Update carcontroller.py

Guard Can Disconnects
2026-08-24 17:53:43 +08:00 · 2025-06-04 20:52:07 -05:00 · 2025-06-04 14:12:32 -05:00 · 2025-06-04 10:51:09 -05:00 · 2025-06-03 22:05:06 -05:00 · 2025-06-03 00:18:35 -05:00
91 changed files with 2386 additions and 3290 deletions
@@ -1 +1 @@
-/data/themes/theme_packs/duck/colors
+/data/openpilot/openpilot/frogpilot/assets/holiday_themes/easter_week/colors
@@ -1 +1 @@
-/data/themes/theme_packs/frog-animated/distance_icons
+/data/openpilot/openpilot/frogpilot/assets/stock_theme/distance_icons
@@ -1 +1 @@
-/data/themes/theme_packs/duck/icons
+/data/openpilot/openpilot/frogpilot/assets/holiday_themes/easter_week/icons
@@ -1 +1 @@
-/data/themes/theme_packs/duck/signals
+/data/openpilot/openpilot/frogpilot/assets/holiday_themes/easter_week/signals
@@ -1 +1 @@
-/data/themes/theme_packs/duck/sounds
+/data/openpilot/openpilot/frogpilot/assets/holiday_themes/easter_week/sounds
@@ -1 +0,0 @@
-/data/themes/steering_wheels/pedro.gif
@@ -0,0 +1 @@
+/data/openpilot/openpilot/frogpilot/assets/holiday_themes/easter_week/steering_wheel/wheel.png
@@ -1,44 +1,44 @@
 {
  "LaneLines": {
-    "red": 76,
-    "green": 150,
-    "blue": 255,
-    "alpha": 255
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
  },
  "LeadMarker": {
-    "red": 76,
-    "green": 150,
-    "blue": 255,
-    "alpha": 255
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
  },
  "Path": {
-    "red": 76,
-    "green": 150,
-    "blue": 255,
-    "alpha": 255
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
  },
  "PathEdge": {
-    "red": 255,
-    "green": 32,
-    "blue": 32,
-    "alpha": 255
+    "red": 18,
+    "green": 107,
+    "blue": 54,
+    "alpha": 242
  },
  "Sidebar1": {
-    "red": 76,
-    "green": 150,
-    "blue": 255,
-    "alpha": 255
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
  },
  "Sidebar2": {
-    "red": 0,
-    "green": 255,
-    "blue": 102,
-    "alpha": 255
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
  },
  "Sidebar3": {
-    "red": 255,
-    "green": 32,
-    "blue": 32,
-    "alpha": 255
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
  }
 }
@@ -139,7 +139,6 @@ def frogpilot_boot_functions(build_metadata, params_cache):
      params.put("DongleId", params.get("KonikDongleId", encoding="utf8"))
    else:
      params.put("KonikDongleId", register(show_spinner=True, register_konik=True))
-      HARDWARE.reboot()
  elif params.get("StockDongleId", encoding="utf8") != None:
    params.put("DongleId", params.get("StockDongleId", encoding="utf8"))

@@ -4,7 +4,6 @@ import math
 import numpy as np
 import requests
 import shutil
-import signal
 import subprocess
 import threading
 import time
@@ -174,7 +173,7 @@ def restart_processes(sm):

  if not any(ps.ignitionLine or ps.ignitionCan for ps in sm["pandaStates"] if ps.pandaType != log.PandaState.PandaType.unknown):
    for name in ["mapd", "ui"]:
-      get_managed_processes()[name].stop(block=True, retry=True, sig=signal.SIGKILL)
+      get_managed_processes()[name].stop(block=False, retry=False)

 def run_cmd(cmd, success_message, fail_message, report=True):
  try:
@@ -64,7 +64,7 @@ DEFAULT_TINYGRAD_MODEL_VERSION = "v8"

 EXCLUDED_KEYS = {
  "AvailableModels", "AvailableModelNames", "CarParamsPersistent", "ExperimentalLongitudinalEnabled",
-  "ExperimentalModels", "KonikMinutes", "ModelDrivesAndScores", "ModelVersions", "openpilotMinutes",
+  "ExperimentalModels", "ModelDrivesAndScores", "ModelVersions", "openpilotMinutes",
  "SpeedLimits", "UpdaterAvailableBranches"
 }

@@ -187,7 +187,6 @@ frogpilot_default_params: list[tuple[str, str | bytes, int]] = [
  ("IsMetric", "0", 0),
  ("JerkInfo", "0", 3),
  ("KonikDongleId", "", 3),
-  ("KonikMinutes", "0", 0),
  ("LaneChangeCustomizations", "0", 0),
  ("LaneChangeTime", "2.0", 0),
  ("LaneDetectionWidth", "0", 2),
@@ -393,8 +392,10 @@ class FrogPilotVariables:
    self.frogpilot_toggles.frogs_go_moo = Path("/persist/frogsgomoo.py").is_file()
    self.frogpilot_toggles.block_user = self.development_branch and not self.frogpilot_toggles.frogs_go_moo

+    self.not_vetted = False
+
    self.frogpilot_toggles.use_konik_server = params.get_bool("UseKonikServer")
-    self.frogpilot_toggles.use_konik_server |= Path("/data/openpilot/not_vetted").is_file()
+    self.frogpilot_toggles.use_konik_server |= self.not_vetted

    if not KONIK_PATH.is_file() and self.frogpilot_toggles.use_konik_server:
      KONIK_PATH.touch()
@@ -632,8 +633,8 @@ class FrogPilotVariables:
    toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
    toggle.increase_thermal_limits = device_management and (params.get_bool("IncreaseThermalLimits") if tuning_level >= level["IncreaseThermalLimits"] else default.get_bool("IncreaseThermalLimits"))
    toggle.low_voltage_shutdown = np.clip(params.get_float("LowVoltageShutdown"), VBATT_PAUSE_CHARGING, 12.5) if device_management and tuning_level >= level["LowVoltageShutdown"] else default.get_float("LowVoltageShutdown")
-    toggle.no_logging = (device_management and (params.get_bool("NoLogging") if tuning_level >= level["NoLogging"] else default.get_bool("NoLogging")) or self.development_branch) and not self.vetting_branch
-    toggle.no_uploads = (device_management and (params.get_bool("NoUploads") if tuning_level >= level["NoUploads"] else default.get_bool("NoUploads")) or self.development_branch) and not self.vetting_branch
+    toggle.no_logging = (device_management and (params.get_bool("NoLogging") if tuning_level >= level["NoLogging"] else default.get_bool("NoLogging")) or self.development_branch or self.not_vetted) and not self.vetting_branch
+    toggle.no_uploads = (device_management and (params.get_bool("NoUploads") if tuning_level >= level["NoUploads"] else default.get_bool("NoUploads")) or self.development_branch or self.not_vetted) and not self.vetting_branch
    toggle.no_onroad_uploads = toggle.no_uploads and (params.get_bool("DisableOnroadUploads") if tuning_level >= level["DisableOnroadUploads"] else default.get_bool("DisableOnroadUploads"))
    toggle.offline_mode = device_management and (params.get_bool("OfflineMode") if tuning_level >= level["OfflineMode"] else default.get_bool("OfflineMode"))

@@ -77,8 +77,8 @@ class FrogPilotFollowing:
      distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
      standstill_offset = max(STOP_DISTANCE - v_ego, 1)
      acceleration_offset = float(np.clip((v_lead - v_ego) * standstill_offset - COMFORT_BRAKE, 1, distance_factor))
-      self.acceleration_jerk /= standstill_offset
-      self.speed_jerk /= standstill_offset
+      self.acceleration_jerk /= acceleration_offset
+      self.speed_jerk /= acceleration_offset
      self.t_follow /= acceleration_offset

    # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
@@ -40,7 +40,7 @@
    text-align: center;
  }
 </style>
-  <title>FrogPilot: {% block title %}{% endblock %}</title>
+  <title>StarPilot: {% block title %}{% endblock %}</title>
 </head>
 <body>
  <nav class="navbar navbar-fixed-top navbar-expand-sm navbar-dark bg-dark">
@@ -82,6 +82,12 @@ VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ;

 BO_ 189 EBCMRegenPaddle: 7 K17_EBCM
 SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] ""  NEO
+ SG_ Byte1 : 8|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte2 : 16|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte3 : 24|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte4 : 32|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte5 : 40|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte6 : 48|8@1+ (1,0) [0|255] "" NEO

 BO_ 190 ECMAcceleratorPos: 6 K20_ECM
 SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky"  NEO
@@ -192,10 +198,15 @@ BO_ 500 SportMode: 6 XXX
 SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX

 BO_ 501 ECMPRDNL2: 8 K20_ECM
- SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
+ SG_ Byte0 : 0|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte1 : 8|8@1+ (1,0) [0|255] "" NEO
+ SG_ Byte2 : 16|8@1+ (1,0) [0|255] "" NEO
 SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
+ SG_ Byte4 : 32|8@1+ (1,0) [0|255] "" NEO
 SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO
-
+ SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO
+ SG_ Byte7 : 56|8@1+ (1,0) [0|255] "" NEO
+ 
 BO_ 532 BRAKE_RELATED: 6 XXX
 SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX

@@ -221,6 +232,7 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM
 SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] ""  NEO
 SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] ""  NEO
 SG_ RollingCounter : 7|2@0+ (1,0) [0|0] ""  NEO
+ SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] ""  NEO
 SG_ GasRegenCmd : 8|14@0+ (1,0) [0|0] "" NEO

 BO_ 717 ASCM_2CD: 5 K124_ASCM
@@ -369,6 +381,6 @@ VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ;
 VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ;
 VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ;
 VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ;
-VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
+VAL_ 501 PRNDL2 7 "L2" 6 "L" 5 "L3" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting";
 VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged";
 VAL_ 501 ManualMode 1 "Active" 0 "Inactive"
@@ -1,4 +1,4 @@
-import math
+from typing import Tuple
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.filter_simple import FirstOrderFilter
@@ -8,7 +8,7 @@ from openpilot.common.params_pyx import Params
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, AccState, CC_REGEN_PADDLE_CAR
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
@@ -23,7 +23,6 @@ TransmissionType = car.CarParams.TransmissionType
 CAMERA_CANCEL_DELAY_FRAMES = 10
 # Enforce a minimum interval between steering messages to avoid a fault
 MIN_STEER_MSG_INTERVAL_MS = 15
-
 # Constants for pitch compensation
 PITCH_DEADZONE = 0.01  # [radians] 0.01 ≈ 1% grade
 BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
@@ -39,6 +38,10 @@ class CarController(CarControllerBase):
    self.apply_speed = 0
    self.frame = 0
    self.last_steer_frame = 0
+    self.last_steer_ts_ns = 0
+    self.last_regen_active = False
+    self.prev_steer_ts_ns = 0
+    self.last_spoof_ts_ns = 0
    self.last_button_frame = 0
    self.cancel_counter = 0
    self.pedal_steady = 0.
@@ -49,12 +52,6 @@ class CarController(CarControllerBase):
    self.params = CarControllerParams(self.CP)
    self.params_ = Params()

-    self.mass = CP.mass
-    self.tireRadius = 0.075 * CP.wheelbase + 0.1453
-    self.frontalArea = 1.05 * CP.wheelbase + 0.0679
-    self.coeffDrag = 0.30
-    self.airDensity = 1.225
-
    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
@@ -62,24 +59,64 @@ class CarController(CarControllerBase):
    # FrogPilot variables
    self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4)  # runs at 25 Hz
    self.accel_g = 0.0
+    self.regen_paddle_pressed = False
+    self.aego = 0.0
+    self.regen_paddle_timer = 0

-  @staticmethod
-  def calc_pedal_command(accel: float, long_active: bool, car_velocity) -> float:
-    if not long_active: return 0.
+    # Midpoint + overflow spoof accumulator and flags
+    self.spoof_accum = 0.0
+    self.spoof_mid_sent = False
+    self.spoof_over_sent = False
+    self.last_interval_ns = 0

-    zero = 0.15625  # 40/256
-    if accel < -0.5:
-      pedal_gas = 0
-    else:
-      pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
-      pedal_gas = clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+  def calc_pedal_command(self, accel: float, long_active: bool, car_velocity) -> Tuple[float, bool]:
+    if not long_active:
+      return 0., False

