Microslop

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -214,6 +214,8 @@ class CarInterface(CarInterfaceBase):
     # Car specific configuration overrides
 
     if candidate == CAR.GENESIS_G90:
+      ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
+      ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
       ret.stoppingDecelRate = 0.55
       ret.vEgoStopping = 0.8
 

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

@@ -20,7 +20,7 @@ from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR
                                          HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                          UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
                                          CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
-                                         HyundaiStarPilotSafetyFlags, Buttons
+                                         HyundaiStarPilotSafetyFlags, Buttons, GENESIS_G90_STEER_MAX, HYUNDAI_PALISADE_2023_STEER_MAX
 
 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -278,6 +278,7 @@ class TestHyundaiFingerprint:
 
     g90 = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], False, False, False, None)
     assert g90.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+    assert g90.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
 
     sonata_without_lda = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
     assert not (sonata_without_lda.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON)
@@ -1502,6 +1503,16 @@ class TestHyundaiFingerprint:
     assert sportage_params.ANGLE_LIMITS.MAX_ANGLE_RATE > comparison_params.ANGLE_LIMITS.MAX_ANGLE_RATE
     assert comparison_params.ANGLE_LIMITS.MAX_LATERAL_JERK == ioniq6_params.ANGLE_LIMITS.MAX_LATERAL_JERK
 
+  def test_g90_and_palisade_2023_steer_max_limits(self):
+    g90 = CarParams.new_message()
+    g90.carFingerprint = CAR.GENESIS_G90
+    assert CarControllerParams(g90).STEER_MAX == GENESIS_G90_STEER_MAX
+
+    palisade_2023 = CarParams.new_message()
+    palisade_2023.carFingerprint = CAR.HYUNDAI_PALISADE_2023
+    palisade_2023.flags = int(HyundaiFlags.CAN_CANFD_BLENDED)
+    assert CarControllerParams(palisade_2023).STEER_MAX == HYUNDAI_PALISADE_2023_STEER_MAX
+
   def test_ioniq_5_canfd_aux_messages_are_optional(self):
     toggles = get_test_toggles()
     fingerprint = gen_empty_fingerprint()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -22,6 +22,8 @@ HYUNDAI_MANDO_FRONT_RADAR_DBC = "hyundai_kia_mando_front_radar_generated"
 HYUNDAI_MRREVO14F_RADAR_DBC = "hyundai_mrrevo14f_radar_generated"
 HYUNDAI_MRR30_RADAR_DBC = "hyundai_mrr30_radar_generated"
 HYUNDAI_MRR35_RADAR_DBC = "hyundai_mrr35_radar_generated"
+GENESIS_G90_STEER_MAX = 461
+HYUNDAI_PALISADE_2023_STEER_MAX = 485
 
 
 class CarControllerParams:
@@ -99,12 +101,15 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 3
 
     elif CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
-      self.STEER_MAX = 404
+      self.STEER_MAX = HYUNDAI_PALISADE_2023_STEER_MAX
       self.STEER_DRIVER_ALLOWANCE = 50
       self.STEER_THRESHOLD = 150
       self.STEER_DELTA_UP = 2
       self.STEER_DELTA_DOWN = 3
 
+    elif CP.carFingerprint == CAR.GENESIS_G90:
+      self.STEER_MAX = GENESIS_G90_STEER_MAX
+
     # Default for most HKG
     else:
       self.STEER_MAX = 384

opendbc_repo/opendbc/safety/modes/hyundai.h

@@ -239,9 +239,10 @@ static void hyundai_rx_hook(const CANPacket_t *msg) {
 
 static bool hyundai_tx_hook(const CANPacket_t *msg) {
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
+  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_G90 = HYUNDAI_LIMITS(461, 3, 7);
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
   const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_ALT_2 = HYUNDAI_LIMITS(170, 2, 3);
-  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED = HYUNDAI_LIMITS(404, 2, 3);
+  const TorqueSteeringLimits HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED = HYUNDAI_LIMITS(485, 2, 3);
 
   bool tx = true;
 
@@ -290,7 +291,9 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
     int desired_torque = ((GET_BYTES(msg, 0, 4) >> 16) & 0x7ffU) - 1024U;
     bool steer_req = GET_BIT(msg, 27U);
 
