2] = 0.0;
-   out_6203949078932441352[3] = 0.0;
-   out_6203949078932441352[4] = 0.0;
-   out_6203949078932441352[5] = 0.0;
-   out_6203949078932441352[6] = 0.0;
-   out_6203949078932441352[7] = 0.0;
-   out_6203949078932441352[8] = 0.0;
-   out_6203949078932441352[9] = 0.0;
-   out_6203949078932441352[10] = 1.0;
-   out_6203949078932441352[11] = 0.0;
-   out_6203949078932441352[12] = 0.0;
-   out_6203949078932441352[13] = 0.0;
-   out_6203949078932441352[14] = 0.0;
-   out_6203949078932441352[15] = 0.0;
-   out_6203949078932441352[16] = 0.0;
-   out_6203949078932441352[17] = 0.0;
-   out_6203949078932441352[18] = 0.0;
-   out_6203949078932441352[19] = 0.0;
-   out_6203949078932441352[20] = 1.0;
-   out_6203949078932441352[21] = 0.0;
-   out_6203949078932441352[22] = 0.0;
-   out_6203949078932441352[23] = 0.0;
-   out_6203949078932441352[24] = 0.0;
-   out_6203949078932441352[25] = 0.0;
-   out_6203949078932441352[26] = 0.0;
-   out_6203949078932441352[27] = 0.0;
-   out_6203949078932441352[28] = 0.0;
-   out_6203949078932441352[29] = 0.0;
-   out_6203949078932441352[30] = 1.0;
-   out_6203949078932441352[31] = 0.0;
-   out_6203949078932441352[32] = 0.0;
-   out_6203949078932441352[33] = 0.0;
-   out_6203949078932441352[34] = 0.0;
-   out_6203949078932441352[35] = 0.0;
-   out_6203949078932441352[36] = 0.0;
-   out_6203949078932441352[37] = 0.0;
-   out_6203949078932441352[38] = 0.0;
-   out_6203949078932441352[39] = 0.0;
-   out_6203949078932441352[40] = 1.0;
-   out_6203949078932441352[41] = 0.0;
-   out_6203949078932441352[42] = 0.0;
-   out_6203949078932441352[43] = 0.0;
-   out_6203949078932441352[44] = 0.0;
-   out_6203949078932441352[45] = 0.0;
-   out_6203949078932441352[46] = 0.0;
-   out_6203949078932441352[47] = 0.0;
-   out_6203949078932441352[48] = 0.0;
-   out_6203949078932441352[49] = 0.0;
-   out_6203949078932441352[50] = 1.0;
-   out_6203949078932441352[51] = 0.0;
-   out_6203949078932441352[52] = 0.0;
-   out_6203949078932441352[53] = 0.0;
-   out_6203949078932441352[54] = 0.0;
-   out_6203949078932441352[55] = 0.0;
-   out_6203949078932441352[56] = 0.0;
-   out_6203949078932441352[57] = 0.0;
-   out_6203949078932441352[58] = 0.0;
-   out_6203949078932441352[59] = 0.0;
-   out_6203949078932441352[60] = 1.0;
-   out_6203949078932441352[61] = 0.0;
-   out_6203949078932441352[62] = 0.0;
-   out_6203949078932441352[63] = 0.0;
-   out_6203949078932441352[64] = 0.0;
-   out_6203949078932441352[65] = 0.0;
-   out_6203949078932441352[66] = 0.0;
-   out_6203949078932441352[67] = 0.0;
-   out_6203949078932441352[68] = 0.0;
-   out_6203949078932441352[69] = 0.0;
-   out_6203949078932441352[70] = 1.0;
-   out_6203949078932441352[71] = 0.0;
-   out_6203949078932441352[72] = 0.0;
-   out_6203949078932441352[73] = 0.0;
-   out_6203949078932441352[74] = 0.0;
-   out_6203949078932441352[75] = 0.0;
-   out_6203949078932441352[76] = 0.0;
-   out_6203949078932441352[77] = 0.0;
-   out_6203949078932441352[78] = 0.0;
-   out_6203949078932441352[79] = 0.0;
-   out_6203949078932441352[80] = 1.0;
+void H_mod_fun(double *state, double *out_2454126163912067491) {
+   out_2454126163912067491[0] = 1.0;
+   out_2454126163912067491[1] = 0.0;
+   out_2454126163912067491[2] = 0.0;
+   out_2454126163912067491[3] = 0.0;
+   out_2454126163912067491[4] = 0.0;
+   out_2454126163912067491[5] = 0.0;
+   out_2454126163912067491[6] = 0.0;
+   out_2454126163912067491[7] = 0.0;
+   out_2454126163912067491[8] = 0.0;
+   out_2454126163912067491[9] = 0.0;
+   out_2454126163912067491[10] = 1.0;
+   out_2454126163912067491[11] = 0.0;
+   out_2454126163912067491[12] = 0.0;
+   out_2454126163912067491[13] = 0.0;
+   out_2454126163912067491[14] = 0.0;
+   out_2454126163912067491[15] = 0.0;
+   out_2454126163912067491[16] = 0.0;
+   out_2454126163912067491[17] = 0.0;
+   out_2454126163912067491[18] = 0.0;
+   out_2454126163912067491[19] = 0.0;
+   out_2454126163912067491[20] = 1.0;
+   out_2454126163912067491[21] = 0.0;
+   out_2454126163912067491[22] = 0.0;
+   out_2454126163912067491[23] = 0.0;
+   out_2454126163912067491[24] = 0.0;
+   out_2454126163912067491[25] = 0.0;
+   out_2454126163912067491[26] = 0.0;
+   out_2454126163912067491[27] = 0.0;
+   out_2454126163912067491[28] = 0.0;
+   out_2454126163912067491[29] = 0.0;
+   out_2454126163912067491[30] = 1.0;
+   out_2454126163912067491[31] = 0.0;
+   out_2454126163912067491[32] = 0.0;
+   out_2454126163912067491[33] = 0.0;
+   out_2454126163912067491[34] = 0.0;
+   out_2454126163912067491[35] = 0.0;
+   out_2454126163912067491[36] = 0.0;
+   out_2454126163912067491[37] = 0.0;
+   out_2454126163912067491[38] = 0.0;
+   out_2454126163912067491[39] = 0.0;
+   out_2454126163912067491[40] = 1.0;
+   out_2454126163912067491[41] = 0.0;
+   out_2454126163912067491[42] = 0.0;
+   out_2454126163912067491[43] = 0.0;
+   out_2454126163912067491[44] = 0.0;
+   out_2454126163912067491[45] = 0.0;
+   out_2454126163912067491[46] = 0.0;
+   out_2454126163912067491[47] = 0.0;
+   out_2454126163912067491[48] = 0.0;
+   out_2454126163912067491[49] = 0.0;
+   out_2454126163912067491[50] = 1.0;
+   out_2454126163912067491[51] = 0.0;
+   out_2454126163912067491[52] = 0.0;
+   out_2454126163912067491[53] = 0.0;
+   out_2454126163912067491[54] = 0.0;
+   out_2454126163912067491[55] = 0.0;
+   out_2454126163912067491[56] = 0.0;
+   out_2454126163912067491[57] = 0.0;
+   out_2454126163912067491[58] = 0.0;
+   out_2454126163912067491[59] = 0.0;
+   out_2454126163912067491[60] = 1.0;
+   out_2454126163912067491[61] = 0.0;
+   out_2454126163912067491[62] = 0.0;
+   out_2454126163912067491[63] = 0.0;
+   out_2454126163912067491[64] = 0.0;
+   out_2454126163912067491[65] = 0.0;
+   out_2454126163912067491[66] = 0.0;
+   out_2454126163912067491[67] = 0.0;
+   out_2454126163912067491[68] = 0.0;
+   out_2454126163912067491[69] = 0.0;
+   out_2454126163912067491[70] = 1.0;
+   out_2454126163912067491[71] = 0.0;
+   out_2454126163912067491[72] = 0.0;
+   out_2454126163912067491[73] = 0.0;
+   out_2454126163912067491[74] = 0.0;
+   out_2454126163912067491[75] = 0.0;
+   out_2454126163912067491[76] = 0.0;
+   out_2454126163912067491[77] = 0.0;
+   out_2454126163912067491[78] = 0.0;
+   out_2454126163912067491[79] = 0.0;
+   out_2454126163912067491[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_343822199527135251) {
-   out_343822199527135251[0] = state[0];
-   out_343822199527135251[1] = state[1];
-   out_343822199527135251[2] = state[2];
-   out_343822199527135251[3] = state[3];
-   out_343822199527135251[4] = state[4];
-   out_343822199527135251[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_343822199527135251[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
-   out_343822199527135251[7] = state[7];
-   out_343822199527135251[8] = state[8];
+void f_fun(double *state, double dt, double *out_1843607112126961388) {
+   out_1843607112126961388[0] = state[0];
+   out_1843607112126961388[1] = state[1];
+   out_1843607112126961388[2] = state[2];
+   out_1843607112126961388[3] = state[3];
+   out_1843607112126961388[4] = state[4];
+   out_1843607112126961388[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_1843607112126961388[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_1843607112126961388[7] = state[7];
+   out_1843607112126961388[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_7416815269748566643) {
-   out_7416815269748566643[0] = 1;
-   out_7416815269748566643[1] = 0;
-   out_7416815269748566643[2] = 0;
-   out_7416815269748566643[3] = 0;
-   out_7416815269748566643[4] = 0;
-   out_7416815269748566643[5] = 0;
-   out_7416815269748566643[6] = 0;
-   out_7416815269748566643[7] = 0;
-   out_7416815269748566643[8] = 0;
-   out_7416815269748566643[9] = 0;
-   out_7416815269748566643[10] = 1;
-   out_7416815269748566643[11] = 0;
-   out_7416815269748566643[12] = 0;
-   out_7416815269748566643[13] = 0;
-   out_7416815269748566643[14] = 0;
-   out_7416815269748566643[15] = 0;
-   out_7416815269748566643[16] = 0;
-   out_7416815269748566643[17] = 0;
-   out_7416815269748566643[18] = 0;
-   out_7416815269748566643[19] = 0;
-   out_7416815269748566643[20] = 1;
-   out_7416815269748566643[21] = 0;
-   out_7416815269748566643[22] = 0;
-   out_7416815269748566643[23] = 0;
-   out_7416815269748566643[24] = 0;
-   out_7416815269748566643[25] = 0;
-   out_7416815269748566643[26] = 0;
-   out_7416815269748566643[27] = 0;
-   out_7416815269748566643[28] = 0;
-   out_7416815269748566643[29] = 0;
-   out_7416815269748566643[30] = 1;
-   out_7416815269748566643[31] = 0;
-   out_7416815269748566643[32] = 0;
-   out_7416815269748566643[33] = 0;
-   out_7416815269748566643[34] = 0;
-   out_7416815269748566643[35] = 0;
-   out_7416815269748566643[36] = 0;
-   out_7416815269748566643[37] = 0;
-   out_7416815269748566643[38] = 0;
-   out_7416815269748566643[39] = 0;
-   out_7416815269748566643[40] = 1;
-   out_7416815269748566643[41] = 0;
-   out_7416815269748566643[42] = 0;
-   out_7416815269748566643[43] = 0;
-   out_7416815269748566643[44] = 0;
-   out_7416815269748566643[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
-   out_7416815269748566643[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_7416815269748566643[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7416815269748566643[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7416815269748566643[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
-   out_7416815269748566643[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_7416815269748566643[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_7416815269748566643[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7416815269748566643[53] = -9.8100000000000005*dt;
-   out_7416815269748566643[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
-   out_7416815269748566643[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_7416815269748566643[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7416815269748566643[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7416815269748566643[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
-   out_7416815269748566643[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_7416815269748566643[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
-   out_7416815269748566643[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7416815269748566643[62] = 0;
-   out_7416815269748566643[63] = 0;
-   out_7416815269748566643[64] = 0;
-   out_7416815269748566643[65] = 0;
-   out_7416815269748566643[66] = 0;
-   out_7416815269748566643[67] = 0;
-   out_7416815269748566643[68] = 0;
-   out_7416815269748566643[69] = 0;
-   out_7416815269748566643[70] = 1;
-   out_7416815269748566643[71] = 0;
-   out_7416815269748566643[72] = 0;
-   out_7416815269748566643[73] = 0;
-   out_7416815269748566643[74] = 0;
-   out_7416815269748566643[75] = 0;
-   out_7416815269748566643[76] = 0;
-   out_7416815269748566643[77] = 0;
-   out_7416815269748566643[78] = 0;
-   out_7416815269748566643[79] = 0;
-   out_7416815269748566643[80] = 1;
+void F_fun(double *state, double dt, double *out_2182262497468252920) {
+   out_2182262497468252920[0] = 1;
+   out_2182262497468252920[1] = 0;
+   out_2182262497468252920[2] = 0;
+   out_2182262497468252920[3] = 0;
+   out_2182262497468252920[4] = 0;
+   out_2182262497468252920[5] = 0;
+   out_2182262497468252920[6] = 0;
+   out_2182262497468252920[7] = 0;
+   out_2182262497468252920[8] = 0;
+   out_2182262497468252920[9] = 0;
+   out_2182262497468252920[10] = 1;
+   out_2182262497468252920[11] = 0;
+   out_2182262497468252920[12] = 0;
+   out_2182262497468252920[13] = 0;
+   out_2182262497468252920[14] = 0;
+   out_2182262497468252920[15] = 0;
+   out_2182262497468252920[16] = 0;
+   out_2182262497468252920[17] = 0;