-    return pedal_gas
+    # Regen paddle hysteresis (frame-based): hold 30 frames, with decrement dead-zone
+    if not hasattr(self, 'regen_paddle_timer'):
+      self.regen_paddle_timer = 0  # frames
+
+    # Regen paddle hysteresis (frame‑based): count frames when decelerating hard, decrement only when truly released
+    if self.aego < -0.7:
+      self.regen_paddle_timer += 1
+    elif self.aego > -0.3:
+      self.regen_paddle_timer = max(self.regen_paddle_timer - 1, 0)
+    # else: hold timer between -0.7 and -0.3
+
+    # Base paddle press hysteresis
+    self.regen_paddle_pressed = self.regen_paddle_timer >= 20  # 30 frames
+    press_regen_paddle = self.regen_paddle_pressed
+
+    # Regen gain ratios from bin-averaged 60–0 deceleration sweep; Calculates stronger decel from paddle
+    speed_mps = [0.559, 1.678, 2.797, 3.916, 5.035, 6.154, 7.273, 8.392, 9.511, 10.63,
+                 11.749, 12.868, 13.987, 15.106, 16.225, 17.344, 18.463, 19.582, 20.701, 21.820,
+                 22.939, 24.058, 25.177, 26.296]
+    regen_gain_ratio = [1.01, 1.01, 1.02, 1.05, 1.08, 1.345979, 1.369975,
+                         1.376302, 1.388052, 1.370367, 1.388498, 1.386030, 1.405950, 1.387555,
+                         1.390392, 1.394946, 1.414915, 1.428535, 1.439611, 1.440106, 1.441438,
+                         1.439395, 1.446909, 1.445738]
+
+    gain = interp(car_velocity, speed_mps, regen_gain_ratio)
+    pedaloffset = interp(car_velocity, [0., 3, 6, 30], [0.10, 0.175, 0.240, 0.240])
+
+    # Compute raw pedal gas
+    raw_pedal_gas = clip((pedaloffset + (accel / gain) * 0.6), 0.0, 1.0) if press_regen_paddle else clip((pedaloffset + accel * 0.6), 0.0, 1.0)
+
+    # --- Immediate application of raw pedal gas, no blending ---
+    pedal_gas = raw_pedal_gas
+    # Safety cap: ramp from 22% at 0 m/s to 37.25% at 10 mph (4.47 m/s), then allow full throttleAdd commentMore actions
+    pedal_gas_max = interp(car_velocity, [0.0, 4.47, 4.48], [0.22, 0.3725, 1.0])
+    pedal_gas = clip(pedal_gas, 0.0, pedal_gas_max)
+    return pedal_gas, press_regen_paddle


  def update(self, CC, CS, now_nanos, frogpilot_toggles):
+    self.CS = CS
+    self.aego = CS.out.aEgo
    actuators = CC.actuators
    accel = brake_accel = actuators.accel
+    press_regen_paddle = False
    hud_control = CC.hudControl
    hud_alert = hud_control.visualAlert
    hud_v_cruise = hud_control.setSpeed
@@ -88,6 +125,98 @@ class CarController(CarControllerBase):

    # Send CAN commands.
    can_sends = []
+    paddle_sends = []
+
+    raw_regen_active = (
+      self.CP.carFingerprint in CC_REGEN_PADDLE_CAR and
+      self.CP.openpilotLongitudinalControl and
+      CC.longActive and
+      self.CP.enableGasInterceptor and
+      self.regen_paddle_timer >= 20  # raw hysteresis-only
+    )
+    regen_active = raw_regen_active
+
+    # === Spoof scheduling: midpoint + overflow (~40Hz) ===
+    # Implement 1s hold-off after CAN reconnect
+    # Detect reconnect: loopback_lka_steering_cmd_ts_nanos == 0 and self.last_steer_ts_ns != 0
+    if CS.loopback_lka_steering_cmd_ts_nanos == 0 and self.last_steer_ts_ns != 0:
+      self.loopback_holdoff_until = now_nanos + 1_000_000_000
+    # Remove holdoff if expired
+    if hasattr(self, "loopback_holdoff_until") and now_nanos >= self.loopback_holdoff_until:
+      del self.loopback_holdoff_until
+
+    # Rising-edge reset on regen start
+    if raw_regen_active and not self.last_regen_active:
+      self.prev_steer_ts_ns = self.last_steer_ts_ns
+      self.last_spoof_ts_ns = 0
+      self.spoof_accum = 0.0
+      self.spoof_mid_sent = False
+      self.spoof_over_sent = False
+
+    if raw_regen_active:
+      # Interval between last two bus-0 steer sends
+      interval_ns = self.last_steer_ts_ns - self.prev_steer_ts_ns
+
+      # New steer interval? clear per-interval flags
+      if interval_ns != self.last_interval_ns:
+        self.spoof_mid_sent = False
+        self.spoof_over_sent = False
+        self.last_interval_ns = interval_ns
+
+      # Accumulate extra spoofs needed above 33Hz base to reach 40Hz
+      self.spoof_accum += (40.0/33.0 - 1.0)
+
+      # 500ms holdoff after reconnect: skip spoof scheduling if active
+      skip_spoof = hasattr(self, "loopback_holdoff_until") and now_nanos < self.loopback_holdoff_until
+
+      # Midpoint spoof: one per interval; avoid sending if loopback stale
+      if not skip_spoof and not self.spoof_mid_sent and interval_ns > 0:
+        midpoint_ns = self.prev_steer_ts_ns + interval_ns // 2
+        if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
+            now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 10_000_000 and
+            now_nanos >= midpoint_ns and
+            now_nanos - self.last_steer_ts_ns >= 26_000_000):
+          paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
+          paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
+          self.last_spoof_ts_ns = now_nanos
+          self.spoof_mid_sent = True
+
+      # Overflow spoof: insert extra when accumulator allows
+      if not skip_spoof and self.spoof_accum >= 0.5 and not self.spoof_over_sent and interval_ns > 0:
+        slot2_ns = self.prev_steer_ts_ns + (interval_ns * 2) // 3
+        if (CS.loopback_lka_steering_cmd_ts_nanos != 0 and
+            now_nanos - CS.loopback_lka_steering_cmd_ts_nanos < 10_000_000 and
+            now_nanos >= slot2_ns and
+            now_nanos - self.last_steer_ts_ns >= 28_000_000):
+          paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, True))
+          paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, True))
+          self.last_spoof_ts_ns = now_nanos
+          self.spoof_over_sent = True
+          self.spoof_accum -= 0.5
+    # === End Spoof scheduling ===
+
+    # === Off-pulse scheduling on regen release ===
+    if not raw_regen_active and self.last_regen_active:
+      # schedule two off-slots at 1/3 and 2/3 of the last steer interval
+      if self.prev_steer_ts_ns and self.last_steer_ts_ns:
+        intv = self.last_steer_ts_ns - self.prev_steer_ts_ns
+        self.off_schedule_ns = [
+          self.prev_steer_ts_ns + intv // 3,
+          self.prev_steer_ts_ns + (2 * intv) // 3
+        ]
+        self.off_sent = [False, False]
+
+    if hasattr(self, "off_schedule_ns"):
+      for i, t_ns in enumerate(self.off_schedule_ns):
+        if not self.off_sent[i] and now_nanos >= t_ns and now_nanos - self.last_steer_ts_ns >= 18_000_000:
+          paddle_sends.append(gmcan.create_prndl2_command(self.packer_pt, CanBus.POWERTRAIN, False))
+          paddle_sends.append(gmcan.create_regen_paddle_command(self.packer_pt, CanBus.POWERTRAIN, False))
+          self.off_sent[i] = True
+      # clean up once both off pulses are sent
+      if hasattr(self, "off_sent") and all(self.off_sent):
+        del self.off_schedule_ns
+        del self.off_sent
+    # === End off-pulse scheduling ===

    # Steering (Active: 50Hz, inactive: 10Hz)
    steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
@@ -117,16 +246,37 @@ class CarController(CarControllerBase):
      else:
        apply_steer = 0

+      # shift previous steer timestamp
+      self.prev_steer_ts_ns = self.last_steer_ts_ns
+      self.last_steer_ts_ns = now_nanos
      self.last_steer_frame = self.frame
      self.apply_steer_last = apply_steer
      idx = self.lka_steering_cmd_counter % 4
      can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))

+    # Update regen_active state and last_regen_paddle_pressed for next loop
+    self.last_regen_active = regen_active
+    self.last_regen_paddle_pressed = self.regen_paddle_pressed
+
+    # Merge paddle spoof CAN frames, time-guarded only
+    if paddle_sends:
+      # wait at least 15 ms after the last bus0 steer send
+      if now_nanos - self.last_steer_ts_ns >= 15_000_000:
+        can_sends.extend(paddle_sends)
+
    if self.CP.openpilotLongitudinalControl:
      # Gas/regen, brakes, and UI commands - all at 25Hz
      if self.frame % 4 == 0:
        stopping = actuators.longControlState == LongCtrlState.stopping

+        # Pitch compensated acceleration;
+        # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay
+        if frogpilot_toggles.long_pitch and len(CC.orientationNED) > 1:
+          self.pitch.update(CC.orientationNED[1])
+          self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch
+          accel += self.accel_g
+          brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
+
        at_full_stop = CC.longActive and CS.out.standstill
        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
        interceptor_gas_cmd = 0
@@ -138,43 +288,32 @@ class CarController(CarControllerBase):
          self.apply_gas = self.params.INACTIVE_REGEN
          self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
        else:
-          
-          if len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
-            accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+          # Normal operation
+          if self.CP.carFingerprint in EV_CAR:
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
          else:
-            accel_due_to_pitch = 0.0
-
-          if frogpilot_toggles.sport_plus:
-            gas_max = self.params.MAX_GAS_PLUS
-            accel_max = self.params.ACCEL_MAX_PLUS
-          else:
-            gas_max = self.params.MAX_GAS
-            accel_max = self.params.ACCEL_MAX
-          
-          accel = clip(actuators.accel + accel_due_to_pitch, self.params.ACCEL_MIN, accel_max)
-          torque = self.tireRadius * ((self.mass*accel) + (0.5*self.coeffDrag*self.frontalArea*self.airDensity*CS.out.vEgo**2))
-          
-          scaled_torque = torque + self.params.ZERO_GAS
-          apply_gas_torque = clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
-          BRAKE_SWITCH = int(round(interp(CS.out.vEgo, self.params.BRAKE_SWITCH_LOOKUP_BP, self.params.BRAKE_SWITCH_LOOKUP_V)))
-          brake_accel = min((scaled_torque - BRAKE_SWITCH)/(self.tireRadius*self.mass), 0)
-          self.apply_gas = int(round(apply_gas_torque))
-          self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-          if self.apply_brake > 0:
-            self.apply_gas = self.params.INACTIVE_REGEN
-
+            if frogpilot_toggles.sport_plus:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS)))
+            else:
+              self.apply_gas = int(round(interp(accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+            self.apply_brake = int(round(interp(brake_accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
          # Don't allow any gas above inactive regen while stopping
          # FIXME: brakes aren't applied immediately when enabling at a stop
          if stopping:
            self.apply_gas = self.params.INACTIVE_REGEN
          if self.CP.carFingerprint in CC_ONLY_CAR:
            # gas interceptor only used for full long control on cars without ACC
-            interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)
+            interceptor_gas_cmd, press_regen_paddle = self.calc_pedal_command(actuators.accel, CC.longActive, CS.out.vEgo)

        if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill:
          # "Tap" the accelerator pedal to re-engage ACC
          interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS
          self.apply_brake = 0
+          press_regen_paddle = False
          self.apply_gas = self.params.INACTIVE_REGEN

        idx = (self.frame // 4) % 4
@@ -205,33 +344,30 @@ class CarController(CarControllerBase):
          # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
          can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, acc_engaged, at_full_stop))
          can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
-                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
+                                                               idx, CC.enabled, near_stop, at_full_stop, self.CP))

          # Send dashboard UI commands (ACC status)
          send_fcw = hud_alert == VisualAlert.fcw
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
+          if self.frame % 10 == 5:
+            can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
      else:
        # to keep accel steady for logs when not sending gas
        accel += self.accel_g

      # Radar needs to know current speed and yaw rate (50hz),
-      # and that ADAS is alive (10hz)
+      # and that ADAS is alive (5hz, previously 10hz)
      if not self.CP.radarUnavailable:
        tt = self.frame * DT_CTRL
-        time_and_headlights_step = 10
+        time_and_headlights_step = 20
        if self.frame % time_and_headlights_step == 0:
          idx = (self.frame // time_and_headlights_step) % 4
          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-
-        speed_and_accelerometer_step = 2
-        if self.frame % speed_and_accelerometer_step == 0:
-          idx = (self.frame // speed_and_accelerometer_step) % 4
          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))

-      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % (self.params.ADAS_KEEPALIVE_STEP * 2) == 0:
        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)