-    const TorqueSteeringLimits limits = hyundai_can_canfd_blended ? HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED :
+    const bool hyundai_g90_limits = hyundai_has_lda_button && hyundai_aol_lkas_on_engage;  // G90 path sets both bits
+    const TorqueSteeringLimits limits = hyundai_g90_limits ? HYUNDAI_STEERING_LIMITS_G90 :
+                                        hyundai_can_canfd_blended ? HYUNDAI_STEERING_LIMITS_CAN_CANFD_BLENDED :
                                         hyundai_alt_limits_2 ? HYUNDAI_STEERING_LIMITS_ALT_2 :
                                         hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS;
 

opendbc_repo/opendbc/safety/tests/test_hyundai.py

@@ -151,6 +151,17 @@ class TestHyundaiSafetyAltLimits2(TestHyundaiSafety):
     self.safety.init_tests()
 
 
+class TestHyundaiSafetyGenesisG90(TestHyundaiSafety):
+  MAX_TORQUE_LOOKUP = [0], [461]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_kia_generic")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai,
+                                 HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON | HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE)
+    self.safety.init_tests()
+
+
 class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
   BUTTONS_TX_BUS = 2  # tx on 2, rx on 0
   SCC_BUS = 2  # rx on 2
@@ -213,7 +224,7 @@ class TestHyundaiCanCanfdBlendedSafety(TestHyundaiSafety):
   FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485, 0x364]}
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
-  MAX_TORQUE_LOOKUP = [0], [404]
+  MAX_TORQUE_LOOKUP = [0], [485]
 
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_palisade_2023_generated")

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-78e9b513-DEBUG";
+const uint8_t gitversion[19] = "DEV-2486728e-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-78e9b513-DEBUG
+DEV-2486728e-DEBUG