+   out_2182262497468252920[18] = 0;
+   out_2182262497468252920[19] = 0;
+   out_2182262497468252920[20] = 1;
+   out_2182262497468252920[21] = 0;
+   out_2182262497468252920[22] = 0;
+   out_2182262497468252920[23] = 0;
+   out_2182262497468252920[24] = 0;
+   out_2182262497468252920[25] = 0;
+   out_2182262497468252920[26] = 0;
+   out_2182262497468252920[27] = 0;
+   out_2182262497468252920[28] = 0;
+   out_2182262497468252920[29] = 0;
+   out_2182262497468252920[30] = 1;
+   out_2182262497468252920[31] = 0;
+   out_2182262497468252920[32] = 0;
+   out_2182262497468252920[33] = 0;
+   out_2182262497468252920[34] = 0;
+   out_2182262497468252920[35] = 0;
+   out_2182262497468252920[36] = 0;
+   out_2182262497468252920[37] = 0;
+   out_2182262497468252920[38] = 0;
+   out_2182262497468252920[39] = 0;
+   out_2182262497468252920[40] = 1;
+   out_2182262497468252920[41] = 0;
+   out_2182262497468252920[42] = 0;
+   out_2182262497468252920[43] = 0;
+   out_2182262497468252920[44] = 0;
+   out_2182262497468252920[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_2182262497468252920[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2182262497468252920[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2182262497468252920[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2182262497468252920[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_2182262497468252920[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2182262497468252920[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2182262497468252920[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2182262497468252920[53] = -9.8100000000000005*dt;
+   out_2182262497468252920[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_2182262497468252920[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2182262497468252920[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2182262497468252920[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2182262497468252920[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_2182262497468252920[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2182262497468252920[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_2182262497468252920[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2182262497468252920[62] = 0;
+   out_2182262497468252920[63] = 0;
+   out_2182262497468252920[64] = 0;
+   out_2182262497468252920[65] = 0;
+   out_2182262497468252920[66] = 0;
+   out_2182262497468252920[67] = 0;
+   out_2182262497468252920[68] = 0;
+   out_2182262497468252920[69] = 0;
+   out_2182262497468252920[70] = 1;
+   out_2182262497468252920[71] = 0;
+   out_2182262497468252920[72] = 0;
+   out_2182262497468252920[73] = 0;
+   out_2182262497468252920[74] = 0;
+   out_2182262497468252920[75] = 0;
+   out_2182262497468252920[76] = 0;
+   out_2182262497468252920[77] = 0;
+   out_2182262497468252920[78] = 0;
+   out_2182262497468252920[79] = 0;
+   out_2182262497468252920[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_8641933420137717402) {
-   out_8641933420137717402[0] = state[6];
+void h_25(double *state, double *unused, double *out_4798003278786560335) {
+   out_4798003278786560335[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_7339103169592445424) {
-   out_7339103169592445424[0] = 0;
-   out_7339103169592445424[1] = 0;
-   out_7339103169592445424[2] = 0;
-   out_7339103169592445424[3] = 0;
-   out_7339103169592445424[4] = 0;
-   out_7339103169592445424[5] = 0;
-   out_7339103169592445424[6] = 1;
-   out_7339103169592445424[7] = 0;
-   out_7339103169592445424[8] = 0;
+void H_25(double *state, double *unused, double *out_7357817989096732331) {
+   out_7357817989096732331[0] = 0;
+   out_7357817989096732331[1] = 0;
+   out_7357817989096732331[2] = 0;
+   out_7357817989096732331[3] = 0;
+   out_7357817989096732331[4] = 0;
+   out_7357817989096732331[5] = 0;
+   out_7357817989096732331[6] = 1;
+   out_7357817989096732331[7] = 0;
+   out_7357817989096732331[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_5501280400540853584) {
-   out_5501280400540853584[0] = state[4];
-   out_5501280400540853584[1] = state[5];
+void h_24(double *state, double *unused, double *out_6970490004472512085) {
+   out_6970490004472512085[0] = state[4];
+   out_6970490004472512085[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_9067966288769759493) {
-   out_9067966288769759493[0] = 0;
-   out_9067966288769759493[1] = 0;
-   out_9067966288769759493[2] = 0;
-   out_9067966288769759493[3] = 0;
-   out_9067966288769759493[4] = 1;
-   out_9067966288769759493[5] = 0;
-   out_9067966288769759493[6] = 0;
-   out_9067966288769759493[7] = 0;
-   out_9067966288769759493[8] = 0;
-   out_9067966288769759493[9] = 0;
-   out_9067966288769759493[10] = 0;
-   out_9067966288769759493[11] = 0;
-   out_9067966288769759493[12] = 0;
-   out_9067966288769759493[13] = 0;
-   out_9067966288769759493[14] = 1;
-   out_9067966288769759493[15] = 0;
-   out_9067966288769759493[16] = 0;
-   out_9067966288769759493[17] = 0;
+void H_24(double *state, double *unused, double *out_1156785309245570905) {
+   out_1156785309245570905[0] = 0;
+   out_1156785309245570905[1] = 0;
+   out_1156785309245570905[2] = 0;
+   out_1156785309245570905[3] = 0;
+   out_1156785309245570905[4] = 1;
+   out_1156785309245570905[5] = 0;
+   out_1156785309245570905[6] = 0;
+   out_1156785309245570905[7] = 0;
+   out_1156785309245570905[8] = 0;
+   out_1156785309245570905[9] = 0;
+   out_1156785309245570905[10] = 0;
+   out_1156785309245570905[11] = 0;
+   out_1156785309245570905[12] = 0;
+   out_1156785309245570905[13] = 0;
+   out_1156785309245570905[14] = 1;
+   out_1156785309245570905[15] = 0;
+   out_1156785309245570905[16] = 0;
+   out_1156785309245570905[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_5706507355292462350) {
-   out_5706507355292462350[0] = state[4];
+void h_30(double *state, double *unused, double *out_3972351172998717479) {
+   out_3972351172998717479[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_422412828100828669) {
-   out_422412828100828669[0] = 0;
-   out_422412828100828669[1] = 0;
-   out_422412828100828669[2] = 0;
-   out_422412828100828669[3] = 0;
-   out_422412828100828669[4] = 1;
-   out_422412828100828669[5] = 0;
-   out_422412828100828669[6] = 0;
-   out_422412828100828669[7] = 0;
-   out_422412828100828669[8] = 0;
+void H_30(double *state, double *unused, double *out_7228479041953492261) {
+   out_7228479041953492261[0] = 0;
+   out_7228479041953492261[1] = 0;
+   out_7228479041953492261[2] = 0;
+   out_7228479041953492261[3] = 0;
+   out_7228479041953492261[4] = 1;
+   out_7228479041953492261[5] = 0;
+   out_7228479041953492261[6] = 0;
+   out_7228479041953492261[7] = 0;
+   out_7228479041953492261[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_8743293406736795035) {
-   out_8743293406736795035[0] = state[7];
+void h_26(double *state, double *unused, double *out_1029322094662128166) {
+   out_1029322094662128166[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_7366137585243049968) {
-   out_7366137585243049968[0] = 0;
-   out_7366137585243049968[1] = 0;
-   out_7366137585243049968[2] = 0;
-   out_7366137585243049968[3] = 0;
-   out_7366137585243049968[4] = 0;
-   out_7366137585243049968[5] = 0;
-   out_7366137585243049968[6] = 0;
-   out_7366137585243049968[7] = 1;
-   out_7366137585243049968[8] = 0;
+void H_26(double *state, double *unused, double *out_3616314670222676107) {
+   out_3616314670222676107[0] = 0;
+   out_3616314670222676107[1] = 0;
+   out_3616314670222676107[2] = 0;
+   out_3616314670222676107[3] = 0;
+   out_3616314670222676107[4] = 0;
+   out_3616314670222676107[5] = 0;
+   out_3616314670222676107[6] = 0;
+   out_3616314670222676107[7] = 1;
+   out_3616314670222676107[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_6768024602127501529) {
-   out_6768024602127501529[0] = state[3];
+void h_27(double *state, double *unused, double *out_9195955360068189347) {
+   out_9195955360068189347[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_2597176139901253580) {
-   out_2597176139901253580[0] = 0;
-   out_2597176139901253580[1] = 0;
-   out_2597176139901253580[2] = 0;
-   out_2597176139901253580[3] = 1;
-   out_2597176139901253580[4] = 0;
-   out_2597176139901253580[5] = 0;
-   out_2597176139901253580[6] = 0;
-   out_2597176139901253580[7] = 0;
-   out_2597176139901253580[8] = 0;
+void H_27(double *state, double *unused, double *out_5053715730153067350) {
+   out_5053715730153067350[0] = 0;
+   out_5053715730153067350[1] = 0;
+   out_5053715730153067350[2] = 0;
+   out_5053715730153067350[3] = 1;
+   out_5053715730153067350[4] = 0;
+   out_5053715730153067350[5] = 0;
+   out_5053715730153067350[6] = 0;
+   out_5053715730153067350[7] = 0;
+   out_5053715730153067350[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_5090891545105754924) {
-   out_5090891545105754924[0] = state[1];
+void h_29(double *state, double *unused, double *out_9038768691717060202) {
+   out_9038768691717060202[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_4310538866770804613) {
-   out_4310538866770804613[0] = 0;
-   out_4310538866770804613[1] = 1;
-   out_4310538866770804613[2] = 0;
-   out_4310538866770804613[3] = 0;
-   out_4310538866770804613[4] = 0;
-   out_4310538866770804613[5] = 0;
-   out_4310538866770804613[6] = 0;
-   out_4310538866770804613[7] = 0;
-   out_4310538866770804613[8] = 0;
+void H_29(double *state, double *unused, double *out_3340353003283516317) {
+   out_3340353003283516317[0] = 0;
+   out_3340353003283516317[1] = 1;
+   out_3340353003283516317[2] = 0;
+   out_3340353003283516317[3] = 0;
+   out_3340353003283516317[4] = 0;
+   out_3340353003283516317[5] = 0;
+   out_3340353003283516317[6] = 0;
+   out_3340353003283516317[7] = 0;
+   out_3340353003283516317[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_5824514749225839094) {
-   out_5824514749225839094[0] = state[0];
+void h_28(double *state, double *unused, double *out_4249115445980516624) {
+   out_4249115445980516624[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_9053806189869216429) {
-   out_9053806189869216429[0] = 1;
-   out_9053806189869216429[1] = 0;
-   out_9053806189869216429[2] = 0;
-   out_9053806189869216429[3] = 0;
-   out_9053806189869216429[4] = 0;
-   out_9053806189869216429[5] = 0;
-   out_9053806189869216429[6] = 0;
-   out_9053806189869216429[7] = 0;
-   out_9053806189869216429[8] = 0;
+void H_28(double *state, double *unused, double *out_5303983274848842568) {
+   out_5303983274848842568[0] = 1;
+   out_5303983274848842568[1] = 0;
+   out_5303983274848842568[2] = 0;
+   out_5303983274848842568[3] = 0;
+   out_5303983274848842568[4] = 0;
+   out_5303983274848842568[5] = 0;
+   out_5303983274848842568[6] = 0;
+   out_5303983274848842568[7] = 0;
+   out_5303983274848842568[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_8917127482422223291) {
-   out_8917127482422223291[0] = state[8];
+void h_31(double *state, double *unused, double *out_5644913485036226869) {
+   out_5644913485036226869[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_7308457207715484996) {
-   out_7308457207715484996[0] = 0;
-   out_7308457207715484996[1] = 0;
-   out_7308457207715484996[2] = 0;
-   out_7308457207715484996[3] = 0;
-   out_7308457207715484996[4] = 0;
-   out_7308457207715484996[5] = 0;
-   out_7308457207715484996[6] = 0;
-   out_7308457207715484996[7] = 0;
-   out_7308457207715484996[8] = 1;
+void H_31(double *state, double *unused, double *out_7388463950973692759) {
+   out_7388463950973692759[0] = 0;
+   out_7388463950973692759[1] = 0;
+   out_7388463950973692759[2] = 0;
+   out_7388463950973692759[3] = 0;
+   out_7388463950973692759[4] = 0;
+   out_7388463950973692759[5] = 0;