      # TODO: integrate this with the code block below?
@@ -259,7 +395,7 @@ class CarController(CarControllerBase):

    if self.CP.networkLocation == NetworkLocation.fwdCamera:
      # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
-      if self.frame % 10 == 0:
+      if self.frame % 20 == 0:
        can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))

    new_actuators = actuators.as_builder()
@@ -56,6 +56,10 @@ class CarState(CarStateBase):
    self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
    if self.loopback_lka_steering_cmd_updated:
      self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
+
+    # Track timestamps for OEM PRNDL2 and Regen Paddle messages (used to sync spoofing timing)
+    self.prndl2_ts_nanos = pt_cp.ts_nanos["ECMPRDNL2"]["PRNDL2"]
+    self.regen_paddle_ts_nanos = pt_cp.ts_nanos["EBCMRegenPaddle"]["RegenPaddle"]
    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
      self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
      self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -95,13 +99,13 @@ class CarState(CarStateBase):
      self.single_pedal_mode = (
        ret.gearShifter == GearShifter.low
        or pt_cp.vl["EVDriveMode"]["SinglePedalModeActive"] == 1
+        or pt_cp.vl["ECMPRDNL2"]["TransmissionState"] == 21
        or (ret.regenBraking and GearShifter.manumatic)
-        or self.CP.carFingerprint in ["CHEVROLET_BOLT_EUV", "CHEVROLET_BOLT_CC"] 
      )

    if self.CP.enableGasInterceptor:
      ret.gas = (pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + pt_cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
-      threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 515 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
+      threshold = 12 if self.CP.carFingerprint in CAMERA_ACC_CAR else 4 # Panda 595 threshold = 10.88. Set lower to avoid panda blocking messages and GasInterceptor faulting.
      ret.gasPressed = ret.gas > threshold
    else:
      ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
@@ -174,7 +178,7 @@ class CarState(CarStateBase):
        ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
        ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1

-    # FrogPilot CarState functions
+
    self.lkas_previously_enabled = self.lkas_enabled
    if self.CP.carFingerprint in SDGM_CAR:
      self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
@@ -235,7 +239,7 @@ class CarState(CarStateBase):
      ]
    else:
      messages += [
-        ("ECMPRDNL2", 10),
+        ("ECMPRDNL2", 40),
        ("AcceleratorPedal2", 33),
        ("ECMEngineStatus", 100),
        ("BCMTurnSignals", 1),
@@ -257,7 +261,7 @@ class CarState(CarStateBase):

    if CP.transmissionType == TransmissionType.direct:
      messages += [
-        ("EBCMRegenPaddle", 50),
+        ("EBCMRegenPaddle", 40),
        ("EVDriveMode", 0),
      ]

@@ -66,6 +66,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop):
    "GasRegenFullStopActive": at_full_stop,
    "GasRegenAlwaysOne": 1,
    "GasRegenAlwaysOne2": 1,
+    "GasRegenAlwaysOne3": 1,
  }

  dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2]
@@ -176,6 +177,33 @@ def create_lka_icon_command(bus, active, critical, steer):
    dat = b"\x00\x00\x00"
  return make_can_msg(0x104c006c, dat, bus)

+def create_prndl2_command(packer, bus, press_regen_paddle):
+  prndl2_value = 7 if press_regen_paddle else 6
+  manual_mode = 1 if press_regen_paddle else 0
+  values = {
+    "Byte0": 0x0C,
+    "Byte1": 0x0C,
+    "Byte2": 0x00,
+    "PRNDL2": prndl2_value,
+    "Byte4": 0x00,
+    "ManualMode": manual_mode,
+    "TransmissionState": 1,
+    "Byte7": 0x00
+  }
+  return packer.make_can_msg("ECMPRDNL2", bus, values)
+
+def create_regen_paddle_command(packer, bus, press_regen_paddle):
+  regen_paddle_value = 2 if press_regen_paddle else 0
+  values = {
+    "RegenPaddle": regen_paddle_value,
+    "Byte1": 0,
+    "Byte2": 0,
+    "Byte3": 0,
+    "Byte4": 0,
+    "Byte5": 0,
+    "Byte6": 0
+  }
+  return packer.make_can_msg("EBCMRegenPaddle", bus, values)

 def create_gm_cc_spam_command(packer, controller, CS, actuators):
  if controller.params_.get_bool("IsMetric"):
@@ -29,10 +29,10 @@ CAM_MSG = 0x320  # AEBCmd
 ACCELERATOR_POS_MSG = 0xbe

 NON_LINEAR_TORQUE_PARAMS = {
-  CAR.CHEVROLET_BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.CHEVROLET_BOLT_CC: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
-  CAR.GMC_ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
-  CAR.CHEVROLET_SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+  CAR.CHEVROLET_BOLT_EUV: {"left": [2.15, 1.0, 0.17, -0.04], "right": [2.15, 1.0, 0.21, -0.04]},
+  CAR.CHEVROLET_BOLT_CC: {"left": [2.15, 1.0, 0.17, -0.04], "right": [2.15, 1.0, 0.21, -0.04]},
+  CAR.GMC_ACADIA: {"left": [4.78, 1.0, 0.31, 0.05], "right": [4.78, 1.0, 0.31, 0.05]},
+  CAR.CHEVROLET_SILVERADO: {"left": [3.30, 1.0, 0.25, 0.05], "right": [3.30, 1.0, 0.25, 0.05]}
 }

 NEURAL_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/neural_ff_weights.json')
@@ -74,8 +74,12 @@ class CarInterface(CarInterfaceBase):
    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
    assert non_linear_torque_params, "The params are not defined"
-    a, b, c, _ = non_linear_torque_params
-    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
+    if latcontrol_inputs.lateral_acceleration >= 0:
+      params = non_linear_torque_params["right"]
+    else:
+      params = non_linear_torque_params["left"]
+    a, b, c, d = params
+    steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c) + d
    return float(steer_torque) + friction

  def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: car.CarParams.LateralTorqueTuning, lateral_accel_error: float,
@@ -87,13 +91,7 @@ class CarInterface(CarInterfaceBase):
    return float(self.neural_ff_model.predict(inputs)) + friction

  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
-    if self.CP.carFingerprint in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
-      self.neural_ff_model = NanoFFModel(NEURAL_PARAMS_PATH, self.CP.carFingerprint)
-      return self.torque_from_lateral_accel_neural
-    elif self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
      return self.torque_from_lateral_accel_siglin
-    else:
-      return self.torque_from_lateral_accel_linear

  @staticmethod
  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs, frogpilot_toggles):
@@ -124,14 +122,13 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 10 * CV.KPH_TO_MS

      # Tuning for experimental long
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.longitudinalTuning.kiV = [2.0, 1.5]
      ret.vEgoStopping = 0.1
      ret.vEgoStarting = 0.1

-      ret.stoppingDecelRate = 1.0  # reach brake quickly after enabling
+      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
      ret.vEgoStopping = 0.25
      ret.vEgoStarting = 0.25
-      ret.stopAccel = -0.25

      if experimental_long:
        ret.pcmCruise = False
@@ -139,7 +136,7 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG

    elif candidate in SDGM_CAR:
-      ret.longitudinalTuning.kiV = [0., 0., 0.]  # TODO: tuning
+      ret.longitudinalTuning.kiV = [0., 0.]  # TODO: tuning
      ret.experimentalLongitudinalAvailable = False
      ret.networkLocation = NetworkLocation.fwdCamera
      ret.pcmCruise = True
@@ -158,7 +155,7 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 7 * CV.MPH_TO_MS

      # Tuning
-      ret.longitudinalTuning.kiV = [0.5, 0.5, 0.5]
+      ret.longitudinalTuning.kiV = [2.4, 1.5]

      if ret.enableGasInterceptor:
        # Need to set ASCM long limits when using pedal interceptor, instead of camera ACC long limits
@@ -209,7 +206,7 @@ class CarInterface(CarInterfaceBase):
    elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
-      ret.lateralTuning.torque.kp = 0.6
+      ret.lateralTuning.torque.kp = 0.4

      if ret.enableGasInterceptor:
        # ACC Bolts use pedal for full longitudinal control, not just sng
@@ -275,7 +272,7 @@ class CarInterface(CarInterfaceBase):
      ret.stoppingControl = True
      ret.autoResumeSng = True

-      if candidate in CC_ONLY_CAR: #pedal interceptor tuning
+      if candidate in CC_ONLY_CAR:
        ret.flags |= GMFlags.PEDAL_LONG.value
        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_PEDAL_LONG
        # Note: Low speed, stop and go not tested. Should be fairly smooth on highway
@@ -298,7 +295,7 @@ class CarInterface(CarInterfaceBase):
      ret.openpilotLongitudinalControl = not params.get_bool("DisableOpenpilotLongitudinal")
      ret.pcmCruise = False

-      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR: #redneck tuning
+      if not ret.enableGasInterceptor and candidate in CC_ONLY_CAR:
        ret.longitudinalTuning.kpBP = [10.7, 10.8, 28.]  # 10.7 m/s == 24 mph
        ret.longitudinalTuning.kpV = [0., 20., 20.]  # set lower end to 0 since we can't drive below that speed
        ret.longitudinalTuning.deadzoneBP = [0.]
@@ -11,13 +11,13 @@ Ecu = car.CarParams.Ecu


 class CarControllerParams:
-  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_MAX = 450  # GM limit is 3Nm. Used by carcontroller to generate LKA output
  STEER_STEP = 3  # Active control frames per command (~33hz)
  INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
-  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 15
-  STEER_DRIVER_ALLOWANCE = 65
-  STEER_DRIVER_MULTIPLIER = 4
+  STEER_DELTA_UP = 15  # Delta rates require review due to observed EPS weakness
+  STEER_DELTA_DOWN = 34
+  STEER_DRIVER_ALLOWANCE = 78
+  STEER_DRIVER_MULTIPLIER = 6
  STEER_DRIVER_FACTOR = 100
  NEAR_STOP_BRAKE_PHASE = 0.25  # m/s
  SNG_INTERCEPTOR_GAS = 18. / 255.
@@ -38,10 +38,10 @@ class CarControllerParams:

  def __init__(self, CP):
    # Gas/brake lookups
-    self.ZERO_GAS = 6150  # Coasting
+    self.ZERO_GAS = 6144  # Coasting
    self.MAX_BRAKE = 400  # ~ -4.0 m/s^2 with regen

-    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR:
+    if CP.carFingerprint in CAMERA_ACC_CAR and CP.carFingerprint not in CC_ONLY_CAR and CP.carFingerprint != CAR.CHEVROLET_BOLT_EUV:
      self.MAX_GAS = 7496
      self.MAX_GAS_PLUS = 8848
      self.MAX_ACC_REGEN = 5610
@@ -49,49 +49,32 @@ class CarControllerParams:
      # Camera ACC vehicles have no regen while enabled.
      # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly
      self.max_regen_acceleration = 0.
-      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS

    elif CP.carFingerprint in SDGM_CAR:
      self.MAX_GAS = 7496
      self.MAX_GAS_PLUS = 7496
-      self.MAX_ACC_REGEN = 5610
+      self.MAX_ACC_REGEN = 7110
      self.INACTIVE_REGEN = 5650
      self.max_regen_acceleration = 0.
-      self.BRAKE_SWITCH = self.ZERO_GAS

    else:
      self.MAX_GAS = 7168  # Safety limit, not ACC max. Stock ACC >8192 from standstill.
      self.MAX_GAS_PLUS = 8191 # 8292 uses new bit, possible but not tested. Matches Twilsonco tw-main max
-      self.MAX_ACC_REGEN = 5500  # Max ACC regen is slightly less than max paddle regen
+      self.MAX_ACC_REGEN = 7110  # Increased for stronger regen braking
      self.INACTIVE_REGEN = 5500
      # ICE has much less engine braking force compared to regen in EVs,
      # lower threshold removes some braking deadzone
-      self.max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1
-      self.BRAKE_SWITCH_MAX = self.MAX_ACC_REGEN if CP.carFingerprint in EV_CAR else self.ZERO_GAS
+      self.max_regen_acceleration = -3. if CP.carFingerprint in EV_CAR else -0.1  # More aggressive regen for EVs

    self.GAS_LOOKUP_BP = [self.max_regen_acceleration, 0., self.ACCEL_MAX]
    self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS]
    self.GAS_LOOKUP_V_PLUS = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS_PLUS]

-    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, 0.]
+    self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, self.max_regen_acceleration]
    self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.]