selfdrive/locationd/models/generated/car.cpp

@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265) {
-   out_6333242559483084265[0] = delta_x[0] + nom_x[0];
-   out_6333242559483084265[1] = delta_x[1] + nom_x[1];
-   out_6333242559483084265[2] = delta_x[2] + nom_x[2];
-   out_6333242559483084265[3] = delta_x[3] + nom_x[3];
-   out_6333242559483084265[4] = delta_x[4] + nom_x[4];
-   out_6333242559483084265[5] = delta_x[5] + nom_x[5];
-   out_6333242559483084265[6] = delta_x[6] + nom_x[6];
-   out_6333242559483084265[7] = delta_x[7] + nom_x[7];
-   out_6333242559483084265[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_6018065189512211380) {
+   out_6018065189512211380[0] = delta_x[0] + nom_x[0];
+   out_6018065189512211380[1] = delta_x[1] + nom_x[1];
+   out_6018065189512211380[2] = delta_x[2] + nom_x[2];
+   out_6018065189512211380[3] = delta_x[3] + nom_x[3];
+   out_6018065189512211380[4] = delta_x[4] + nom_x[4];
+   out_6018065189512211380[5] = delta_x[5] + nom_x[5];
+   out_6018065189512211380[6] = delta_x[6] + nom_x[6];
+   out_6018065189512211380[7] = delta_x[7] + nom_x[7];
+   out_6018065189512211380[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) {
-   out_829248915283082072[0] = -nom_x[0] + true_x[0];
-   out_829248915283082072[1] = -nom_x[1] + true_x[1];
-   out_829248915283082072[2] = -nom_x[2] + true_x[2];
-   out_829248915283082072[3] = -nom_x[3] + true_x[3];
-   out_829248915283082072[4] = -nom_x[4] + true_x[4];
-   out_829248915283082072[5] = -nom_x[5] + true_x[5];
-   out_829248915283082072[6] = -nom_x[6] + true_x[6];
-   out_829248915283082072[7] = -nom_x[7] + true_x[7];
-   out_829248915283082072[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_1095263434101283480) {
+   out_1095263434101283480[0] = -nom_x[0] + true_x[0];
+   out_1095263434101283480[1] = -nom_x[1] + true_x[1];
+   out_1095263434101283480[2] = -nom_x[2] + true_x[2];
+   out_1095263434101283480[3] = -nom_x[3] + true_x[3];
+   out_1095263434101283480[4] = -nom_x[4] + true_x[4];
+   out_1095263434101283480[5] = -nom_x[5] + true_x[5];
+   out_1095263434101283480[6] = -nom_x[6] + true_x[6];
+   out_1095263434101283480[7] = -nom_x[7] + true_x[7];
+   out_1095263434101283480[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_8283696179185346057) {
-   out_8283696179185346057[0] = 1.0;
-   out_8283696179185346057[1] = 0.0;
-   out_8283696179185346057[2] = 0.0;
-   out_8283696179185346057[3] = 0.0;
-   out_8283696179185346057[4] = 0.0;
-   out_8283696179185346057[5] = 0.0;
-   out_8283696179185346057[6] = 0.0;
-   out_8283696179185346057[7] = 0.0;
-   out_8283696179185346057[8] = 0.0;
-   out_8283696179185346057[9] = 0.0;
-   out_8283696179185346057[10] = 1.0;
-   out_8283696179185346057[11] = 0.0;
-   out_8283696179185346057[12] = 0.0;
-   out_8283696179185346057[13] = 0.0;
-   out_8283696179185346057[14] = 0.0;
-   out_8283696179185346057[15] = 0.0;
-   out_8283696179185346057[16] = 0.0;
-   out_8283696179185346057[17] = 0.0;
-   out_8283696179185346057[18] = 0.0;
-   out_8283696179185346057[19] = 0.0;
-   out_8283696179185346057[20] = 1.0;
-   out_8283696179185346057[21] = 0.0;
-   out_8283696179185346057[22] = 0.0;
-   out_8283696179185346057[23] = 0.0;
-   out_8283696179185346057[24] = 0.0;
-   out_8283696179185346057[25] = 0.0;
-   out_8283696179185346057[26] = 0.0;
-   out_8283696179185346057[27] = 0.0;
-   out_8283696179185346057[28] = 0.0;
-   out_8283696179185346057[29] = 0.0;
-   out_8283696179185346057[30] = 1.0;
-   out_8283696179185346057[31] = 0.0;
-   out_8283696179185346057[32] = 0.0;
-   out_8283696179185346057[33] = 0.0;
-   out_8283696179185346057[34] = 0.0;
-   out_8283696179185346057[35] = 0.0;
-   out_8283696179185346057[36] = 0.0;
-   out_8283696179185346057[37] = 0.0;
-   out_8283696179185346057[38] = 0.0;
-   out_8283696179185346057[39] = 0.0;
-   out_8283696179185346057[40] = 1.0;
-   out_8283696179185346057[41] = 0.0;
-   out_8283696179185346057[42] = 0.0;
-   out_8283696179185346057[43] = 0.0;
-   out_8283696179185346057[44] = 0.0;
-   out_8283696179185346057[45] = 0.0;
-   out_8283696179185346057[46] = 0.0;
-   out_8283696179185346057[47] = 0.0;
-   out_8283696179185346057[48] = 0.0;
-   out_8283696179185346057[49] = 0.0;
-   out_8283696179185346057[50] = 1.0;
-   out_8283696179185346057[51] = 0.0;
-   out_8283696179185346057[52] = 0.0;
-   out_8283696179185346057[53] = 0.0;
-   out_8283696179185346057[54] = 0.0;
-   out_8283696179185346057[55] = 0.0;
-   out_8283696179185346057[56] = 0.0;