+   out_7388463950973692759[6] = 0;
+   out_7388463950973692759[7] = 0;
+   out_7388463950973692759[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_5825026556611430403) {
-  err_fun(nom_x, delta_x, out_5825026556611430403);
+void car_err_fun(double *nom_x, double *delta_x, double *out_694062864366320957) {
+  err_fun(nom_x, delta_x, out_694062864366320957);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698) {
-  inv_err_fun(nom_x, true_x, out_8876036798993240698);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_7656216431051591408) {
+  inv_err_fun(nom_x, true_x, out_7656216431051591408);
 }
-void car_H_mod_fun(double *state, double *out_6203949078932441352) {
-  H_mod_fun(state, out_6203949078932441352);
+void car_H_mod_fun(double *state, double *out_2454126163912067491) {
+  H_mod_fun(state, out_2454126163912067491);
 }
-void car_f_fun(double *state, double dt, double *out_343822199527135251) {
-  f_fun(state,  dt, out_343822199527135251);
+void car_f_fun(double *state, double dt, double *out_1843607112126961388) {
+  f_fun(state,  dt, out_1843607112126961388);
 }
-void car_F_fun(double *state, double dt, double *out_7416815269748566643) {
-  F_fun(state,  dt, out_7416815269748566643);
+void car_F_fun(double *state, double dt, double *out_2182262497468252920) {
+  F_fun(state,  dt, out_2182262497468252920);
 }
-void car_h_25(double *state, double *unused, double *out_8641933420137717402) {
-  h_25(state, unused, out_8641933420137717402);
+void car_h_25(double *state, double *unused, double *out_4798003278786560335) {
+  h_25(state, unused, out_4798003278786560335);
 }
-void car_H_25(double *state, double *unused, double *out_7339103169592445424) {
-  H_25(state, unused, out_7339103169592445424);
+void car_H_25(double *state, double *unused, double *out_7357817989096732331) {
+  H_25(state, unused, out_7357817989096732331);
 }
-void car_h_24(double *state, double *unused, double *out_5501280400540853584) {
-  h_24(state, unused, out_5501280400540853584);
+void car_h_24(double *state, double *unused, double *out_6970490004472512085) {
+  h_24(state, unused, out_6970490004472512085);
 }
-void car_H_24(double *state, double *unused, double *out_9067966288769759493) {
-  H_24(state, unused, out_9067966288769759493);
+void car_H_24(double *state, double *unused, double *out_1156785309245570905) {
+  H_24(state, unused, out_1156785309245570905);
 }
-void car_h_30(double *state, double *unused, double *out_5706507355292462350) {
-  h_30(state, unused, out_5706507355292462350);
+void car_h_30(double *state, double *unused, double *out_3972351172998717479) {
+  h_30(state, unused, out_3972351172998717479);
 }
-void car_H_30(double *state, double *unused, double *out_422412828100828669) {
-  H_30(state, unused, out_422412828100828669);
+void car_H_30(double *state, double *unused, double *out_7228479041953492261) {
+  H_30(state, unused, out_7228479041953492261);
 }
-void car_h_26(double *state, double *unused, double *out_8743293406736795035) {
-  h_26(state, unused, out_8743293406736795035);
+void car_h_26(double *state, double *unused, double *out_1029322094662128166) {
+  h_26(state, unused, out_1029322094662128166);
 }
-void car_H_26(double *state, double *unused, double *out_7366137585243049968) {
-  H_26(state, unused, out_7366137585243049968);
+void car_H_26(double *state, double *unused, double *out_3616314670222676107) {
+  H_26(state, unused, out_3616314670222676107);
 }
-void car_h_27(double *state, double *unused, double *out_6768024602127501529) {
-  h_27(state, unused, out_6768024602127501529);
+void car_h_27(double *state, double *unused, double *out_9195955360068189347) {
+  h_27(state, unused, out_9195955360068189347);
 }
-void car_H_27(double *state, double *unused, double *out_2597176139901253580) {
-  H_27(state, unused, out_2597176139901253580);
+void car_H_27(double *state, double *unused, double *out_5053715730153067350) {
+  H_27(state, unused, out_5053715730153067350);
 }
-void car_h_29(double *state, double *unused, double *out_5090891545105754924) {
-  h_29(state, unused, out_5090891545105754924);
+void car_h_29(double *state, double *unused, double *out_9038768691717060202) {
+  h_29(state, unused, out_9038768691717060202);
 }
-void car_H_29(double *state, double *unused, double *out_4310538866770804613) {
-  H_29(state, unused, out_4310538866770804613);
+void car_H_29(double *state, double *unused, double *out_3340353003283516317) {
+  H_29(state, unused, out_3340353003283516317);
 }
-void car_h_28(double *state, double *unused, double *out_5824514749225839094) {
-  h_28(state, unused, out_5824514749225839094);
+void car_h_28(double *state, double *unused, double *out_4249115445980516624) {
+  h_28(state, unused, out_4249115445980516624);
 }
-void car_H_28(double *state, double *unused, double *out_9053806189869216429) {
-  H_28(state, unused, out_9053806189869216429);
+void car_H_28(double *state, double *unused, double *out_5303983274848842568) {
+  H_28(state, unused, out_5303983274848842568);
 }
-void car_h_31(double *state, double *unused, double *out_8917127482422223291) {
-  h_31(state, unused, out_8917127482422223291);
+void car_h_31(double *state, double *unused, double *out_5644913485036226869) {
+  h_31(state, unused, out_5644913485036226869);
 }
-void car_H_31(double *state, double *unused, double *out_7308457207715484996) {
-  H_31(state, unused, out_7308457207715484996);
+void car_H_31(double *state, double *unused, double *out_7388463950973692759) {
+  H_31(state, unused, out_7388463950973692759);
 }
 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_5825026556611430403);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8876036798993240698);
-void car_H_mod_fun(double *state, double *out_6203949078932441352);
-void car_f_fun(double *state, double dt, double *out_343822199527135251);
-void car_F_fun(double *state, double dt, double *out_7416815269748566643);
-void car_h_25(double *state, double *unused, double *out_8641933420137717402);
-void car_H_25(double *state, double *unused, double *out_7339103169592445424);
-void car_h_24(double *state, double *unused, double *out_5501280400540853584);
-void car_H_24(double *state, double *unused, double *out_9067966288769759493);
-void car_h_30(double *state, double *unused, double *out_5706507355292462350);
-void car_H_30(double *state, double *unused, double *out_422412828100828669);
-void car_h_26(double *state, double *unused, double *out_8743293406736795035);
-void car_H_26(double *state, double *unused, double *out_7366137585243049968);
-void car_h_27(double *state, double *unused, double *out_6768024602127501529);
-void car_H_27(double *state, double *unused, double *out_2597176139901253580);
-void car_h_29(double *state, double *unused, double *out_5090891545105754924);
-void car_H_29(double *state, double *unused, double *out_4310538866770804613);
-void car_h_28(double *state, double *unused, double *out_5824514749225839094);
-void car_H_28(double *state, double *unused, double *out_9053806189869216429);
-void car_h_31(double *state, double *unused, double *out_8917127482422223291);
-void car_H_31(double *state, double *unused, double *out_7308457207715484996);
+void car_err_fun(double *nom_x, double *delta_x, double *out_694062864366320957);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_7656216431051591408);
+void car_H_mod_fun(double *state, double *out_2454126163912067491);
+void car_f_fun(double *state, double dt, double *out_1843607112126961388);
+void car_F_fun(double *state, double dt, double *out_2182262497468252920);
+void car_h_25(double *state, double *unused, double *out_4798003278786560335);
+void car_H_25(double *state, double *unused, double *out_7357817989096732331);
+void car_h_24(double *state, double *unused, double *out_6970490004472512085);
+void car_H_24(double *state, double *unused, double *out_1156785309245570905);
+void car_h_30(double *state, double *unused, double *out_3972351172998717479);
+void car_H_30(double *state, double *unused, double *out_7228479041953492261);
+void car_h_26(double *state, double *unused, double *out_1029322094662128166);
+void car_H_26(double *state, double *unused, double *out_3616314670222676107);
+void car_h_27(double *state, double *unused, double *out_9195955360068189347);
+void car_H_27(double *state, double *unused, double *out_5053715730153067350);
+void car_h_29(double *state, double *unused, double *out_9038768691717060202);
+void car_H_29(double *state, double *unused, double *out_3340353003283516317);
+void car_h_28(double *state, double *unused, double *out_4249115445980516624);
+void car_H_28(double *state, double *unused, double *out_5303983274848842568);
+void car_h_31(double *state, double *unused, double *out_5644913485036226869);
+void car_H_31(double *state, double *unused, double *out_7388463950973692759);
 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_4860250714300227404);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_6437944255548658708);
-void pose_H_mod_fun(double *state, double *out_22797630451996970);
-void pose_f_fun(double *state, double dt, double *out_2362837524605346595);
-void pose_F_fun(double *state, double dt, double *out_4166989473592392013);
-void pose_h_4(double *state, double *unused, double *out_800785631088066019);
-void pose_H_4(double *state, double *unused, double *out_2555861026626074297);
-void pose_h_10(double *state, double *unused, double *out_7585285090603906809);
-void pose_H_10(double *state, double *unused, double *out_6341548427213940478);
-void pose_h_13(double *state, double *unused, double *out_7888682643875678910);
-void pose_H_13(double *state, double *unused, double *out_5768134851958407098);
-void pose_h_14(double *state, double *unused, double *out_3441729687180753414);
-void pose_H_14(double *state, double *unused, double *out_4925284788653666127);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_6507930050433723456);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4828699442560272840);
+void pose_H_mod_fun(double *state, double *out_6044345162965507958);
+void pose_f_fun(double *state, double dt, double *out_2707422486897363634);
+void pose_F_fun(double *state, double dt, double *out_2783420399776033045);
+void pose_h_4(double *state, double *unused, double *out_6625322830489649201);
+void pose_H_4(double *state, double *unused, double *out_891826777926427223);
+void pose_h_10(double *state, double *unused, double *out_495585793918053605);
+void pose_H_10(double *state, double *unused, double *out_8682725662931185277);
+void pose_h_13(double *state, double *unused, double *out_6437595282912769194);
+void pose_H_13(double *state, double *unused, double *out_2320447047405905578);
+void pose_h_14(double *state, double *unused, double *out_1731855561045144303);
+void pose_H_14(double *state, double *unused, double *out_1326943304571310822);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
@@ -4914,6 +4914,15 @@
        "is_parent_toggle": true,
        "settings_tier": "simple"
      },
+      {
+        "key": "GalaxyMobileDefault",
+        "label": "Try the Big Dipper Web UI",
+        "description": "Open the Big Dipper at the top-level Galaxy link instead of the classic Galaxy. The classic UI remains available at /classic and Big Dipper at /mobile regardless of this toggle.",
+        "picker_description": "Serve the Big Dipper as the default landing page.",
+        "data_type": "bool",
+        "ui_type": "toggle",
+        "settings_tier": "advanced"
+      },
      {
        "key": "AlphaLongitudinalEnabled",
        "label": "openpilot Longitudinal Control (Alpha)",
@@ -444,15 +444,26 @@ class SpeedLimitController:
      return