-    self.BRAKE_SWITCH_LOOKUP_BP = [0.5, 10]
-    self.BRAKE_SWITCH_LOOKUP_V = [self.ZERO_GAS, self.BRAKE_SWITCH_MAX]

-  # determined by letting Volt regen to a stop in L gear from 89mph,
-  # and by letting off gas and allowing car to creep, for determining
-  # the positive threshold values at very low speed
-  EV_GAS_BRAKE_THRESHOLD_BP = [1.29, 1.52, 1.55, 1.6, 1.7, 1.8, 2.0, 2.2, 2.5, 5.52, 9.6, 20.5, 23.5, 35.0] # [m/s]
-  EV_GAS_BRAKE_THRESHOLD_V = [0.0, -0.14, -0.16, -0.18, -0.215, -0.255, -0.32, -0.41, -0.5, -0.72, -0.895, -1.125, -1.145, -1.16] # [m/s^s]
-
-  def update_ev_gas_brake_threshold(self, v_ego):
-    gas_brake_threshold = interp(v_ego, self.EV_GAS_BRAKE_THRESHOLD_BP, self.EV_GAS_BRAKE_THRESHOLD_V)
-    self.GAS_LOOKUP_BP_PLUS = [self.max_regen_acceleration, 0., self.ACCEL_MAX_PLUS]
-    self.EV_GAS_LOOKUP_BP = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX]
-    self.EV_GAS_LOOKUP_BP_PLUS = [gas_brake_threshold, max(0., gas_brake_threshold), self.ACCEL_MAX_PLUS]
-    self.EV_BRAKE_LOOKUP_BP = [self.ACCEL_MIN, gas_brake_threshold]

@dataclass
 class GMCarDocs(CarDocs):
@@ -175,7 +158,7 @@ class CAR(Platforms):
      GMCarDocs("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
      GMCarDocs("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
    ],
-    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
+    GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
  )
  CHEVROLET_EQUINOX = GMPlatformConfig(
    [GMCarDocs("Chevrolet Equinox 2019-22")],
@@ -211,15 +194,15 @@ class CAR(Platforms):
    CHEVROLET_SUBURBAN.specs,
  )
  GMC_YUKON_CC = GMPlatformConfig(
-    [GMCarDocs("GMC Yukon - No-ACC")],
+    [GMCarDocs("GMC Yukon No ACC")],
    CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
  )
  CADILLAC_CT6_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac CT6 - No-ACC")],
+    [GMCarDocs("Cadillac CT6 No ACC")],
    CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
  )
  CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Trailblazer 2021-22 - No-ACC")],
+    [GMCarDocs("Chevrolet Trailblazer 2021-22")],
    CHEVROLET_TRAILBLAZER.specs,
  )
  CADILLAC_XT4 = GMPlatformConfig(
@@ -227,7 +210,7 @@ class CAR(Platforms):
    CarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
  )
  CADILLAC_XT5_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac XT5 - No-ACC")],
+    [GMCarDocs("Cadillac XT5 No ACC")],
    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
  )
  CHEVROLET_TRAVERSE = GMPlatformConfig(
@@ -239,7 +222,7 @@ class CAR(Platforms):
    CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
  )
  CHEVROLET_MALIBU_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
+    [GMCarDocs("Chevrolet Malibu 2023 No ACC")],
    CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
  )
  CHEVROLET_TRAX = GMPlatformConfig(
@@ -328,6 +311,7 @@ FW_QUERY_CONFIG = FwQueryConfig(

 EV_CAR = {CAR.CHEVROLET_VOLT, CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC}
 CC_ONLY_CAR = {CAR.CHEVROLET_VOLT_CC, CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_EQUINOX_CC, CAR.CHEVROLET_SUBURBAN_CC, CAR.GMC_YUKON_CC, CAR.CADILLAC_CT6_CC, CAR.CHEVROLET_TRAILBLAZER_CC, CAR.CADILLAC_XT5_CC, CAR.CHEVROLET_MALIBU_CC}
+CC_REGEN_PADDLE_CAR = {CAR.CHEVROLET_BOLT_CC, CAR.CHEVROLET_BOLT_EUV}
 # CC_ONLY_CAR = set(c for c in CAR if str(c).endswith('_CC'))

 # We're integrated at the Safety Data Gateway Module on these cars
@@ -412,7 +412,7 @@ class CarInterfaceBase(ABC):

    tune.init('torque')
    tune.torque.useSteeringAngle = use_steering_angle
-    tune.torque.kp = 1.0
+    tune.torque.kp = 0.4
    tune.torque.kf = 1.0
    tune.torque.ki = 0.1
    tune.torque.friction = params['FRICTION']
@@ -5,7 +5,7 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase

 # mocked car interface for dashcam mode
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, FPCP, CarController, CarState):
+  def __init__(self, CP, CarController, CarState):
    super().__init__(CP, CarController, CarState)

    self.speed = 0.
@@ -43,7 +43,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CADILLAC_ESCALADE" = [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 "CADILLAC_ESCALADE_ESV_2019" = [1.15, 1.3, 0.2]
 "CADILLAC_XT4" = [1.45, 1.6, 0.2]
-"CHEVROLET_BOLT_EUV" = [2.0, 2.0, 0.05]
+"CHEVROLET_BOLT_EUV" = [3.0, 2.0, 0.11]
 "CHEVROLET_MALIBU_CC" = [1.85, 1.85, 0.075]
 "CHEVROLET_SILVERADO" = [1.9, 1.9, 0.112]
 "CHEVROLET_TRAILBLAZER" = [1.33, 1.9, 0.16]
@@ -170,7 +170,7 @@ class CarInterface(CarInterfaceBase):
        *create_button_events(self.CS.cruise_decreased, self.CS.cruise_decreased_previously, {1: ButtonType.decelCruise}),
        *create_button_events(self.CS.cruise_increased, self.CS.cruise_increased_previously, {1: ButtonType.accelCruise}),
        *create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
-        *create_button_events(self.CS.lkas_enabled != self.CS.lkas_previously_enabled, False, {1: FrogPilotButtonType.lkas}),
+        *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
      ]

    # events
@@ -32,7 +32,7 @@ from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel

 from openpilot.system.hardware import HARDWARE

-from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles, params_memory
+from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, get_frogpilot_toggles, params_memory
 from openpilot.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel

 SOFT_DISABLE_TIME = 3  # seconds
@@ -199,6 +199,8 @@ class Controls:

    self.has_menu = self.CP.carName == "gm" and not (self.CP.flags & GMFlags.NO_CAMERA.value or self.CP.carFingerprint in CC_ONLY_CAR)

+    self.error_log = ERROR_LOGS_PATH / "error.txt"
+
  def set_initial_state(self):
    if REPLAY:
      controls_state = self.params.get("ReplayControlsState")
@@ -429,6 +431,12 @@ class Controls:
    if self.frogpilot_toggles.block_user:
      self.events.add(EventName.blockUser, static=True)

+    if self.error_log.is_file():
+      if self.frogpilot_toggles.random_events:
+        self.events.add(EventName.openpilotCrashedRandomEvent)
+      else:
+        self.events.add(EventName.openpilotCrashed)
+
  def data_sample(self):
    """Receive data from sockets"""

@@ -87,7 +87,7 @@ class DesireHelper:
        if torque_applied:
          self.lane_change_wait_timer = frogpilot_toggles.lane_change_delay

-        torque_applied |= frogpilot_toggles.nudgeless and lane_available and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay
+        torque_applied |= frogpilot_toggles.nudgeless