-   out_8283696179185346057[57] = 0.0;
-   out_8283696179185346057[58] = 0.0;
-   out_8283696179185346057[59] = 0.0;
-   out_8283696179185346057[60] = 1.0;
-   out_8283696179185346057[61] = 0.0;
-   out_8283696179185346057[62] = 0.0;
-   out_8283696179185346057[63] = 0.0;
-   out_8283696179185346057[64] = 0.0;
-   out_8283696179185346057[65] = 0.0;
-   out_8283696179185346057[66] = 0.0;
-   out_8283696179185346057[67] = 0.0;
-   out_8283696179185346057[68] = 0.0;
-   out_8283696179185346057[69] = 0.0;
-   out_8283696179185346057[70] = 1.0;
-   out_8283696179185346057[71] = 0.0;
-   out_8283696179185346057[72] = 0.0;
-   out_8283696179185346057[73] = 0.0;
-   out_8283696179185346057[74] = 0.0;
-   out_8283696179185346057[75] = 0.0;
-   out_8283696179185346057[76] = 0.0;
-   out_8283696179185346057[77] = 0.0;
-   out_8283696179185346057[78] = 0.0;
-   out_8283696179185346057[79] = 0.0;
-   out_8283696179185346057[80] = 1.0;
+void H_mod_fun(double *state, double *out_2728844015902940614) {
+   out_2728844015902940614[0] = 1.0;
+   out_2728844015902940614[1] = 0.0;
+   out_2728844015902940614[2] = 0.0;
+   out_2728844015902940614[3] = 0.0;
+   out_2728844015902940614[4] = 0.0;
+   out_2728844015902940614[5] = 0.0;
+   out_2728844015902940614[6] = 0.0;
+   out_2728844015902940614[7] = 0.0;
+   out_2728844015902940614[8] = 0.0;
+   out_2728844015902940614[9] = 0.0;
+   out_2728844015902940614[10] = 1.0;
+   out_2728844015902940614[11] = 0.0;
+   out_2728844015902940614[12] = 0.0;
+   out_2728844015902940614[13] = 0.0;
+   out_2728844015902940614[14] = 0.0;
+   out_2728844015902940614[15] = 0.0;
+   out_2728844015902940614[16] = 0.0;
+   out_2728844015902940614[17] = 0.0;
+   out_2728844015902940614[18] = 0.0;
+   out_2728844015902940614[19] = 0.0;
+   out_2728844015902940614[20] = 1.0;
+   out_2728844015902940614[21] = 0.0;
+   out_2728844015902940614[22] = 0.0;
+   out_2728844015902940614[23] = 0.0;
+   out_2728844015902940614[24] = 0.0;
+   out_2728844015902940614[25] = 0.0;
+   out_2728844015902940614[26] = 0.0;
+   out_2728844015902940614[27] = 0.0;
+   out_2728844015902940614[28] = 0.0;
+   out_2728844015902940614[29] = 0.0;
+   out_2728844015902940614[30] = 1.0;
+   out_2728844015902940614[31] = 0.0;
+   out_2728844015902940614[32] = 0.0;
+   out_2728844015902940614[33] = 0.0;
+   out_2728844015902940614[34] = 0.0;
+   out_2728844015902940614[35] = 0.0;
+   out_2728844015902940614[36] = 0.0;
+   out_2728844015902940614[37] = 0.0;
+   out_2728844015902940614[38] = 0.0;
+   out_2728844015902940614[39] = 0.0;
+   out_2728844015902940614[40] = 1.0;
+   out_2728844015902940614[41] = 0.0;
+   out_2728844015902940614[42] = 0.0;
+   out_2728844015902940614[43] = 0.0;
+   out_2728844015902940614[44] = 0.0;
+   out_2728844015902940614[45] = 0.0;
+   out_2728844015902940614[46] = 0.0;
+   out_2728844015902940614[47] = 0.0;
+   out_2728844015902940614[48] = 0.0;
+   out_2728844015902940614[49] = 0.0;
+   out_2728844015902940614[50] = 1.0;
+   out_2728844015902940614[51] = 0.0;
+   out_2728844015902940614[52] = 0.0;
+   out_2728844015902940614[53] = 0.0;
+   out_2728844015902940614[54] = 0.0;
+   out_2728844015902940614[55] = 0.0;
+   out_2728844015902940614[56] = 0.0;
+   out_2728844015902940614[57] = 0.0;
+   out_2728844015902940614[58] = 0.0;
+   out_2728844015902940614[59] = 0.0;
+   out_2728844015902940614[60] = 1.0;
+   out_2728844015902940614[61] = 0.0;
+   out_2728844015902940614[62] = 0.0;
+   out_2728844015902940614[63] = 0.0;
+   out_2728844015902940614[64] = 0.0;
+   out_2728844015902940614[65] = 0.0;
+   out_2728844015902940614[66] = 0.0;
+   out_2728844015902940614[67] = 0.0;
+   out_2728844015902940614[68] = 0.0;
+   out_2728844015902940614[69] = 0.0;
+   out_2728844015902940614[70] = 1.0;
+   out_2728844015902940614[71] = 0.0;
+   out_2728844015902940614[72] = 0.0;
+   out_2728844015902940614[73] = 0.0;
+   out_2728844015902940614[74] = 0.0;
+   out_2728844015902940614[75] = 0.0;
+   out_2728844015902940614[76] = 0.0;
+   out_2728844015902940614[77] = 0.0;
+   out_2728844015902940614[78] = 0.0;
+   out_2728844015902940614[79] = 0.0;
+   out_2728844015902940614[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_3453347444055346076) {
-   out_3453347444055346076[0] = state[0];
-   out_3453347444055346076[1] = state[1];
-   out_3453347444055346076[2] = state[2];
-   out_3453347444055346076[3] = state[3];
-   out_3453347444055346076[4] = state[4];
-   out_3453347444055346076[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_3453347444055346076[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_3453347444055346076[7] = state[7];