    current_road_name = sm["mapdOut"].roadName if desired_source == "Map Data" else ""
+    current_speed = self.target if (self.source != "None" and self.target > 0) else self.last_valid_limit

-    if abs(desired_target - self.previous_target) >= 1 or (current_road_name != self.previous_road_name and current_road_name != ""):
+    # Do not trigger alerts when shifting to fallback or when re-obtaining the same speed limit
+    is_fallback = desired_source == "None" or desired_target == 0
+    same_speed = desired_target > 0 and current_speed > 0 and abs(desired_target - current_speed) < 1
+
+    if not is_fallback and not same_speed and (abs(desired_target - self.previous_target) >= 1 or current_speed == 0):
      self.handle_limit_change(desired_source, desired_target, current_road_name, v_ego, sm)
-    elif desired_source != self.source and (abs(desired_target - self.target) < 1 or self.target == 0):
-      self.source = desired_source
-      self.target = desired_target
    else:
      self.speed_limit_changed_timer = 0
      self.unconfirmed_speed_limit = 0
+      if desired_source != self.source or desired_target != self.target:
+        self.source = desired_source
+        self.target = desired_target
+      if desired_source != "None" and desired_target > 0:
+        self.previous_source = desired_source
+        self.previous_target = desired_target
+      if current_road_name != self.previous_road_name and current_road_name != "":
+        self.previous_road_name = current_road_name
+        self.denied_target = 0