        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
@@ -95,7 +95,7 @@ class DesireHelper:
        if not one_blinker or below_lane_change_speed or self.lane_change_completed:
          self.lane_change_state = LaneChangeState.off
          self.lane_change_direction = LaneChangeDirection.none
-        elif torque_applied and not blindspot_detected:
+        elif torque_applied and not blindspot_detected and lane_available and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay:
          self.lane_change_state = LaneChangeState.laneChangeStarting
          self.lane_change_completed = frogpilot_toggles.one_lane_change
          self.lane_change_wait_timer = 0.0
@@ -353,7 +353,6 @@ def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
    "world_frog_day": "Happy World Frog Day! 🐸",
    "april_fools": "Happy April Fool's Day! 🤡",
    "easter_week": "Happy Easter! 🐰",
-    "may_the_fourth": "May the 4th be with you! 🚀",
    "cinco_de_mayo": "¡Feliz Cinco de Mayo! 🌮",
    "fourth_of_july": "Happy Fourth of July! 🎆",
    "halloween_week": "Happy Halloween! 🎃",
@@ -1,538 +0,0 @@
-{
-    "acados_include_path": "/data/openpilot/third_party/acados/include",
-    "acados_lib_path": "/data/openpilot/third_party/acados/lib",
-    "code_export_directory": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code",
-    "constraints": {
-        "C": [],
-        "C_e": [],
-        "D": [],
-        "constr_type": "BGH",
-        "constr_type_e": "BGH",
-        "idxbu": [],
-        "idxbx": [
-            2,
-            3
-        ],
-        "idxbx_0": [
-            0,
-            1,
-            2,
-            3
-        ],
-        "idxbx_e": [],
-        "idxbxe_0": [
-            0,
-            1,
-            2,
-            3
-        ],
-        "idxsbu": [],
-        "idxsbx": [],
-        "idxsbx_e": [],
-        "idxsg": [],
-        "idxsg_e": [],
-        "idxsh": [],
-        "idxsh_e": [],
-        "idxsphi": [],
-        "idxsphi_e": [],
-        "lbu": [],
-        "lbx": [
-            -1.5707963267948966,
-            -0.8726646259971648
-        ],
-        "lbx_0": [
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "lbx_e": [],
-        "lg": [],
-        "lg_e": [],
-        "lh": [],
-        "lh_e": [],
-        "lphi": [],
-        "lphi_e": [],
-        "lsbu": [],
-        "lsbx": [],
-        "lsbx_e": [],
-        "lsg": [],
-        "lsg_e": [],
-        "lsh": [],
-        "lsh_e": [],
-        "lsphi": [],
-        "lsphi_e": [],
-        "ubu": [],
-        "ubx": [
-            1.5707963267948966,
-            0.8726646259971648
-        ],
-        "ubx_0": [
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "ubx_e": [],
-        "ug": [],
-        "ug_e": [],
-        "uh": [],
-        "uh_e": [],
-        "uphi": [],
-        "uphi_e": [],
-        "usbu": [],
-        "usbx": [],
-        "usbx_e": [],
-        "usg": [],
-        "usg_e": [],
-        "ush": [],
-        "ush_e": [],
-        "usphi": [],
-        "usphi_e": []
-    },
-    "cost": {
-        "Vu": [],
-        "Vu_0": [],
-        "Vx": [],
-        "Vx_0": [],
-        "Vx_e": [],
-        "Vz": [],
-        "Vz_0": [],
-        "W": [
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ]
-        ],
-        "W_0": [
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0,
-                0.0,
-                0.0
-            ]
-        ],
-        "W_e": [
-            [
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0
-            ],
-            [
-                0.0,
-                0.0,
-                0.0
-            ]
-        ],
-        "Zl": [],
-        "Zl_e": [],
-        "Zu": [],
-        "Zu_e": [],
-        "cost_ext_fun_type": "casadi",
-        "cost_ext_fun_type_0": "casadi",
-        "cost_ext_fun_type_e": "casadi",
-        "cost_type": "NONLINEAR_LS",
-        "cost_type_0": "NONLINEAR_LS",
-        "cost_type_e": "NONLINEAR_LS",
-        "yref": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "yref_0": [
-            0.0,
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "yref_e": [
-            0.0,
-            0.0,
-            0.0
-        ],
-        "zl": [],
-        "zl_e": [],
-        "zu": [],
-        "zu_e": []
-    },
-    "cython_include_dirs": [
-        "/usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include",
-        "/usr/local/pyenv/versions/3.11.4/include/python3.11"
-    ],
-    "dims": {
-        "N": 32,
-        "nbu": 0,
-        "nbx": 2,
-        "nbx_0": 4,
-        "nbx_e": 0,
-        "nbxe_0": 4,
-        "ng": 0,
-        "ng_e": 0,
-        "nh": 0,
-        "nh_e": 0,
-        "np": 2,
-        "nphi": 0,
-        "nphi_e": 0,
-        "nr": 0,
-        "nr_e": 0,
-        "ns": 0,
-        "ns_e": 0,
-        "nsbu": 0,
-        "nsbx": 0,
-        "nsbx_e": 0,
-        "nsg": 0,
-        "nsg_e": 0,
-        "nsh": 0,
-        "nsh_e": 0,
-        "nsphi": 0,
-        "nsphi_e": 0,
-        "nu": 1,
-        "nx": 4,
-        "ny": 5,
-        "ny_0": 5,
-        "ny_e": 3,
-        "nz": 0
-    },
-    "json_file": "/data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/acados_ocp_lat.json",
-    "model": {
-        "con_h_expr": null,
-        "con_h_expr_e": null,
-        "con_phi_expr": null,
-        "con_phi_expr_e": null,
-        "con_r_expr": null,
-        "con_r_expr_e": null,
-        "con_r_in_phi": null,
-        "con_r_in_phi_e": null,
-        "cost_conl_custom_outer_hess": null,
-        "cost_conl_custom_outer_hess_0": null,
-        "cost_conl_custom_outer_hess_e": null,
-        "cost_expr_ext_cost": null,
-        "cost_expr_ext_cost_0": null,
-        "cost_expr_ext_cost_custom_hess": null,
-        "cost_expr_ext_cost_custom_hess_0": null,
-        "cost_expr_ext_cost_custom_hess_e": null,
-        "cost_expr_ext_cost_e": null,
-        "cost_psi_expr": null,
-        "cost_psi_expr_0": null,
-        "cost_psi_expr_e": null,
-        "cost_r_in_psi_expr": null,
-        "cost_r_in_psi_expr_0": null,
-        "cost_r_in_psi_expr_e": null,
-        "cost_y_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegjaaaaaaaaaaaaaaafaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaafaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegdaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegmcaaaaaaaaaaaaaajgkaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegdaaaaaaaaaaaaaaacheaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpgegeaaaaaaaaaaaaaaachjaaaaaaaaaaaaaaaegbaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegmcaaaaaaaaaaaaaachkjjjjjjjjjjjjlpd",
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-        "disc_dyn_expr": null,
-        "dyn_disc_fun": null,
-        "dyn_disc_fun_jac": null,
-        "dyn_disc_fun_jac_hess": null,
-        "dyn_ext_fun_type": "casadi",
-        "dyn_generic_source": null,
-        "f_expl_expr": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaghpffghgpgegoaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaapaaaaaaachpgehbgehjgpgogpfchbgegjgfhdhegnaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpgegbaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachbaaaaaaaaaaaaaaaegnaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaachfaaaaaaaaaaaaaaaegoaaaaaaaaaaaaaaachcaaaaaaaaaaaaaaachiaaaaaaaaaaaaaaachiaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaanaaaaaaaahdhjgpfbgdgdgfgmgpffghgpg",
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-        "gnsf": {
-            "nontrivial_f_LO": 1,
-            "purely_linear": 0
-        },
-        "name": "lat",
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-        "x": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaafaaaaaaaihpffghgpgegpcaaaaaaaaaaaaaafaaaaaaajhpffghgpgegpcaaaaaaaaaaaaaahaaaaaaaahdhjgpffghgpgegpcaaaaaaaaaaaaaamaaaaaaaahdhjgpfchbgehfgpffghgpg",
-        "xdot": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegiaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaabaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaabaaaaaaaaaaaaaaacaaaaaaaaaaaaaaadaaaaaaaaaaaaaaaeaaaaaaaaaaaaaaaegpcaaaaaaaaaaaaaajaaaaaaaihpffghgpgpfegpgehegpcaaaaaaaaaaaaaajaaaaaaajhpffghgpgpfegpgehegpcaaaaaaaaaaaaaalaaaaaaaahdhjgpffghgpgpfegpgehegpcaaaaaaaaaaaaaaabaaaaaaahdhjgpfchbgehfgpffghgpgpfegpgeh",
-        "z": "jhpnnagiieahaaaadaaaaaaaaaaaaaaaaaegdaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa"
-    },
-    "parameter_values": [
-        0.0,
-        0.0
-    ],
-    "problem_class": "OCP",
-    "shared_lib_ext": ".so",
-    "solver_options": {
-        "Tsim": 0.009765625,
-        "alpha_min": 0.05,
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-        "custom_update_copy": true,
-        "custom_update_filename": "",
-        "custom_update_header_filename": "",
-        "eps_sufficient_descent": 0.0001,
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-        "exact_hess_dyn": 1,
-        "ext_cost_num_hess": 0,
-        "ext_fun_compile_flags": "-O2",
-        "full_step_dual": 0,
-        "globalization": "FIXED_STEP",
-        "globalization_use_SOC": 0,
-        "hessian_approx": "GAUSS_NEWTON",
-        "hpipm_mode": "BALANCE",
-        "initialize_t_slacks": 0,
-        "integrator_type": "ERK",
-        "levenberg_marquardt": 0.0,
-        "line_search_use_sufficient_descent": 0,
-        "model_external_shared_lib_dir": null,
-        "model_external_shared_lib_name": null,
-        "nlp_solver_ext_qp_res": 0,
-        "nlp_solver_max_iter": 100,
-        "nlp_solver_step_length": 1.0,
-        "nlp_solver_tol_comp": 1e-06,
-        "nlp_solver_tol_eq": 1e-06,
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-        "nlp_solver_tol_stat": 1e-06,
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-        "print_level": 0,
-        "qp_solver": "PARTIAL_CONDENSING_HPIPM",
-        "qp_solver_cond_N": 1,
-        "qp_solver_cond_ric_alg": 1,
-        "qp_solver_iter_max": 1,
-        "qp_solver_ric_alg": 1,
-        "qp_solver_tol_comp": null,
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-        "qp_solver_tol_stat": null,
-        "qp_solver_warm_start": 0,
-        "regularize_method": null,
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-        "sim_method_newton_iter": 3,
-        "sim_method_newton_tol": 0.0,
-        "sim_method_num_stages": [
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-        ],
-        "tf": 10.0,
-        "time_steps": [
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-            0.029296875,
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-            0.068359375,
-            0.087890625,
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-}
@@ -92,11 +92,10 @@ class LongControl:
    self.CP = CP
    self.long_control_state = LongCtrlState.off
    self.experimental_mode = False
-    pos_p_limit = 0.0
    self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                             (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                             k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL,
-                             pos_p_limit=pos_p_limit)
+                             pos_p_limit=None)
    self.v_pid = 0.0
    self._mode_setup()
    self.last_output_accel = 0.0
@@ -1,524 +0,0 @@
-{
-    "acados_include_path": "/data/openpilot/third_party/acados/include",
-    "acados_lib_path": "/data/openpilot/third_party/acados/lib",
-    "code_export_directory": "/data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code",
-    "constraints": {
-        "C": [],
-        "C_e": [],
-        "D": [],
-        "constr_type": "BGH",
-        "constr_type_e": "BGH",
-        "idxbu": [],
-        "idxbx": [],
-        "idxbx_0": [
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-            2
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-        "idxbx_e": [],
-        "idxbxe_0": [
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-            1,
-            2
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-        "idxsbu": [],
-        "idxsbx": [],
-        "idxsbx_e": [],
-        "idxsg": [],
-        "idxsg_e": [],
-        "idxsh": [
-            0,
-            1,
-            2,
-            3
-        ],
-        "idxsh_e": [],
-        "idxsphi": [],
-        "idxsphi_e": [],
-        "lbu": [],
-        "lbx": [],
-        "lbx_0": [
-            0.0,
-            0.0,
-            0.0
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-        "lbx_e": [],
-        "lg": [],
-        "lg_e": [],
-        "lh": [
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-            0.0,
-            0.0,
-            0.0
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-        "lh_e": [],
-        "lphi": [],
-        "lphi_e": [],
-        "lsbu": [],
-        "lsbx": [],
-        "lsbx_e": [],
-        "lsg": [],
-        "lsg_e": [],
-        "lsh": [
-            0.0,
-            0.0,
-            0.0,
-            0.0
-        ],
-        "lsh_e": [],
-        "lsphi": [],
-        "lsphi_e": [],
-        "ubu": [],
-        "ubx": [],
-        "ubx_0": [
-            0.0,
-            0.0,
-            0.0
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-        "ubx_e": [],
-        "ug": [],
-        "ug_e": [],
-        "uh": [
-            10000.0,
-            10000.0,
-            10000.0,
-            10000.0
-        ],
-        "uh_e": [],
-        "uphi": [],
-        "uphi_e": [],
-        "usbu": [],
-        "usbx": [],
-        "usbx_e": [],
-        "usg": [],
-        "usg_e": [],
-        "ush": [
-            0.0,
-            0.0,
-            0.0,
-            0.0
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-        "ush_e": [],
-        "usphi": [],
-        "usphi_e": []
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-    "cost": {
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-        "Vu_0": [],
-        "Vx": [],
-        "Vx_0": [],
-        "Vx_e": [],
-        "Vz": [],
-        "Vz_0": [],
-        "W": [
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-        "Zu_e": [],
-        "cost_ext_fun_type": "casadi",
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-        "cost_type": "NONLINEAR_LS",
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-        "line_search_use_sufficient_descent": 0,
-        "model_external_shared_lib_dir": null,
-        "model_external_shared_lib_name": null,
-        "nlp_solver_ext_qp_res": 0,
-        "nlp_solver_max_iter": 100,
-        "nlp_solver_step_length": 1.0,
-        "nlp_solver_tol_comp": 1e-06,
-        "nlp_solver_tol_eq": 1e-06,
-        "nlp_solver_tol_ineq": 1e-06,
-        "nlp_solver_tol_stat": 1e-06,
-        "nlp_solver_type": "SQP_RTI",
-        "print_level": 0,
-        "qp_solver": "PARTIAL_CONDENSING_HPIPM",
-        "qp_solver_cond_N": 1,
-        "qp_solver_cond_ric_alg": 1,
-        "qp_solver_iter_max": 10,
-        "qp_solver_ric_alg": 1,
-        "qp_solver_tol_comp": 0.001,
-        "qp_solver_tol_eq": 0.001,
-        "qp_solver_tol_ineq": 0.001,
-        "qp_solver_tol_stat": 0.001,
-        "qp_solver_warm_start": 0,
-        "regularize_method": null,
-        "shooting_nodes": [
-            0.0,
-            0.06944444444444445,
-            0.2777777777777778,
-            0.625,
-            1.1111111111111112,
-            1.7361111111111114,
-            2.5,
-            3.4027777777777786,
-            4.444444444444445,
-            5.625,
-            6.9444444444444455,
-            8.402777777777777,
-            10.0
-        ],
-        "sim_method_jac_reuse": [
-            0,
-            0,
-            0,
-            0,
-            0,
-            0,
-            0,
-            0,
-            0,
-            0,
-            0,
-            0
-        ],
-        "sim_method_newton_iter": 3,
-        "sim_method_newton_tol": 0.0,
-        "sim_method_num_stages": [
-            4,
-            4,
-            4,
-            4,
-            4,
-            4,