-   out_3453347444055346076[8] = state[8];
+void f_fun(double *state, double dt, double *out_6525929466162239676) {
+   out_6525929466162239676[0] = state[0];
+   out_6525929466162239676[1] = state[1];
+   out_6525929466162239676[2] = state[2];
+   out_6525929466162239676[3] = state[3];
+   out_6525929466162239676[4] = state[4];
+   out_6525929466162239676[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_6525929466162239676[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_6525929466162239676[7] = state[7];
+   out_6525929466162239676[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_1825222330008905672) {
-   out_1825222330008905672[0] = 1;
-   out_1825222330008905672[1] = 0;
-   out_1825222330008905672[2] = 0;
-   out_1825222330008905672[3] = 0;
-   out_1825222330008905672[4] = 0;
-   out_1825222330008905672[5] = 0;
-   out_1825222330008905672[6] = 0;
-   out_1825222330008905672[7] = 0;
-   out_1825222330008905672[8] = 0;
-   out_1825222330008905672[9] = 0;
-   out_1825222330008905672[10] = 1;
-   out_1825222330008905672[11] = 0;
-   out_1825222330008905672[12] = 0;
-   out_1825222330008905672[13] = 0;
-   out_1825222330008905672[14] = 0;
-   out_1825222330008905672[15] = 0;
-   out_1825222330008905672[16] = 0;
-   out_1825222330008905672[17] = 0;
-   out_1825222330008905672[18] = 0;
-   out_1825222330008905672[19] = 0;
-   out_1825222330008905672[20] = 1;
-   out_1825222330008905672[21] = 0;
-   out_1825222330008905672[22] = 0;
-   out_1825222330008905672[23] = 0;
-   out_1825222330008905672[24] = 0;
-   out_1825222330008905672[25] = 0;
-   out_1825222330008905672[26] = 0;
-   out_1825222330008905672[27] = 0;
-   out_1825222330008905672[28] = 0;
-   out_1825222330008905672[29] = 0;
-   out_1825222330008905672[30] = 1;
-   out_1825222330008905672[31] = 0;
-   out_1825222330008905672[32] = 0;
-   out_1825222330008905672[33] = 0;
-   out_1825222330008905672[34] = 0;
-   out_1825222330008905672[35] = 0;
-   out_1825222330008905672[36] = 0;
-   out_1825222330008905672[37] = 0;
-   out_1825222330008905672[38] = 0;
-   out_1825222330008905672[39] = 0;
-   out_1825222330008905672[40] = 1;
-   out_1825222330008905672[41] = 0;
-   out_1825222330008905672[42] = 0;
-   out_1825222330008905672[43] = 0;
-   out_1825222330008905672[44] = 0;
-   out_1825222330008905672[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_1825222330008905672[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_1825222330008905672[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1825222330008905672[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1825222330008905672[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_1825222330008905672[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_1825222330008905672[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_1825222330008905672[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_1825222330008905672[53] = -9.8100000000000005*dt;
-   out_1825222330008905672[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_1825222330008905672[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_1825222330008905672[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1825222330008905672[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1825222330008905672[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_1825222330008905672[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_1825222330008905672[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_1825222330008905672[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_1825222330008905672[62] = 0;
-   out_1825222330008905672[63] = 0;
-   out_1825222330008905672[64] = 0;
-   out_1825222330008905672[65] = 0;
-   out_1825222330008905672[66] = 0;
-   out_1825222330008905672[67] = 0;
-   out_1825222330008905672[68] = 0;
-   out_1825222330008905672[69] = 0;
-   out_1825222330008905672[70] = 1;
-   out_1825222330008905672[71] = 0;
-   out_1825222330008905672[72] = 0;
-   out_1825222330008905672[73] = 0;
-   out_1825222330008905672[74] = 0;
-   out_1825222330008905672[75] = 0;
-   out_1825222330008905672[76] = 0;
-   out_1825222330008905672[77] = 0;
-   out_1825222330008905672[78] = 0;
-   out_1825222330008905672[79] = 0;
-   out_1825222330008905672[80] = 1;
+void F_fun(double *state, double dt, double *out_2819353980597124361) {
+   out_2819353980597124361[0] = 1;
+   out_2819353980597124361[1] = 0;
+   out_2819353980597124361[2] = 0;
+   out_2819353980597124361[3] = 0;