    if self.source != "None" and self.target > 0:
      self.last_valid_limit = self.target
@@ -342,6 +342,10 @@ ul { list-style: none; margin: 0; padding: 0; }
 .gx-appbar__back:active { transform: scale(0.92); }

 .gx-appbar__title {
+  background: linear-gradient(135deg, #8b6cc5 0%, #5ec8c8 55%, #d4789c 100%);
+  -webkit-background-clip: text;
+  background-clip: text;
+  -webkit-text-fill-color: transparent;
  font-size: var(--fs-lg);
  font-weight: var(--fw-bold);
  white-space: nowrap;
@@ -7,7 +7,7 @@
  <meta name="mobile-web-app-capable" content="yes">
  <meta name="apple-mobile-web-app-capable" content="yes">
  <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent">
-  <meta name="apple-mobile-web-app-title" content="Galaxy">
+  <meta name="apple-mobile-web-app-title" content="Big Dipper">
  <meta name="format-detection" content="telephone=no">
  <meta name="theme-color" content="#8b6cc5" />
  <link rel="manifest" href="/assets/mobile/manifest.json" crossorigin="use-credentials">
@@ -26,7 +26,7 @@
    }
  </script>

-  <title>Galaxy</title>
+  <title>Big Dipper</title>
 </head>

 <body>
@@ -105,11 +105,38 @@ export const api = {
  deleteAllRoutes(includePreserved) { return request(`/api/routes/delete_all?include_preserved=${includePreserved}`, { method: "DELETE" }) },
  getRouteLogs(name) { return request(`/api/routes/${encodeURIComponent(name)}/logs`) },

-  getScreenRecordings() { return request("/api/screen_recordings/list") },
+  async screenRecordingsStream({ onProgress, onRecordings, signal } = {}) {
+    const res = await fetch("/api/screen_recordings/list", { signal })
+    if (!res.ok || !res.body) throw new Error(`Screen recordings request failed (${res.status})`)
+    const reader = res.body.getReader()
+    const decoder = new TextDecoder()
+    let buffer = ""
+    while (true) {
+      const { value, done } = await reader.read()
+      if (done) break
+      buffer += decoder.decode(value, { stream: true })
+      const events = buffer.split(/\r?\n\r?\n/)
+      buffer = events.pop() || ""
+      for (const event of events) {
+        const lines = event.split(/\r?\n/).filter((l) => l.startsWith("data:"))
+        if (!lines.length) continue
+        try {
+          const payload = JSON.parse(lines.map((l) => l.slice(5).trimStart()).join("\n"))
+          if (Number.isFinite(payload.progress)) onProgress?.(payload.progress)
+          onRecordings?.(Array.isArray(payload.recordings) ? payload.recordings : [])
+        } catch (e) {  }
+      }
+    }
+  },
+  screenRecordingVideoUrl(filename) { return `/api/screen_recordings/download/${encodeURIComponent(filename)}` },
  deleteScreenRecording(filename) { return request(`/api/screen_recordings/delete/${encodeURIComponent(filename)}`, { method: "DELETE" }) },
  deleteAllScreenRecordings() { return request("/api/screen_recordings/delete_all", { method: "DELETE" }) },
  renameScreenRecording(oldName, newName) { return request("/api/screen_recordings/rename", { method: "POST", data: { old: oldName, new: newName } }) },

+  getModelLab() { return request("/api/model-laboratory", { cache: "no-store" }) },
+  saveModelLab(config) { return request("/api/model-laboratory", { method: "PUT", data: config }) },
+  prepareModelLabArtifact(model) { return request("/api/model-laboratory/download", { method: "POST", data: { model } }) },
+
  getErrorLogs() { return request("/api/error_logs", { headers: { Accept: "application/json" } }) },
  getErrorLog(filename) { return fetch(`/api/error_logs/${encodeURIComponent(filename)}`).then((r) => r.text()) },
  deleteErrorLog(filename) { return delOk(`/api/error_logs/${encodeURIComponent(filename)}`) },
@@ -18,6 +18,7 @@ import { ModelManager } from "./views/ModelManager.js"
 import { Plots } from "./views/Plots.js"
 import { TestingGround } from "./views/TestingGround.js"
 import { ThemeMaker } from "./views/ThemeMaker.js"
+import { ModelLaboratory } from "./views/ModelLaboratory.js"
 import { Cameras } from "./views/Cameras.js"
 import { store, initRouter, navigate } from "./store.js"
 import { showSnackbar } from "./api.js"
@@ -52,6 +53,7 @@ const VIEWS = {
  "/plots": Plots,
  "/testing_ground": TestingGround,
  "/theme_maker": ThemeMaker,
+  "/model_laboratory": ModelLaboratory,
  "/cameras": Cameras,
 }

@@ -102,7 +102,7 @@ export const AppShell = {
          <button type="button" class="gx-icon-btn gx-menu-btn" aria-label="Menu" @click="store.drawerOpen = true">
            <i class="bi bi-list"></i>
          </button>
-          <span class="gx-appbar__title">Galaxy</span>
+          <span class="gx-appbar__title">Big Dipper</span>
          <div class="gx-searchwrap">
            <input ref="searchInput" class="gx-search gx-appbar__search" type="search" placeholder="Search toggles..."
              v-model="search" aria-label="Search toggles" />
@@ -128,8 +128,8 @@ export const AppShell = {
      </transition>
      <aside class="gx-drawer" :class="{ open: store.drawerOpen }">
        <div class="gx-drawer__header">
-          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Galaxy logo" />
-          <span class="gx-drawer-title">Galaxy</span>
+          <img class="gx-logo" src="/assets/images/main_logo.png" alt="Big Dipper logo" />
+          <span class="gx-drawer-title">Big Dipper</span>
        </div>
        <div class="gx-nav-section">
          <div class="gx-nav-section__title">Main</div>
@@ -1,3 +1,5 @@
+import { pwaState, requestInstall } from "../install.js"
+
 export const FIRESTAR_HOST = "galaxy.firestar.link"

 export function isFirestarOrigin() {
@@ -9,10 +11,6 @@ function isIos() {
  return /iPad|iPhone|iPod/.test(ua) && !/CriOS|FxiOS|OPiOS|EdgiOS/.test(ua)
 }

-function isStandalone() {
-  return window.matchMedia("(display-mode: standalone)").matches || !!window.navigator.standalone
-}
-
 export const PwaInstallSection = {
  name: "PwaInstallSection",
  props: {
@@ -21,10 +19,8 @@ export const PwaInstallSection = {
  },
  data() {
    return {
-      installed: isStandalone(),
      isIos: isIos(),
      onFirestar: isFirestarOrigin(),
-      deferredPrompt: null,
    }
  },
  computed: {
@@ -35,33 +31,19 @@ export const PwaInstallSection = {
      if (this.onFirestar) return window.location.origin
      return ""
    },
-    canInstall() { return !!this.deferredPrompt && !this.installed },
-    showManual() { return this.isIos && !this.installed && !this.deferredPrompt },
+    installed() { return pwaState.installed },
+    canInstall() { return !!pwaState.deferredPrompt && !pwaState.installed },
+    showManual() { return this.isIos && !pwaState.installed && !pwaState.deferredPrompt },
    onLocal() { return !this.onFirestar && !this.installUrl },
  },
  methods: {
-    capturePrompt(e) {
-      e.preventDefault()
-      this.deferredPrompt = e
-    },
    async install() {
-      const prompt = this.deferredPrompt
-      if (!prompt) return
-      prompt.prompt()
-      try { await prompt.userChoice } catch (e) { /* user cancelled */ }
-      this.deferredPrompt = null
-      this.installed = true
+      await requestInstall()
    },
    installHost() {
      try { return new URL(this.installUrl).host } catch (e) { return this.installUrl }
    },
  },
-  mounted() {
-    window.addEventListener("beforeinstallprompt", this.capturePrompt)
-  },
-  beforeUnmount() {
-    window.removeEventListener("beforeinstallprompt", this.capturePrompt)
-  },
  template: `
    <section v-if="!installed" class="gx-card gx-install">
      <div class="gx-section__header">
@@ -128,4 +110,4 @@ export const PwaInstallSection = {
      </div>
    </section>
  `,
-}
+}
@@ -0,0 +1,30 @@
+import { reactive } from "vue"
+
+function inStandaloneMode() {
+  return window.matchMedia("(display-mode: standalone)").matches || !!window.navigator.standalone
+}
+
+export const pwaState = reactive({
+  deferredPrompt: null,
+  installed: inStandaloneMode(),
+})
+
+function capture(event) {
+  event.preventDefault()
+  pwaState.deferredPrompt = event
+}
+
+window.addEventListener("beforeinstallprompt", capture)
+window.addEventListener("appinstalled", () => {
+  pwaState.deferredPrompt = null
+  pwaState.installed = true
+})
+
+export async function requestInstall() {
+  const prompt = pwaState.deferredPrompt
+  if (!prompt) return false
+  prompt.prompt()
+  try { await prompt.userChoice } catch (e) { /* user dismissed */ }
+  pwaState.deferredPrompt = null
+  return true
+}
@@ -91,7 +91,7 @@ export function goBack() {
  window.location.hash = prev
 }

-const NATIVE_ROOTS = new Set(["/", "/settings", "/tools", "/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/system", "/embed", "/manage_doors", "/galaxy", "/manage_tsk", "/sentry", "/manage_models", "/plots", "/testing_ground", "/theme_maker", "/cameras"])
+const NATIVE_ROOTS = new Set(["/", "/settings", "/tools", "/recordings", "/logs", "/tuning", "/navigation", "/vehicle", "/system", "/embed", "/manage_doors", "/galaxy", "/manage_tsk", "/sentry", "/manage_models", "/plots", "/testing_ground", "/theme_maker", "/model_laboratory", "/cameras"])