-            4,
-            4,
-            4,
-            4,
-            4,
-            4
-        ],
-        "sim_method_num_steps": [
-            1,
-            1,
-            1,
-            1,
-            1,
-            1,
-            1,
-            1,
-            1,
-            1,
-            1,
-            1
-        ],
-        "tf": 10.0,
-        "time_steps": [
-            0.06944444444444445,
-            0.20833333333333334,
-            0.3472222222222222,
-            0.48611111111111116,
-            0.6250000000000002,
-            0.7638888888888886,
-            0.9027777777777786,
-            1.041666666666666,
-            1.1805555555555554,
-            1.3194444444444455,
-            1.4583333333333313,
-            1.5972222222222232
-        ]
-    }
-}
@@ -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_5662147043452870344) {
-   out_5662147043452870344[0] = delta_x[0] + nom_x[0];
-   out_5662147043452870344[1] = delta_x[1] + nom_x[1];
-   out_5662147043452870344[2] = delta_x[2] + nom_x[2];
-   out_5662147043452870344[3] = delta_x[3] + nom_x[3];
-   out_5662147043452870344[4] = delta_x[4] + nom_x[4];
-   out_5662147043452870344[5] = delta_x[5] + nom_x[5];
-   out_5662147043452870344[6] = delta_x[6] + nom_x[6];
-   out_5662147043452870344[7] = delta_x[7] + nom_x[7];
-   out_5662147043452870344[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_2366717911037962719) {
+   out_2366717911037962719[0] = delta_x[0] + nom_x[0];
+   out_2366717911037962719[1] = delta_x[1] + nom_x[1];
+   out_2366717911037962719[2] = delta_x[2] + nom_x[2];
+   out_2366717911037962719[3] = delta_x[3] + nom_x[3];
+   out_2366717911037962719[4] = delta_x[4] + nom_x[4];
+   out_2366717911037962719[5] = delta_x[5] + nom_x[5];
+   out_2366717911037962719[6] = delta_x[6] + nom_x[6];
+   out_2366717911037962719[7] = delta_x[7] + nom_x[7];
+   out_2366717911037962719[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_2016113788005242335) {
-   out_2016113788005242335[0] = -nom_x[0] + true_x[0];
-   out_2016113788005242335[1] = -nom_x[1] + true_x[1];
-   out_2016113788005242335[2] = -nom_x[2] + true_x[2];
-   out_2016113788005242335[3] = -nom_x[3] + true_x[3];
-   out_2016113788005242335[4] = -nom_x[4] + true_x[4];
-   out_2016113788005242335[5] = -nom_x[5] + true_x[5];
-   out_2016113788005242335[6] = -nom_x[6] + true_x[6];
-   out_2016113788005242335[7] = -nom_x[7] + true_x[7];
-   out_2016113788005242335[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_70336108065318295) {
+   out_70336108065318295[0] = -nom_x[0] + true_x[0];
+   out_70336108065318295[1] = -nom_x[1] + true_x[1];
+   out_70336108065318295[2] = -nom_x[2] + true_x[2];
+   out_70336108065318295[3] = -nom_x[3] + true_x[3];
+   out_70336108065318295[4] = -nom_x[4] + true_x[4];
+   out_70336108065318295[5] = -nom_x[5] + true_x[5];
+   out_70336108065318295[6] = -nom_x[6] + true_x[6];
+   out_70336108065318295[7] = -nom_x[7] + true_x[7];
+   out_70336108065318295[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_8997301641043644665) {
-   out_8997301641043644665[0] = 1.0;
-   out_8997301641043644665[1] = 0;
-   out_8997301641043644665[2] = 0;
-   out_8997301641043644665[3] = 0;
-   out_8997301641043644665[4] = 0;
-   out_8997301641043644665[5] = 0;
-   out_8997301641043644665[6] = 0;
-   out_8997301641043644665[7] = 0;
-   out_8997301641043644665[8] = 0;
-   out_8997301641043644665[9] = 0;
-   out_8997301641043644665[10] = 1.0;
-   out_8997301641043644665[11] = 0;
-   out_8997301641043644665[12] = 0;
-   out_8997301641043644665[13] = 0;
-   out_8997301641043644665[14] = 0;
-   out_8997301641043644665[15] = 0;
-   out_8997301641043644665[16] = 0;
-   out_8997301641043644665[17] = 0;
-   out_8997301641043644665[18] = 0;
-   out_8997301641043644665[19] = 0;
-   out_8997301641043644665[20] = 1.0;
-   out_8997301641043644665[21] = 0;
-   out_8997301641043644665[22] = 0;
-   out_8997301641043644665[23] = 0;
-   out_8997301641043644665[24] = 0;
-   out_8997301641043644665[25] = 0;
-   out_8997301641043644665[26] = 0;
-   out_8997301641043644665[27] = 0;
-   out_8997301641043644665[28] = 0;
-   out_8997301641043644665[29] = 0;
-   out_8997301641043644665[30] = 1.0;
-   out_8997301641043644665[31] = 0;
-   out_8997301641043644665[32] = 0;
-   out_8997301641043644665[33] = 0;
-   out_8997301641043644665[34] = 0;
-   out_8997301641043644665[35] = 0;
-   out_8997301641043644665[36] = 0;
-   out_8997301641043644665[37] = 0;
-   out_8997301641043644665[38] = 0;
-   out_8997301641043644665[39] = 0;
-   out_8997301641043644665[40] = 1.0;
-   out_8997301641043644665[41] = 0;
-   out_8997301641043644665[42] = 0;
-   out_8997301641043644665[43] = 0;
-   out_8997301641043644665[44] = 0;
-   out_8997301641043644665[45] = 0;
-   out_8997301641043644665[46] = 0;
-   out_8997301641043644665[47] = 0;
-   out_8997301641043644665[48] = 0;
-   out_8997301641043644665[49] = 0;
-   out_8997301641043644665[50] = 1.0;
-   out_8997301641043644665[51] = 0;
-   out_8997301641043644665[52] = 0;
-   out_8997301641043644665[53] = 0;
-   out_8997301641043644665[54] = 0;
-   out_8997301641043644665[55] = 0;
-   out_8997301641043644665[56] = 0;
-   out_8997301641043644665[57] = 0;
-   out_8997301641043644665[58] = 0;
-   out_8997301641043644665[59] = 0;
-   out_8997301641043644665[60] = 1.0;
-   out_8997301641043644665[61] = 0;
-   out_8997301641043644665[62] = 0;
-   out_8997301641043644665[63] = 0;
-   out_8997301641043644665[64] = 0;
-   out_8997301641043644665[65] = 0;
-   out_8997301641043644665[66] = 0;
-   out_8997301641043644665[67] = 0;
-   out_8997301641043644665[68] = 0;
-   out_8997301641043644665[69] = 0;
-   out_8997301641043644665[70] = 1.0;
-   out_8997301641043644665[71] = 0;
-   out_8997301641043644665[72] = 0;
-   out_8997301641043644665[73] = 0;
-   out_8997301641043644665[74] = 0;
-   out_8997301641043644665[75] = 0;
-   out_8997301641043644665[76] = 0;
-   out_8997301641043644665[77] = 0;
-   out_8997301641043644665[78] = 0;
-   out_8997301641043644665[79] = 0;
-   out_8997301641043644665[80] = 1.0;
+void H_mod_fun(double *state, double *out_281700328218384173) {
+   out_281700328218384173[0] = 1.0;
+   out_281700328218384173[1] = 0;
+   out_281700328218384173[2] = 0;
+   out_281700328218384173[3] = 0;
+   out_281700328218384173[4] = 0;
+   out_281700328218384173[5] = 0;
+   out_281700328218384173[6] = 0;
+   out_281700328218384173[7] = 0;
+   out_281700328218384173[8] = 0;
+   out_281700328218384173[9] = 0;
+   out_281700328218384173[10] = 1.0;
+   out_281700328218384173[11] = 0;
+   out_281700328218384173[12] = 0;
+   out_281700328218384173[13] = 0;
+   out_281700328218384173[14] = 0;
+   out_281700328218384173[15] = 0;
+   out_281700328218384173[16] = 0;
+   out_281700328218384173[17] = 0;
+   out_281700328218384173[18] = 0;
+   out_281700328218384173[19] = 0;
+   out_281700328218384173[20] = 1.0;
+   out_281700328218384173[21] = 0;
+   out_281700328218384173[22] = 0;
+   out_281700328218384173[23] = 0;
+   out_281700328218384173[24] = 0;
+   out_281700328218384173[25] = 0;
+   out_281700328218384173[26] = 0;
+   out_281700328218384173[27] = 0;
+   out_281700328218384173[28] = 0;
+   out_281700328218384173[29] = 0;
+   out_281700328218384173[30] = 1.0;
+   out_281700328218384173[31] = 0;
+   out_281700328218384173[32] = 0;
+   out_281700328218384173[33] = 0;
+   out_281700328218384173[34] = 0;
+   out_281700328218384173[35] = 0;
+   out_281700328218384173[36] = 0;
+   out_281700328218384173[37] = 0;
+   out_281700328218384173[38] = 0;
+   out_281700328218384173[39] = 0;
+   out_281700328218384173[40] = 1.0;
+   out_281700328218384173[41] = 0;
+   out_281700328218384173[42] = 0;
+   out_281700328218384173[43] = 0;
+   out_281700328218384173[44] = 0;
+   out_281700328218384173[45] = 0;
+   out_281700328218384173[46] = 0;
+   out_281700328218384173[47] = 0;
+   out_281700328218384173[48] = 0;
+   out_281700328218384173[49] = 0;
+   out_281700328218384173[50] = 1.0;
+   out_281700328218384173[51] = 0;
+   out_281700328218384173[52] = 0;
+   out_281700328218384173[53] = 0;
+   out_281700328218384173[54] = 0;
+   out_281700328218384173[55] = 0;
+   out_281700328218384173[56] = 0;
+   out_281700328218384173[57] = 0;
+   out_281700328218384173[58] = 0;
+   out_281700328218384173[59] = 0;
+   out_281700328218384173[60] = 1.0;
+   out_281700328218384173[61] = 0;
+   out_281700328218384173[62] = 0;
+   out_281700328218384173[63] = 0;
+   out_281700328218384173[64] = 0;
+   out_281700328218384173[65] = 0;
+   out_281700328218384173[66] = 0;
+   out_281700328218384173[67] = 0;
+   out_281700328218384173[68] = 0;
+   out_281700328218384173[69] = 0;
+   out_281700328218384173[70] = 1.0;
+   out_281700328218384173[71] = 0;
+   out_281700328218384173[72] = 0;
+   out_281700328218384173[73] = 0;
+   out_281700328218384173[74] = 0;
+   out_281700328218384173[75] = 0;
+   out_281700328218384173[76] = 0;
+   out_281700328218384173[77] = 0;
+   out_281700328218384173[78] = 0;
+   out_281700328218384173[79] = 0;
+   out_281700328218384173[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_2973469614408186678) {
-   out_2973469614408186678[0] = state[0];
-   out_2973469614408186678[1] = state[1];
-   out_2973469614408186678[2] = state[2];
-   out_2973469614408186678[3] = state[3];
-   out_2973469614408186678[4] = state[4];
-   out_2973469614408186678[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_2973469614408186678[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_2973469614408186678[7] = state[7];
-   out_2973469614408186678[8] = state[8];
+void f_fun(double *state, double dt, double *out_3945758947465398650) {
+   out_3945758947465398650[0] = state[0];
+   out_3945758947465398650[1] = state[1];
+   out_3945758947465398650[2] = state[2];
+   out_3945758947465398650[3] = state[3];
+   out_3945758947465398650[4] = state[4];
+   out_3945758947465398650[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_3945758947465398650[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_3945758947465398650[7] = state[7];
+   out_3945758947465398650[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_4040592134712196686) {
-   out_4040592134712196686[0] = 1;
-   out_4040592134712196686[1] = 0;
-   out_4040592134712196686[2] = 0;
-   out_4040592134712196686[3] = 0;
-   out_4040592134712196686[4] = 0;
-   out_4040592134712196686[5] = 0;
-   out_4040592134712196686[6] = 0;
-   out_4040592134712196686[7] = 0;
-   out_4040592134712196686[8] = 0;
-   out_4040592134712196686[9] = 0;
-   out_4040592134712196686[10] = 1;
-   out_4040592134712196686[11] = 0;
-   out_4040592134712196686[12] = 0;
-   out_4040592134712196686[13] = 0;
-   out_4040592134712196686[14] = 0;
-   out_4040592134712196686[15] = 0;
-   out_4040592134712196686[16] = 0;
-   out_4040592134712196686[17] = 0;
-   out_4040592134712196686[18] = 0;
-   out_4040592134712196686[19] = 0;
-   out_4040592134712196686[20] = 1;
-   out_4040592134712196686[21] = 0;
-   out_4040592134712196686[22] = 0;
-   out_4040592134712196686[23] = 0;
-   out_4040592134712196686[24] = 0;
-   out_4040592134712196686[25] = 0;
-   out_4040592134712196686[26] = 0;
-   out_4040592134712196686[27] = 0;
-   out_4040592134712196686[28] = 0;
-   out_4040592134712196686[29] = 0;
-   out_4040592134712196686[30] = 1;
-   out_4040592134712196686[31] = 0;
-   out_4040592134712196686[32] = 0;
-   out_4040592134712196686[33] = 0;
-   out_4040592134712196686[34] = 0;
-   out_4040592134712196686[35] = 0;
-   out_4040592134712196686[36] = 0;
-   out_4040592134712196686[37] = 0;
-   out_4040592134712196686[38] = 0;
-   out_4040592134712196686[39] = 0;
-   out_4040592134712196686[40] = 1;
-   out_4040592134712196686[41] = 0;
-   out_4040592134712196686[42] = 0;
-   out_4040592134712196686[43] = 0;
-   out_4040592134712196686[44] = 0;
-   out_4040592134712196686[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_4040592134712196686[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_4040592134712196686[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_4040592134712196686[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_4040592134712196686[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_4040592134712196686[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_4040592134712196686[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_4040592134712196686[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_4040592134712196686[53] = -9.8000000000000007*dt;
-   out_4040592134712196686[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_4040592134712196686[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_4040592134712196686[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_4040592134712196686[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_4040592134712196686[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_4040592134712196686[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_4040592134712196686[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_4040592134712196686[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_4040592134712196686[62] = 0;
-   out_4040592134712196686[63] = 0;
-   out_4040592134712196686[64] = 0;
-   out_4040592134712196686[65] = 0;
-   out_4040592134712196686[66] = 0;
-   out_4040592134712196686[67] = 0;
-   out_4040592134712196686[68] = 0;
-   out_4040592134712196686[69] = 0;
-   out_4040592134712196686[70] = 1;
-   out_4040592134712196686[71] = 0;
-   out_4040592134712196686[72] = 0;
-   out_4040592134712196686[73] = 0;
-   out_4040592134712196686[74] = 0;
-   out_4040592134712196686[75] = 0;
-   out_4040592134712196686[76] = 0;
-   out_4040592134712196686[77] = 0;
-   out_4040592134712196686[78] = 0;
-   out_4040592134712196686[79] = 0;
-   out_4040592134712196686[80] = 1;
+void F_fun(double *state, double dt, double *out_7239966002367196486) {
+   out_7239966002367196486[0] = 1;
+   out_7239966002367196486[1] = 0;
+   out_7239966002367196486[2] = 0;
+   out_7239966002367196486[3] = 0;
+   out_7239966002367196486[4] = 0;
+   out_7239966002367196486[5] = 0;
+   out_7239966002367196486[6] = 0;
+   out_7239966002367196486[7] = 0;
+   out_7239966002367196486[8] = 0;
+   out_7239966002367196486[9] = 0;
+   out_7239966002367196486[10] = 1;
+   out_7239966002367196486[11] = 0;
+   out_7239966002367196486[12] = 0;
+   out_7239966002367196486[13] = 0;
+   out_7239966002367196486[14] = 0;
+   out_7239966002367196486[15] = 0;
+   out_7239966002367196486[16] = 0;
+   out_7239966002367196486[17] = 0;
+   out_7239966002367196486[18] = 0;
+   out_7239966002367196486[19] = 0;
+   out_7239966002367196486[20] = 1;
+   out_7239966002367196486[21] = 0;
+   out_7239966002367196486[22] = 0;
+   out_7239966002367196486[23] = 0;
+   out_7239966002367196486[24] = 0;
+   out_7239966002367196486[25] = 0;
+   out_7239966002367196486[26] = 0;
+   out_7239966002367196486[27] = 0;
+   out_7239966002367196486[28] = 0;
+   out_7239966002367196486[29] = 0;
+   out_7239966002367196486[30] = 1;
+   out_7239966002367196486[31] = 0;
+   out_7239966002367196486[32] = 0;
+   out_7239966002367196486[33] = 0;
+   out_7239966002367196486[34] = 0;
+   out_7239966002367196486[35] = 0;
+   out_7239966002367196486[36] = 0;
+   out_7239966002367196486[37] = 0;
+   out_7239966002367196486[38] = 0;
+   out_7239966002367196486[39] = 0;
+   out_7239966002367196486[40] = 1;
+   out_7239966002367196486[41] = 0;
+   out_7239966002367196486[42] = 0;
+   out_7239966002367196486[43] = 0;
+   out_7239966002367196486[44] = 0;
+   out_7239966002367196486[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_7239966002367196486[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_7239966002367196486[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_7239966002367196486[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_7239966002367196486[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_7239966002367196486[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_7239966002367196486[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_7239966002367196486[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_7239966002367196486[53] = -9.8000000000000007*dt;