 export function toolHref(link) {
  const path = link.split("?")[0]
@@ -196,7 +196,7 @@ export const Logs = {
          </div>
          <pre ref="tmuxtail" class="gx-terminal" @scroll.passive="onTmuxScroll">{{ stream.state.log || '(waiting for log output…)' }}</pre>
          <div style="display:flex; gap:8px; padding: var(--sp-3); flex-wrap:wrap;">
-            <button type="button" class="gx-btn gx-btn--tonal" @click="stream.togglePause()">{{ stream.state.paused ? '▶️ Resume' : '⏸️ Pause' }}</button>
+            <button type="button" class="gx-btn gx-btn--tonal" @click="stream.togglePause()"><i class="bi" :class="stream.state.paused ? 'bi-play-fill' : 'bi-pause-fill'"></i> {{ stream.state.paused ? 'Resume' : 'Pause' }}</button>
            <button type="button" class="gx-btn gx-btn--tonal" @click="captureTmux">Capture Log</button>
            <button type="button" class="gx-btn gx-btn--tonal" @click="deleteAllTmux">Delete All</button>
          </div>
@@ -0,0 +1,264 @@
+import { api, showSnackbar } from "../api.js"
+import { usePolling } from "../composables.js"
+
+export const ModelLaboratory = {
+  name: "ModelLaboratory",
+  data() {
+    return {
+      loading: true,
+      saving: false,
+      error: "",
+      message: "",
+      dirty: false,
+      chestnutReady: false,
+      isOnroad: false,
+      configuration: { enabled: false, lateralModel: "", longitudinalModel: "" },
+      runtime: {},
+      summary: {},
+      models: [],
+    }
+  },
+  computed: {
+    readyModels() {
+      return this.models.filter((m) => m && m.modelLabArtifactAvailable)
+    },
+    candidates() {
+      const ready = this.readyModels
+      const lat = this.configuration.lateralModel
+      return ready.filter((m) => !lat || m.value !== lat)
+    },
+    selectionError() {
+      if (!this.chestnutReady) return "Connect a firmware-ready Chestnut first."
+      if (this.isOnroad) return "Park before changing the laboratory pair."
+      const lat = this.modelById(this.configuration.lateralModel)
+      const lon = this.modelById(this.configuration.longitudinalModel)
+      if (!lat || !lon) return "Choose two small models with published Chestnut artifacts."
+      if (lat.value === lon.value) return "Lateral and longitudinal models must be different."
+      if (!lat.modelLabArtifactAvailable || !lon.modelLabArtifactAvailable) {
+        return "Both models need a precompiled AMD artifact in the manifest."
+      }
+      if (!lat.modelLabArtifactInstalled || !lon.modelLabArtifactInstalled) {
+        return "Prepare both precompiled AMD artifacts first."
+      }
+      return ""
+    },
+    runtimeState() {
+      const r = this.runtime || {}
+      return r.active ? "Pair active" : r.requested ? "Pair requested" : "Inactive"
+    },
+  },
+  created() {
+    this.poll = usePolling(() => this.refresh(), { interval: 5000 })
+    this.poll.start()
+  },
+  beforeUnmount() {
+    this.poll?.destroy()
+  },
+  methods: {
+    modelById(id) {
+      return this.models.find((m) => m.value === id)
+    },
+    modelLabel(id) {
+      return this.modelById(id)?.label || id || "not selected"
+    },
+    artifactStatus(m) {
+      if (m.modelLabArtifactInstalled) return { text: "AMD ready", good: true }
+      if (m.modelLabArtifactAvailable) return { text: "AMD download needed", good: false }
+      return { text: "AMD not published", good: false }
+    },
+    async refresh() {
+      try {
+        const payload = await api.getModelLab()
+        this.applyPayload(payload)
+      } catch (e) {
+        this.error = e?.message || String(e)
+      } finally {
+        this.loading = false
+      }
+    },
+    applyPayload(payload) {
+      payload = payload || {}
+      this.chestnutReady = Boolean(payload.chestnutReady)
+      this.isOnroad = Boolean(payload.isOnroad)
+      this.error = String(payload.configurationError || "")
+      this.runtime = payload.runtime && typeof payload.runtime === "object" ? payload.runtime : {}
+      this.summary = payload.summary && typeof payload.summary === "object" ? payload.summary : {}
+      this.models = Array.isArray(payload.models) ? payload.models : []
+      const cfg = payload.configuration && typeof payload.configuration === "object" ? payload.configuration : {}
+      const draft = { ...this.configuration }
+      this.configuration = {
+        enabled: Boolean(cfg.enabled),
+        lateralModel: this.dirty ? draft.lateralModel : String(cfg.lateralModel || ""),
+        longitudinalModel: this.dirty ? draft.longitudinalModel : String(cfg.longitudinalModel || ""),
+      }
+      this.normalizeSelection()
+    },
+    normalizeSelection() {
+      const ready = this.readyModels
+      if (!this.modelById(this.configuration.lateralModel) && ready.length) {
+        this.configuration.lateralModel = ready[0].value
+      }
+      if (!this.modelById(this.configuration.longitudinalModel) && ready.length > 1) {
+        const lon = ready.find((m) => m.value !== this.configuration.lateralModel)
+        this.configuration.longitudinalModel = lon?.value || ""
+      }
+    },
+    onLateralChange() {
+      this.dirty = true
+      const lon = this.modelById(this.configuration.longitudinalModel)
+      const lat = this.modelById(this.configuration.lateralModel)
+      if (lon && lat && lon.value === lat.value) {
+        this.configuration.longitudinalModel = this.candidates[0]?.value || ""
+      }
+    },
+    async save(enabled) {
+      if (this.saving) return
+      if (enabled && this.selectionError) {
+        this.error = this.selectionError
+        return
+      }
+      this.saving = true
+      this.error = ""
+      this.message = ""
+      try {
+        const payload = await api.saveModelLab({
+          enabled,
+          lateralModel: this.configuration.lateralModel,
+          longitudinalModel: this.configuration.longitudinalModel,
+        })
+        this.dirty = false
+        this.applyPayload(payload)
+        this.message = String(payload?.message || "Model Laboratory configuration saved.")
+        showSnackbar("Model Laboratory saved", "info")
+      } catch (e) {
+        this.error = e?.message || String(e)
+      } finally {
+        this.saving = false
+      }
+    },
+    async prepareModel(modelId) {
+      if (this.saving || !modelId) return
+      this.saving = true
+      this.error = ""
+      this.message = ""
+      try {
+        const payload = await api.prepareModelLabArtifact(modelId)
+        this.message = String(payload?.message || "Chestnut artifact download queued.")
+        showSnackbar("Chestnut artifact download queued", "info")
+        await this.refresh()
+      } catch (e) {
+        this.error = e?.message || String(e)
+      } finally {
+        this.saving = false
+      }
+    },
+  },
+  template: `
+  <div class="gx-view">
+    <div v-if="loading" class="gx-card"><div class="gx-loading">Loading laboratory status...</div></div>
+    <template v-else>
+      <div class="gx-card">
+        <div class="gx-section__header">
+          <i class="bi bi-bezier2"></i>
+          <span class="gx-section__title">Model Laboratory</span>
+          <span class="gx-chip" :style="chestnutReady ? 'color:var(--success);' : 'color:var(--warning);'">{{ chestnutReady ? 'Chestnut ready' : 'Chestnut required' }}</span>
+          <span class="gx-chip" :style="isOnroad ? 'color:var(--warning);' : 'color:var(--success);'">{{ isOnroad ? 'Onroad · locked' : 'Parked · configurable' }}</span>
+        </div>
+        <div style="padding: 0 var(--sp-4) var(--sp-3); color:var(--text-muted); font-size:var(--fs-sm);">
+          Use the lateral judgment of one small model and the longitudinal judgment of another.
+        </div>
+        <div v-if="error" class="gx-alert" style="margin:0 var(--sp-4) var(--sp-3);">
+          <i class="bi bi-exclamation-triangle-fill" style="color:var(--error);"></i>
+          <div class="gx-alert__body"><span style="color:var(--error);">{{ error }}</span></div>
+        </div>
+        <div v-if="message" class="gx-alert gx-alert--info" style="margin:0 var(--sp-4) var(--sp-3);">
+          <i class="bi bi-check-circle-fill"></i>
+          <div class="gx-alert__body"><span>{{ message }}</span></div>
+        </div>
+      </div>
+
+      <div class="gx-card">
+        <div class="gx-section__header">
+          <i class="bi bi-collection"></i>
+          <span class="gx-section__title">Compose a pair</span>
+          <span class="gx-chip" :style="configuration.enabled ? 'background:var(--success);color:var(--on-secondary);' : ''">{{ configuration.enabled ? 'Enabled' : 'Disabled' }}</span>
+        </div>
+        <div style="padding: var(--sp-4); display:grid; gap:var(--sp-3);">
+          <label style="display:grid; gap:4px;">
+            <strong style="font-size:var(--fs-sm);">Lateral model</strong>
+            <small style="color:var(--text-muted); font-size:var(--fs-xs);">Path shape, curvature, lane geometry, and driving desire</small>
+            <select class="gx-field" :value="configuration.lateralModel" @change="configuration.lateralModel = $event.target.value; onLateralChange()">
+              <option value="">Choose a model</option>
+              <option v-for="m in readyModels" :key="m.value" :value="m.value">{{ m.label }} · {{ m.version }}</option>
+            </select>
+          </label>
+          <label style="display:grid; gap:4px;">
+            <strong style="font-size:var(--fs-sm);">Longitudinal model</strong>
+            <small style="color:var(--text-muted); font-size:var(--fs-xs);">Speed, acceleration, stopping, leads, and scene confidence</small>
+            <select class="gx-field" :value="configuration.longitudinalModel" @change="configuration.longitudinalModel = $event.target.value; dirty = true">
+              <option value="">Choose a model</option>
+              <option v-for="m in candidates" :key="m.value" :value="m.value">{{ m.label }} · {{ m.version }}</option>
+            </select>
+          </label>
+          <div style="display:flex; flex-wrap:wrap; gap:6px; align-items:center;">
+            <strong>{{ modelLabel(configuration.lateralModel) }}</strong><span class="gx-row__desc" style="margin:0;">steers</span>
+            <i class="bi bi-arrow-left-right"></i>
+            <strong>{{ modelLabel(configuration.longitudinalModel) }}</strong><span class="gx-row__desc" style="margin:0;">paces</span>
+          </div>
+          <p v-if="selectionError" class="gx-row__desc" style="margin:0; color:var(--warning);">{{ selectionError }}</p>
+          <div style="display:flex; gap:8px; flex-wrap:wrap;">
+            <button type="button" class="gx-btn" :disabled="saving || !!selectionError" @click="save(true)">
+              <i class="bi bi-play-fill"></i> Enable for next drive
+            </button>
+            <button type="button" class="gx-btn gx-btn--tonal" :disabled="saving || isOnroad || !configuration.enabled" @click="save(false)">
+              <i class="bi bi-stop-fill"></i> Disable
+            </button>
+            <button type="button" class="gx-btn gx-btn--tonal" :disabled="saving" @click="refresh">
+              <i class="bi bi-arrow-clockwise"></i> Refresh
+            </button>
+          </div>
+        </div>
+      </div>
+
+      <div class="gx-card">
+        <div class="gx-section__header">
+          <i class="bi bi-activity"></i>
+          <span class="gx-section__title">Runtime</span>
+          <span class="gx-chip" :style="runtime.active ? 'background:var(--success);color:var(--on-secondary);' : ''">{{ runtimeState }}</span>
+        </div>
+        <div style="padding: var(--sp-4); display:grid; gap:6px;">
+          <div class="gx-row" style="border-top:none;"><span class="gx-row__label">Lateral</span><span class="gx-row__value">{{ modelLabel(runtime.lateralModel) }}</span></div>
+          <div class="gx-row" style="border-top:none;"><span class="gx-row__label">Longitudinal</span><span class="gx-row__value">{{ modelLabel(runtime.longitudinalModel) }}</span></div>
+          <div v-if="runtime.error" class="gx-alert" style="margin:0;"><i class="bi bi-exclamation-triangle-fill" style="color:var(--error);"></i><div class="gx-alert__body"><span style="color:var(--error);">{{ runtime.error }}</span></div></div>
+          <p class="gx-row__desc" style="margin:0;">Both roles evaluate the same frame at 20 Hz. A runtime failure suppresses that frame and falls back to the built-in QCOM model.</p>
+        </div>
+      </div>
+
+      <div class="gx-card">
+        <div class="gx-section__header">
+          <i class="bi bi-cpu"></i>
+          <span class="gx-section__title">Available models</span>
+          <span class="gx-section__count">{{ summary.ready || 0 }} ready to pair · {{ Math.max((summary.published || 0) - (summary.ready || 0), 0) }} available to download</span>
+        </div>
+        <article v-for="m in readyModels" :key="m.value" class="gx-row">
+          <div class="gx-row__info">
+            <span class="gx-row__label">{{ m.label }}</span>
+            <span class="gx-row__desc">{{ m.value }} · {{ m.series || 'Unknown series' }}</span>
+          </div>
+          <div style="display:flex; gap:6px; flex-wrap:wrap; align-items:center;">
+            <span class="gx-chip">{{ m.version || 'unknown version' }}</span>
+            <span class="gx-chip">{{ m.modelSize || 'small' }}</span>
+            <span class="gx-chip" :style="artifactStatus(m).good ? 'color:var(--success);' : 'color:var(--warning);'">{{ artifactStatus(m).text }}</span>
+            <button v-if="m.modelLabArtifactAvailable && !m.modelLabArtifactInstalled" type="button" class="gx-btn gx-btn--tonal" :disabled="saving || isOnroad" @click="prepareModel(m.value)">
+              Prepare for Chestnut
+            </button>
+          </div>
+        </article>
+        <div style="padding: var(--sp-3);">
+          <p class="gx-row__desc" style="margin:0;">Model Manager downloads the manifest's precompiled AMD variants. Nothing is compiled on the comma. A normal installed model may still need its separate Chestnut artifact.</p>
+        </div>
+      </div>
+    </template>
+  </div>
+  `,
+}
@@ -59,6 +59,8 @@ export const Pip = {
  mounted() {
    this._img = null
    this._sizedFor = null
+    const canvas = this.canvas()
+    if (canvas) { canvas.width = CANVAS_W; canvas.height = CANVAS_H }
    this.loadExistingConfig()
    this.loadSnapshot()
    this.$nextTick(() => this.redraw())
@@ -70,6 +72,14 @@ export const Pip = {
    canvas() {
      return this.$refs?.canvas || null
    },
+    sizeCanvas() {
+      const canvas = this.canvas()
+      const img = this._img
+      if (!canvas || !img) return
+      const w = Math.min(img.naturalWidth, 1280)
+      canvas.width = w
+      canvas.height = Math.round(w * (img.naturalHeight / img.naturalWidth))
+    },
    canvasScale() {
      const canvas = this.canvas()
      const img = this._img
@@ -165,8 +175,7 @@ export const Pip = {
      const img = this._img
      if (img && this._sizedFor !== img) {
        this._sizedFor = img
-        canvas.width = Math.min(img.naturalWidth, 1280)
-        canvas.height = Math.round(canvas.width * (img.naturalHeight / img.naturalWidth))
+        this.sizeCanvas()
      } else if (!img && (canvas.width === 0 || this._sizedFor)) {
        this._sizedFor = null
        canvas.width = CANVAS_W
@@ -257,6 +266,7 @@ export const Pip = {
          this._sizedFor = null
          this.image = true
          this.success = "Camera snapshot loaded. Place a center point on each window, then adjust the zoom."
+          this.sizeCanvas()
          this.applyConfigToCanvas()
          this.redraw()
          if (cleanup) cleanup()
@@ -1,7 +1,8 @@
 import { api, showSnackbar } from "../api.js"
 import { GalaxyConfirm } from "../components/GalaxyModal.js"
-import { GalaxySection } from "../components/GalaxySection.js"
 import { GalaxyTabs } from "../components/GalaxyTabs.js"
+import { GxNotice } from "../components/GxNotice.js"
+import { isFirestarOrigin } from "../components/PwaInstallSection.js"