+   out_7239966002367196486[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_7239966002367196486[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_7239966002367196486[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_7239966002367196486[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_7239966002367196486[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_7239966002367196486[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_7239966002367196486[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_7239966002367196486[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_7239966002367196486[62] = 0;
+   out_7239966002367196486[63] = 0;
+   out_7239966002367196486[64] = 0;
+   out_7239966002367196486[65] = 0;
+   out_7239966002367196486[66] = 0;
+   out_7239966002367196486[67] = 0;
+   out_7239966002367196486[68] = 0;
+   out_7239966002367196486[69] = 0;
+   out_7239966002367196486[70] = 1;
+   out_7239966002367196486[71] = 0;
+   out_7239966002367196486[72] = 0;
+   out_7239966002367196486[73] = 0;
+   out_7239966002367196486[74] = 0;
+   out_7239966002367196486[75] = 0;
+   out_7239966002367196486[76] = 0;
+   out_7239966002367196486[77] = 0;
+   out_7239966002367196486[78] = 0;
+   out_7239966002367196486[79] = 0;
+   out_7239966002367196486[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_1319061140791389331) {
-   out_1319061140791389331[0] = state[6];
+void h_25(double *state, double *unused, double *out_4414103654617947245) {
+   out_4414103654617947245[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_7793576592585487069) {
-   out_7793576592585487069[0] = 0;
-   out_7793576592585487069[1] = 0;
-   out_7793576592585487069[2] = 0;
-   out_7793576592585487069[3] = 0;
-   out_7793576592585487069[4] = 0;
-   out_7793576592585487069[5] = 0;
-   out_7793576592585487069[6] = 1;
-   out_7793576592585487069[7] = 0;
-   out_7793576592585487069[8] = 0;
+void H_25(double *state, double *unused, double *out_1365985619853648806) {
+   out_1365985619853648806[0] = 0;
+   out_1365985619853648806[1] = 0;
+   out_1365985619853648806[2] = 0;
+   out_1365985619853648806[3] = 0;
+   out_1365985619853648806[4] = 0;
+   out_1365985619853648806[5] = 0;
+   out_1365985619853648806[6] = 1;
+   out_1365985619853648806[7] = 0;
+   out_1365985619853648806[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_3718149663781647640) {
-   out_3718149663781647640[0] = state[4];
-   out_3718149663781647640[1] = state[5];
+void h_24(double *state, double *unused, double *out_218399050948173848) {
+   out_218399050948173848[0] = state[4];
+   out_218399050948173848[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_7095241882321741411) {
-   out_7095241882321741411[0] = 0;
-   out_7095241882321741411[1] = 0;
-   out_7095241882321741411[2] = 0;
-   out_7095241882321741411[3] = 0;
-   out_7095241882321741411[4] = 1;
-   out_7095241882321741411[5] = 0;
-   out_7095241882321741411[6] = 0;
-   out_7095241882321741411[7] = 0;
-   out_7095241882321741411[8] = 0;
-   out_7095241882321741411[9] = 0;
-   out_7095241882321741411[10] = 0;
-   out_7095241882321741411[11] = 0;
-   out_7095241882321741411[12] = 0;
-   out_7095241882321741411[13] = 0;
-   out_7095241882321741411[14] = 1;
-   out_7095241882321741411[15] = 0;
-   out_7095241882321741411[16] = 0;
-   out_7095241882321741411[17] = 0;
+void H_24(double *state, double *unused, double *out_8020191077961834563) {
+   out_8020191077961834563[0] = 0;
+   out_8020191077961834563[1] = 0;
+   out_8020191077961834563[2] = 0;
+   out_8020191077961834563[3] = 0;
+   out_8020191077961834563[4] = 1;
+   out_8020191077961834563[5] = 0;
+   out_8020191077961834563[6] = 0;
+   out_8020191077961834563[7] = 0;
+   out_8020191077961834563[8] = 0;
+   out_8020191077961834563[9] = 0;
+   out_8020191077961834563[10] = 0;
+   out_8020191077961834563[11] = 0;
+   out_8020191077961834563[12] = 0;
+   out_8020191077961834563[13] = 0;
+   out_8020191077961834563[14] = 1;
+   out_8020191077961834563[15] = 0;
+   out_8020191077961834563[16] = 0;
+   out_8020191077961834563[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_1043867078506883442) {
-   out_1043867078506883442[0] = state[4];
+void h_30(double *state, double *unused, double *out_7444812492615309208) {
+   out_7444812492615309208[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_3736477139632447792) {
-   out_3736477139632447792[0] = 0;
-   out_3736477139632447792[1] = 0;
-   out_3736477139632447792[2] = 0;
-   out_3736477139632447792[3] = 0;
-   out_3736477139632447792[4] = 1;
-   out_3736477139632447792[5] = 0;
-   out_3736477139632447792[6] = 0;
-   out_3736477139632447792[7] = 0;
-   out_3736477139632447792[8] = 0;
+void H_30(double *state, double *unused, double *out_1236646672710408736) {
+   out_1236646672710408736[0] = 0;
+   out_1236646672710408736[1] = 0;
+   out_1236646672710408736[2] = 0;
+   out_1236646672710408736[3] = 0;
+   out_1236646672710408736[4] = 1;
+   out_1236646672710408736[5] = 0;
+   out_1236646672710408736[6] = 0;
+   out_1236646672710408736[7] = 0;
+   out_1236646672710408736[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_6922152566065598530) {
-   out_6922152566065598530[0] = state[7];
+void h_26(double *state, double *unused, double *out_442049788822243429) {
+   out_442049788822243429[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_4052073273711430845) {
-   out_4052073273711430845[0] = 0;
-   out_4052073273711430845[1] = 0;
-   out_4052073273711430845[2] = 0;
-   out_4052073273711430845[3] = 0;
-   out_4052073273711430845[4] = 0;
-   out_4052073273711430845[5] = 0;
-   out_4052073273711430845[6] = 0;
-   out_4052073273711430845[7] = 1;
-   out_4052073273711430845[8] = 0;
+void H_26(double *state, double *unused, double *out_2375517699020407418) {
+   out_2375517699020407418[0] = 0;
+   out_2375517699020407418[1] = 0;
+   out_2375517699020407418[2] = 0;
+   out_2375517699020407418[3] = 0;
+   out_2375517699020407418[4] = 0;
+   out_2375517699020407418[5] = 0;
+   out_2375517699020407418[6] = 0;
+   out_2375517699020407418[7] = 1;
+   out_2375517699020407418[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_7701482271649087111) {
-   out_7701482271649087111[0] = state[3];
+void h_27(double *state, double *unused, double *out_3470593801716284810) {
+   out_3470593801716284810[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_5911240451432872703) {
-   out_5911240451432872703[0] = 0;
-   out_5911240451432872703[1] = 0;
-   out_5911240451432872703[2] = 0;
-   out_5911240451432872703[3] = 1;
-   out_5911240451432872703[4] = 0;
-   out_5911240451432872703[5] = 0;
-   out_5911240451432872703[6] = 0;
-   out_5911240451432872703[7] = 0;
-   out_5911240451432872703[8] = 0;
+void H_27(double *state, double *unused, double *out_938116639090016175) {
+   out_938116639090016175[0] = 0;
+   out_938116639090016175[1] = 0;
+   out_938116639090016175[2] = 0;
+   out_938116639090016175[3] = 1;
+   out_938116639090016175[4] = 0;
+   out_938116639090016175[5] = 0;
+   out_938116639090016175[6] = 0;
+   out_938116639090016175[7] = 0;
+   out_938116639090016175[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_7544295603297957966) {
-   out_7544295603297957966[0] = state[1];
+void h_29(double *state, double *unused, double *out_7965145529649909723) {
+   out_7965145529649909723[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_3226245795318055608) {
-   out_3226245795318055608[0] = 0;
-   out_3226245795318055608[1] = 1;
-   out_3226245795318055608[2] = 0;
-   out_3226245795318055608[3] = 0;
-   out_3226245795318055608[4] = 0;
-   out_3226245795318055608[5] = 0;
-   out_3226245795318055608[6] = 0;
-   out_3226245795318055608[7] = 0;
-   out_3226245795318055608[8] = 0;
+void H_29(double *state, double *unused, double *out_1746878017024800920) {
+   out_1746878017024800920[0] = 0;
+   out_1746878017024800920[1] = 1;
+   out_1746878017024800920[2] = 0;
+   out_1746878017024800920[3] = 0;
+   out_1746878017024800920[4] = 0;
+   out_1746878017024800920[5] = 0;
+   out_1746878017024800920[6] = 0;
+   out_1746878017024800920[7] = 0;
+   out_1746878017024800920[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_3095916628749130163) {
-   out_3095916628749130163[0] = state[0];
+void h_28(double *state, double *unused, double *out_5501663824664413576) {
+   out_5501663824664413576[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_8308644812387586182) {
-   out_8308644812387586182[0] = 1;
-   out_8308644812387586182[1] = 0;
-   out_8308644812387586182[2] = 0;
-   out_8308644812387586182[3] = 0;
-   out_8308644812387586182[4] = 0;
-   out_8308644812387586182[5] = 0;
-   out_8308644812387586182[6] = 0;
-   out_8308644812387586182[7] = 0;
-   out_8308644812387586182[8] = 0;
+void H_28(double *state, double *unused, double *out_3335521000044729654) {
+   out_3335521000044729654[0] = 1;
+   out_3335521000044729654[1] = 0;
+   out_3335521000044729654[2] = 0;
+   out_3335521000044729654[3] = 0;
+   out_3335521000044729654[4] = 0;
+   out_3335521000044729654[5] = 0;
+   out_3335521000044729654[6] = 0;
+   out_3335521000044729654[7] = 0;
+   out_3335521000044729654[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_4956510669045411681) {
-   out_4956510669045411681[0] = state[8];
+void h_31(double *state, double *unused, double *out_5392762942373062487) {
+   out_5392762942373062487[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_7824222554462447497) {
-   out_7824222554462447497[0] = 0;
-   out_7824222554462447497[1] = 0;
-   out_7824222554462447497[2] = 0;
-   out_7824222554462447497[3] = 0;
-   out_7824222554462447497[4] = 0;
-   out_7824222554462447497[5] = 0;
-   out_7824222554462447497[6] = 0;
-   out_7824222554462447497[7] = 0;
-   out_7824222554462447497[8] = 1;
+void H_31(double *state, double *unused, double *out_1396631581730609234) {
+   out_1396631581730609234[0] = 0;
+   out_1396631581730609234[1] = 0;
+   out_1396631581730609234[2] = 0;
+   out_1396631581730609234[3] = 0;
+   out_1396631581730609234[4] = 0;
+   out_1396631581730609234[5] = 0;
+   out_1396631581730609234[6] = 0;
+   out_1396631581730609234[7] = 0;
+   out_1396631581730609234[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_5662147043452870344) {
-  err_fun(nom_x, delta_x, out_5662147043452870344);
+void car_err_fun(double *nom_x, double *delta_x, double *out_2366717911037962719) {
+  err_fun(nom_x, delta_x, out_2366717911037962719);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_2016113788005242335) {
-  inv_err_fun(nom_x, true_x, out_2016113788005242335);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_70336108065318295) {
+  inv_err_fun(nom_x, true_x, out_70336108065318295);
 }
-void car_H_mod_fun(double *state, double *out_8997301641043644665) {
-  H_mod_fun(state, out_8997301641043644665);
+void car_H_mod_fun(double *state, double *out_281700328218384173) {
+  H_mod_fun(state, out_281700328218384173);
 }
-void car_f_fun(double *state, double dt, double *out_2973469614408186678) {
-  f_fun(state,  dt, out_2973469614408186678);
+void car_f_fun(double *state, double dt, double *out_3945758947465398650) {
+  f_fun(state,  dt, out_3945758947465398650);
 }
-void car_F_fun(double *state, double dt, double *out_4040592134712196686) {
-  F_fun(state,  dt, out_4040592134712196686);
+void car_F_fun(double *state, double dt, double *out_7239966002367196486) {
+  F_fun(state,  dt, out_7239966002367196486);
 }
-void car_h_25(double *state, double *unused, double *out_1319061140791389331) {
-  h_25(state, unused, out_1319061140791389331);
+void car_h_25(double *state, double *unused, double *out_4414103654617947245) {
+  h_25(state, unused, out_4414103654617947245);
 }
-void car_H_25(double *state, double *unused, double *out_7793576592585487069) {
-  H_25(state, unused, out_7793576592585487069);
+void car_H_25(double *state, double *unused, double *out_1365985619853648806) {
+  H_25(state, unused, out_1365985619853648806);
 }
-void car_h_24(double *state, double *unused, double *out_3718149663781647640) {
-  h_24(state, unused, out_3718149663781647640);
+void car_h_24(double *state, double *unused, double *out_218399050948173848) {
+  h_24(state, unused, out_218399050948173848);
 }
-void car_H_24(double *state, double *unused, double *out_7095241882321741411) {
-  H_24(state, unused, out_7095241882321741411);
+void car_H_24(double *state, double *unused, double *out_8020191077961834563) {
+  H_24(state, unused, out_8020191077961834563);
 }
-void car_h_30(double *state, double *unused, double *out_1043867078506883442) {
-  h_30(state, unused, out_1043867078506883442);
+void car_h_30(double *state, double *unused, double *out_7444812492615309208) {
+  h_30(state, unused, out_7444812492615309208);
 }
-void car_H_30(double *state, double *unused, double *out_3736477139632447792) {
-  H_30(state, unused, out_3736477139632447792);
+void car_H_30(double *state, double *unused, double *out_1236646672710408736) {
+  H_30(state, unused, out_1236646672710408736);
 }
-void car_h_26(double *state, double *unused, double *out_6922152566065598530) {
-  h_26(state, unused, out_6922152566065598530);
+void car_h_26(double *state, double *unused, double *out_442049788822243429) {
+  h_26(state, unused, out_442049788822243429);
 }
-void car_H_26(double *state, double *unused, double *out_4052073273711430845) {
-  H_26(state, unused, out_4052073273711430845);
+void car_H_26(double *state, double *unused, double *out_2375517699020407418) {
+  H_26(state, unused, out_2375517699020407418);
 }
-void car_h_27(double *state, double *unused, double *out_7701482271649087111) {
-  h_27(state, unused, out_7701482271649087111);
+void car_h_27(double *state, double *unused, double *out_3470593801716284810) {
+  h_27(state, unused, out_3470593801716284810);
 }
-void car_H_27(double *state, double *unused, double *out_5911240451432872703) {
-  H_27(state, unused, out_5911240451432872703);
+void car_H_27(double *state, double *unused, double *out_938116639090016175) {
+  H_27(state, unused, out_938116639090016175);
 }
-void car_h_29(double *state, double *unused, double *out_7544295603297957966) {
-  h_29(state, unused, out_7544295603297957966);
+void car_h_29(double *state, double *unused, double *out_7965145529649909723) {
+  h_29(state, unused, out_7965145529649909723);
 }
-void car_H_29(double *state, double *unused, double *out_3226245795318055608) {
-  H_29(state, unused, out_3226245795318055608);
+void car_H_29(double *state, double *unused, double *out_1746878017024800920) {
+  H_29(state, unused, out_1746878017024800920);
 }
-void car_h_28(double *state, double *unused, double *out_3095916628749130163) {
-  h_28(state, unused, out_3095916628749130163);
+void car_h_28(double *state, double *unused, double *out_5501663824664413576) {
+  h_28(state, unused, out_5501663824664413576);
 }
-void car_H_28(double *state, double *unused, double *out_8308644812387586182) {
-  H_28(state, unused, out_8308644812387586182);
+void car_H_28(double *state, double *unused, double *out_3335521000044729654) {
+  H_28(state, unused, out_3335521000044729654);
 }
-void car_h_31(double *state, double *unused, double *out_4956510669045411681) {
-  h_31(state, unused, out_4956510669045411681);
+void car_h_31(double *state, double *unused, double *out_5392762942373062487) {
+  h_31(state, unused, out_5392762942373062487);
 }
-void car_H_31(double *state, double *unused, double *out_7824222554462447497) {
-  H_31(state, unused, out_7824222554462447497);
+void car_H_31(double *state, double *unused, double *out_1396631581730609234) {
+  H_31(state, unused, out_1396631581730609234);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
@@ -179,7 +179,6 @@ class Soundd:
        self.update_alert(AudibleAlert.fart)
      else:
        self.update_alert(AudibleAlert.prompt)
-
      self.openpilot_crashed_played = True
    elif sm.updated['controlsState']:
      new_alert = sm['controlsState'].alertSound.raw
@@ -216,28 +215,22 @@ class Soundd:
        sm.update(0)