 function fmtDuration(seconds) {
  seconds = Number(seconds) || 0
@@ -16,6 +17,26 @@ function formatBytes(bytes) {
  return mb >= 1000 ? `${(mb / 1000).toFixed(2)} GB` : `${mb.toFixed(1)} MB`
 }

+function getOrdinalSuffix(n) {
+  const s = ["th", "st", "nd", "rd"]
+  const v = n % 100
+  return s[(v - 20) % 10] || s[v] || s[0]
+}
+
+function formatScreenDate(dateString) {
+  const date = new Date(dateString)
+  if (Number.isNaN(date.getTime())) return String(dateString || "Unknown date")
+  const month = date.toLocaleString("en-US", { month: "long" })
+  const day = date.getDate()
+  const year = date.getFullYear()
+  let hour = date.getHours()
+  const minute = date.getMinutes()
+  const ampm = hour >= 12 ? "pm" : "am"
+  hour = hour % 12 || 12
+  const minuteStr = minute < 10 ? "0" + minute : minute
+  return `${month} ${day}${getOrdinalSuffix(day)}, ${year} - ${hour}:${minuteStr}${ampm}`
+}
+
 function normalizeRoute(r) {
  const name = String(r?.name || "")
  const isCustomName = !!r?.isCustomName
@@ -33,9 +54,10 @@ function normalizeRoute(r) {

 export const Recordings = {
  name: "Recordings",
-  components: { GalaxySection, GalaxyTabs },
+  components: { GalaxyTabs, GxNotice },
  data() {
    return {
+      sub: "routes",
      loading: true,
      error: "",
      routes: [],
@@ -52,6 +74,13 @@ export const Recordings = {
      selectedCamera: "",
      logsRoute: null,
      logsData: null,
+      onFirestar: isFirestarOrigin(),
+      // Screen recordings subtab
+      screenLoading: false,
+      screenError: "",
+      screenProgress: 0,
+      recordings: [],
+      recPlay: null,
    }
  },
  computed: {
@@ -81,6 +110,13 @@ export const Recordings = {
  methods: {
    fmtDuration,
    formatBytes,
+    setSub(key) {
+      this.sub = key === "screen" ? "screen" : "routes"
+      if (this.sub === "screen" && !this.recordings.length && !this.screenLoading) this.loadScreenRecordings()
+    },
+    screenDisplayName(rec) {
+      return rec.is_custom_name ? rec.filename.replace(/\.mp4$/i, "").replace(/_/g, " ") : formatScreenDate(rec.timestamp)
+    },
    async loadRoutes() {
      this.loading = true
      this.error = ""
@@ -107,6 +143,35 @@ export const Recordings = {
        this.loading = false
      }
    },
+    async loadScreenRecordings() {
+      this.screenLoading = true
+      this.screenError = ""
+      this.recordings = []
+      this.screenProgress = 0
+      const seen = new Set()
+      try {
+        this.recController?.abort()
+        this.recController = new AbortController()
+        await api.screenRecordingsStream({
+          signal: this.recController.signal,
+          onProgress: (p) => { this.screenProgress = p },
+          onRecordings: (raw) => {
+            for (const r of raw) {
+              if (seen.has(r.filename)) continue
+              seen.add(r.filename)
+              this.recordings.push(r)
+            }
+          },
+        })
+      } catch (e) {
+        if (e?.name !== "AbortError") this.screenError = "Couldn't load recordings."
+      } finally {
+        this.screenLoading = false
+      }
+    },
+    refreshScreenRecordings() {
+      this.loadScreenRecordings()
+    },
    async deleteRoute(route) {
      if (!(await GalaxyConfirm({ title: "Delete route?", message: `Delete “${route.displayName}”?`, confirmLabel: "Delete", danger: true }))) return
      try {
@@ -148,13 +213,14 @@ export const Recordings = {
        this.routes = []
        showSnackbar(payload?.message || "Routes deleted!")
      } catch (e) {
-        showSnackbar("Failed to delete routes.", "error")
+        showSnackbar(e?.message || "Failed to delete routes.", "error")
      }
    },
    async openPlayer(route) {
      this.playerRoute = route
      this.playerLoading = true
      this.playerError = ""
+      this._playRetries = 0
      try {
        const data = await api.getRoute(route.name)
        const segments = Array.isArray(data.segment_urls) ? data.segment_urls.filter((u) => typeof u === "string") : []
@@ -173,13 +239,23 @@ export const Recordings = {
      }
    },
    cameraUrl(url, low) {
-      if (this.selectedCamera === "forward") return low && !url.includes("?" ) ? `${url}?quality=low` : url
+      if (this.selectedCamera === "forward") return low && !url.includes("?") ? `${url}?quality=low` : url
      const sep = url.includes("?") ? "&" : "?"
      return `${url}${sep}camera=${encodeURIComponent(this.selectedCamera)}${low ? "&quality=low" : ""}`
    },
    playSegment() {
      const video = this.$refs.player
-      if (!video || !this.segments[this.current]) return
+      if (!this.segments[this.current]) return
+      // The player mounts inside a Teleport + transition after openPlayer clears
+      // playerLoading, so the video element may not exist on the very first call.
+      if (!video) {
+        this._playRetries = (this._playRetries || 0) + 1
+        if (this._playRetries <= 15) {
+          requestAnimationFrame(() => this.playSegment())
+        }
+        return
+      }
+      this._playRetries = 0
      video.src = this.cameraUrl(this.segments[this.current])
      video.load()
      video.play().catch(() => {})
@@ -192,6 +268,7 @@ export const Recordings = {
      a.click()
    },
    closePlayer() {
+      this._playRetries = 0
      if (this.$refs.player) { this.$refs.player.pause(); this.$refs.player.removeAttribute("src") }
      this.playerRoute = null
      this.playerLoading = false
@@ -207,13 +284,71 @@ export const Recordings = {
        showSnackbar("Could not read logs.", "error")
      }
    },
+    closeRecPlayer() {
+      this.recPlay = null
+    },
+    screenUrl(filename) {
+      return api.screenRecordingVideoUrl(filename)
+    },
+    playRec(rec) {
+      this.recPlay = rec
+    },
+    downloadRec(rec) {
+      const a = document.createElement("a")
+      a.href = api.screenRecordingVideoUrl(rec.filename)
+      a.download = rec.filename
+      a.click()
+    },
+    async renameRec(rec) {
+      const base = rec.filename.replace(/\.mp4$/i, "")
+      const val = prompt("Rename recording:", base)
+      if (!val || val === base) return
+      try {
+        await api.renameScreenRecording(rec.filename, val + ".mp4")
+        showSnackbar("Recording renamed!")
+        this.refreshScreenRecordings()
+      } catch (e) {
+        showSnackbar("Rename failed.", "error")
+      }
+    },
+    async deleteRec(rec) {
+      if (!(await GalaxyConfirm({ title: "Delete recording?", message: `Delete “${rec.filename}”?`, confirmLabel: "Delete", danger: true }))) return
+      try {
+        await api.deleteScreenRecording(rec.filename)
+        this.recordings = this.recordings.filter((r) => r.filename !== rec.filename)
+        if (this.recPlay?.filename === rec.filename) this.recPlay = null
+        showSnackbar("Recording deleted!")
+      } catch (e) {
+        showSnackbar("Delete failed.", "error")
+      }
+    },
+    async deleteAllRecs() {
+      if (!(await GalaxyConfirm({ title: "Delete all recordings?", message: "This permanently deletes every screen recording.", confirmLabel: "Delete All", danger: true }))) return
+      try {
+        const payload = await api.deleteAllScreenRecordings()
+        this.recordings = []
+        this.recPlay = null
+        showSnackbar(payload?.message || "All screen recordings deleted!")
+      } catch (e) {
+        showSnackbar(e?.message || "Delete failed.", "error")
+      }
+    },
+  },
+  async mounted() {
+    if (!this.onFirestar) await this.loadRoutes()
+  },
+  beforeUnmount() {
+    this.controller?.abort()
+    this.recController?.abort()
  },
-  async mounted() { await this.loadRoutes() },
-  beforeUnmount() { this.controller?.abort() },
  template: `
    <div>
+      <template v-if="!onFirestar">
      <h2 style="margin-top:0;">Recordings</h2>

+      <GalaxyTabs :items="{ routes: 'Dashcam Routes', screen: 'Screen Recordings' }" :active="sub" @select="setSub" />
+
+      <template v-if="sub === 'routes'">
      <section class="gx-card">
        <div class="gx-section__header">
          <i class="bi bi-camera-reels"></i>
@@ -277,10 +412,47 @@ export const Recordings = {
          <a class="gx-btn gx-btn--tonal" :href="seg.url" download>Download</a>
        </div>
      </div>
+      </template>
+
+      <template v-else>
+      <section class="gx-card">
+        <div class="gx-section__header">
+          <i class="bi bi-record-circle"></i>
+          <span class="gx-section__title">Screen Recordings</span>
+          <span class="gx-section__count">{{ recordings.length }}</span>
+        </div>
+        <div v-if="screenLoading && !recordings.length" class="gx-loading">Loading screen recordings...</div>
+        <div v-else-if="screenError" class="gx-empty" style="color: var(--error);">{{ screenError }}</div>
+        <div v-else-if="!recordings.length" class="gx-empty">No screen recordings found.</div>
+        <article v-for="r in recordings" :key="r.filename" class="gx-row" style="cursor:pointer;" @click="playRec(r)">
+          <img :src="r.png" alt="" loading="lazy" style="width:84px; height:auto; border-radius:var(--radius-sm); object-fit:cover; flex:none;">
+          <div class="gx-row__info">
+            <span class="gx-row__label">{{ screenDisplayName(r) }}</span>
+            <span class="gx-row__desc">{{ r.filename }}</span>
+          </div>
+          <div style="display:flex; gap:6px; flex-wrap:wrap;">
+            <button type="button" class="gx-btn gx-btn--tonal" title="Play" @click.stop="playRec(r)"><i class="bi bi-play-fill"></i></button>
+            <button type="button" class="gx-btn gx-btn--tonal" title="Rename" @click.stop="renameRec(r)"><i class="bi bi-pencil"></i></button>
+            <button type="button" class="gx-btn gx-btn--tonal" title="Download" @click.stop="downloadRec(r)"><i class="bi bi-download"></i></button>
+            <button type="button" class="gx-btn gx-btn--danger" title="Delete" @click.stop="deleteRec(r)"><i class="bi bi-trash"></i></button>
+          </div>
+        </article>
+      </section>
+
+      <section class="gx-card" v-if="recordings.length">
+        <div class="gx-section__header">
+          <i class="bi bi-exclamation-triangle"></i>
+          <span class="gx-section__title">Delete recordings</span>
+        </div>
+        <div style="display:flex; gap:8px; padding: var(--sp-3); flex-wrap:wrap;">
+          <button type="button" class="gx-btn gx-btn--danger" @click="deleteAllRecs">Delete All Recordings</button>
+        </div>
+      </section>
+      </template>

      <Teleport to="body">
        <transition name="gx-fade">
-          <div v-if="playerRoute" class="gx-scrim gx-scrim--bottomsheet" @click.self="closePlayer">
+          <div v-if="sub === 'routes' && playerRoute" class="gx-scrim gx-scrim--bottomsheet" @click.self="closePlayer">
            <div class="gx-sheet" role="dialog" aria-label="Route video player">
              <div class="gx-section__header" style="cursor:default;">
                <i class="bi bi-camera-video"></i>
@@ -307,6 +479,32 @@ export const Recordings = {
          </div>
        </transition>
      </Teleport>
+
+      <Teleport to="body">
+        <transition name="gx-fade">
+          <div v-if="recPlay" class="gx-scrim gx-scrim--bottomsheet" @click.self="closeRecPlayer">
+            <div class="gx-sheet" role="dialog" aria-label="Screen recording player">
+              <div class="gx-section__header" style="cursor:default;">
+                <i class="bi bi-record-circle"></i>
+                <span class="gx-section__title">{{ screenDisplayName(recPlay) }}</span>
+                <button type="button" class="gx-icon-btn" aria-label="Close player" @click="closeRecPlayer"><i class="bi bi-x-lg"></i></button>
+              </div>
+              <div style="padding: var(--sp-3);">
+                <video class="gx-video" controls autoplay playsinline :src="screenUrl(recPlay.filename)"></video>
+                <div style="display:flex; gap:8px; padding: var(--sp-3) 0 0; flex-wrap:wrap;">
+                  <button type="button" class="gx-btn" @click="downloadRec(recPlay)"><i class="bi bi-download"></i> Download</button>
+                  <button type="button" class="gx-btn gx-btn--tonal" @click="renameRec(recPlay)"><i class="bi bi-pencil"></i> Rename</button>
+                  <button type="button" class="gx-btn gx-btn--danger" @click="deleteRec(recPlay)"><i class="bi bi-trash"></i> Delete</button>
+                </div>
+              </div>
+            </div>
+          </div>
+        </transition>
+      </Teleport>
+      </template>
+
+      <GxNotice v-else tone="info" icon="bi-satellite" title="Recordings Unavailable via Galaxy"
+                text="Loading recordings requires a direct connection. Connect to your device's local network to use this feature." />
    </div>
  `,
 }
@@ -267,7 +267,7 @@ export const SystemTools = {
                <div v-if="fastStatus.message" class="gx-note">{{ fastStatus.message }}</div>
                <div v-if="fastStatus.warning && (fastStatus.running || fastStatus.updateAvailable)" class="gx-note gx-note--danger">{{ fastStatus.warning }}</div>
                <div v-if="fastStatus.agnosUpdate?.available && fastStatus.agnosUpdate?.warnings?.length" style="margin-top:4px;">
-                  <div v-for="w in fastStatus.agnosUpdate.warnings" :key="w" class="gx-note gx-note--danger">⚠ {{ w }}</div>
+                  <div v-for="w in fastStatus.agnosUpdate.warnings" :key="w" class="gx-note gx-note--danger"><i class="bi bi-exclamation-triangle-fill"></i> {{ w }}</div>
                </div>
              </div>
            </div>
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
firestarsdog	422488562f	SLC Alert QoL	2026-09-06 02:04:33 -04:00
Prabhaav Pillai	7f1f926c47	build - first from me	2026-09-06 01:58:30 -04:00
Prabhaav Pillai	9cb1b6b11d	big dipper	2026-09-06 01:35:01 -04:00