        if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
-          self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
-
          if self.frogpilot_toggles.alert_volume_control:
+            self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
            self.auto_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
            self.current_volume = 0.0
          else:
+            self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
            self.current_volume = self.calculate_volume(float(self.spl_filter_weighted.x))

        elif self.frogpilot_toggles.alert_volume_control and self.current_alert in self.volume_map:
          self.current_volume = self.volume_map[self.current_alert] / 100.0
          if self.current_volume == 1.01:
-            if self.current_alert == AudibleAlert.startup:
-              self.current_volume = MAX_VOLUME
-            else:
-              self.current_volume = self.auto_volume
+            self.current_volume = self.auto_volume

        elif self.current_alert in self.random_events_map:
          self.current_volume = self.random_events_map[self.current_alert]

-        elif self.current_alert == AudibleAlert.startup:
-          self.current_volume = MAX_VOLUME
-
        self.get_audible_alert(sm)

        rk.keep_time()
@@ -247,7 +240,6 @@ class Soundd:
        # Update FrogPilot parameters
        if sm['frogpilotPlan'].togglesUpdated:
          self.frogpilot_toggles = get_frogpilot_toggles()
-
          self.update_frogpilot_sounds()

        if self.restart_stream:
@@ -271,7 +263,6 @@ class Soundd:
      AudibleAlert.warningImmediate: self.frogpilot_toggles.warningImmediate_volume,

      AudibleAlert.goat: self.frogpilot_toggles.prompt_volume,
-      AudibleAlert.startup: self.frogpilot_toggles.engage_volume,
    }

    if self.frogpilot_toggles.sound_pack != "stock":
@@ -93,7 +93,7 @@ def register(show_spinner=False, register_konik=False) -> str | None:
    if show_spinner:
      spinner.close()

-  if not register_konik and dongle_id != params.get("KonikDongleId", encoding="utf8"):
+  if dongle_id and not register_konik:
    params.put("DongleId", dongle_id)
    params.put("StockDongleId", dongle_id)
    set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
@@ -7,6 +7,7 @@ from pathlib import Path
 from sentry_sdk.integrations.threading import ThreadingIntegration

 from openpilot.common.params import Params, ParamKeyType
+from openpilot.system.athena.registration import is_registered_device
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata, get_version
Author	SHA1	Message	Date
firestar5683	d81713bb4e	Update carcontroller.py	2025-06-04 20:52:07 -05:00
firestar5683	f043766864	Guard Can Disconnects	2025-06-04 14:12:32 -05:00
firestar5683	a0002ff3e4	Update carcontroller.py	2025-06-04 10:51:09 -05:00
firestar5683	a44a05fe7c	Update carcontroller.py	2025-06-03 22:05:06 -05:00
firestar5683	24f122b21e	Update carcontroller.py	2025-06-03 00:18:35 -05:00
firestar5683	cf2d09c511	overflow 20ms	2025-06-02 11:13:48 -05:00
firestar5683	98d6ee1d8f	15ms	2025-06-01 00:15:36 -05:00
firestar5683	3b12d08f82	Update carcontroller.py	2025-05-31 13:27:26 -05:00
firestar5683	f3327c9038	Update tinygrad_modeld.py	2025-05-31 12:59:28 -05:00
firestar5683	3a3c8bba99	Drop accumulator	2025-05-30 18:48:27 -05:00
firestar5683	415ceb9da0	Update carcontroller.py	2025-05-30 18:46:33 -05:00
firestar5683	51ca51039e	Revert "Update launch_chffrplus.sh" This reverts commit b4d070fbd58fe245be2ae7e1814589e0cfec1ad3.	2025-05-30 16:54:16 -05:00
firestar5683	40b5fbcd37	Update launch_chffrplus.sh	2025-05-30 16:54:16 -05:00
firestar5683	30d5a96f08	Delete not_vetted	2025-05-30 16:54:16 -05:00
firestar5683	d7a487ad6a	9ms	2025-05-30 16:54:16 -05:00
firestar5683	6b4a2e69ea	8ms guard	2025-05-30 16:54:16 -05:00
firestar5683	7d8187e508	Remove blending	2025-05-30 16:54:16 -05:00
firestar5683	d710061a72	Update carcontroller.py	2025-05-30 16:54:16 -05:00
firestar5683	9252b1589c	fix blending	2025-05-30 16:54:16 -05:00
firestar5683	8912469fb0	Paddle Refactor and Smoothing Paddle Smoothing Takeoff safety Co-Authored-By: jc01rho <rkjnice@gmail.com>	2025-05-30 16:54:16 -05:00
firestar5683	bf7d305d0f	Update carcontroller.py	2025-05-30 16:54:16 -05:00
FrogAi	2e08378857	agnos 10.1.1	2025-05-30 16:54:16 -05:00
firestar5683	327e08410f	Update carcontroller.py	2025-05-30 16:54:16 -05:00
firestar5683	99c3632070	Update carcontroller.py	2025-05-30 16:54:15 -05:00
firestar5683	3e35c2fb7d	refactor?	2025-05-30 16:54:15 -05:00
firestar5683	f4d181e08a	Update carcontroller.py	2025-05-30 16:54:15 -05:00
firestar5683	d4b422921c	More consistent activation/deactivation	2025-05-30 16:54:15 -05:00
firestar5683	deb5322c40	guard off frames.	2025-05-30 16:54:15 -05:00
firestar5683	729ee3cc99	Send more off frames	2025-05-30 16:54:15 -05:00
firestar5683	95ec31a7f9	Madman Logic Match OEM timing scheme	2025-05-30 16:54:15 -05:00
firestar5683	7db60a6c43	Update carcontroller.py	2025-05-30 16:54:15 -05:00
firestar5683	040220506f	Vikander Model Vikander Model	2025-05-30 16:54:14 -05:00
firestar5683	d732fe98ff	Update carcontroller.py	2025-05-20 12:04:24 -05:00
firestar5683	153758c88b	Restore Sanity AHHHHHHH	2025-05-18 13:23:49 -05:00
firestar5683	c065aeba58	Update interface.py	2025-05-12 15:11:34 -05:00
firestar5683	888bff27e5	Update interface.py	2025-05-12 14:21:38 -05:00
firestar5683	a84adbbeac	Revert "Update interface.py" This reverts commit `6b82ff72e6`.	2025-05-12 13:24:14 -05:00
firestar5683	6b82ff72e6	Update interface.py Update interface.py Update interface.py	2025-05-12 13:24:08 -05:00
firestar5683	2072bd521e	Update carcontroller.py	2025-05-08 10:04:39 -05:00
firestar5683	e263bffd80	Revert "Update process_config.py" This reverts commit `c40a3d972c`.	2025-05-07 11:16:44 -05:00
firestar5683	48b33a3f9d	Update carcontroller.py	2025-05-07 08:20:52 -05:00
firestar5683	c40a3d972c	Update process_config.py	2025-05-06 17:18:09 -05:00
firestar5683	d7a3930d42	Paddle Paddle	2025-05-06 17:04:23 -05:00
firestar5683	6e77a80772	2017	2025-05-06 16:43:37 -05:00
firestar5683	68b97a87db	Revert "Reapply "Tomb Raider 6"" This reverts commit `f3de8169b9`.	2025-05-06 16:32:19 -05:00
firestar5683	9d6211ee7c	StarPilot	2025-05-06 16:31:36 -05:00
firestar5683	f3de8169b9	Reapply "Tomb Raider 6"	2025-05-06 16:17:43 -05:00
firestar5683	5095ed9d23	Update carcontroller.py	2025-05-06 16:16:55 -05:00
firestar5683	a11d2958df	Logging	2025-04-23 23:15:03 -05:00
firestar5683	30ff869627	TorqueTune/Paddle	2025-04-23 16:19:57 -05:00
FrogAi	d01cd48bee	Compile FrogPilot	2025-04-20 15:12:33 -07:00
FrogAi	4eefdc3268	Update	2025-04-20 22:00:46 +00:00
				`@@ -0,0 +1 @@`
				`/data/openpilot/openpilot/frogpilot/assets/holiday_themes/easter_week/steering_wheel/wheel.png`