+   out_2819353980597124361[4] = 0;
+   out_2819353980597124361[5] = 0;
+   out_2819353980597124361[6] = 0;
+   out_2819353980597124361[7] = 0;
+   out_2819353980597124361[8] = 0;
+   out_2819353980597124361[9] = 0;
+   out_2819353980597124361[10] = 1;
+   out_2819353980597124361[11] = 0;
+   out_2819353980597124361[12] = 0;
+   out_2819353980597124361[13] = 0;
+   out_2819353980597124361[14] = 0;
+   out_2819353980597124361[15] = 0;
+   out_2819353980597124361[16] = 0;
+   out_2819353980597124361[17] = 0;
+   out_2819353980597124361[18] = 0;
+   out_2819353980597124361[19] = 0;
+   out_2819353980597124361[20] = 1;
+   out_2819353980597124361[21] = 0;
+   out_2819353980597124361[22] = 0;
+   out_2819353980597124361[23] = 0;
+   out_2819353980597124361[24] = 0;
+   out_2819353980597124361[25] = 0;
+   out_2819353980597124361[26] = 0;
+   out_2819353980597124361[27] = 0;
+   out_2819353980597124361[28] = 0;
+   out_2819353980597124361[29] = 0;
+   out_2819353980597124361[30] = 1;
+   out_2819353980597124361[31] = 0;
+   out_2819353980597124361[32] = 0;
+   out_2819353980597124361[33] = 0;
+   out_2819353980597124361[34] = 0;
+   out_2819353980597124361[35] = 0;
+   out_2819353980597124361[36] = 0;
+   out_2819353980597124361[37] = 0;
+   out_2819353980597124361[38] = 0;
+   out_2819353980597124361[39] = 0;
+   out_2819353980597124361[40] = 1;
+   out_2819353980597124361[41] = 0;
+   out_2819353980597124361[42] = 0;
+   out_2819353980597124361[43] = 0;
+   out_2819353980597124361[44] = 0;
+   out_2819353980597124361[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_2819353980597124361[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2819353980597124361[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2819353980597124361[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2819353980597124361[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_2819353980597124361[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2819353980597124361[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2819353980597124361[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2819353980597124361[53] = -9.8100000000000005*dt;
+   out_2819353980597124361[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_2819353980597124361[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2819353980597124361[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2819353980597124361[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2819353980597124361[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_2819353980597124361[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2819353980597124361[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_2819353980597124361[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2819353980597124361[62] = 0;
+   out_2819353980597124361[63] = 0;
+   out_2819353980597124361[64] = 0;
+   out_2819353980597124361[65] = 0;
+   out_2819353980597124361[66] = 0;
+   out_2819353980597124361[67] = 0;
+   out_2819353980597124361[68] = 0;
+   out_2819353980597124361[69] = 0;
+   out_2819353980597124361[70] = 1;
+   out_2819353980597124361[71] = 0;
+   out_2819353980597124361[72] = 0;
+   out_2819353980597124361[73] = 0;
+   out_2819353980597124361[74] = 0;
+   out_2819353980597124361[75] = 0;
+   out_2819353980597124361[76] = 0;
+   out_2819353980597124361[77] = 0;
+   out_2819353980597124361[78] = 0;
+   out_2819353980597124361[79] = 0;
+   out_2819353980597124361[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_7364871104219513908) {
-   out_7364871104219513908[0] = state[6];
+void h_25(double *state, double *unused, double *out_6189447245513617570) {
+   out_6189447245513617570[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_5259356069339540719) {
-   out_5259356069339540719[0] = 0;
-   out_5259356069339540719[1] = 0;
-   out_5259356069339540719[2] = 0;
-   out_5259356069339540719[3] = 0;
-   out_5259356069339540719[4] = 0;
-   out_5259356069339540719[5] = 0;
-   out_5259356069339540719[6] = 1;
-   out_5259356069339540719[7] = 0;
-   out_5259356069339540719[8] = 0;
+void H_25(double *state, double *unused, double *out_3234178458103237326) {
+   out_3234178458103237326[0] = 0;
+   out_3234178458103237326[1] = 0;
+   out_3234178458103237326[2] = 0;
+   out_3234178458103237326[3] = 0;
+   out_3234178458103237326[4] = 0;
+   out_3234178458103237326[5] = 0;
+   out_3234178458103237326[6] = 1;
+   out_3234178458103237326[7] = 0;
+   out_3234178458103237326[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_6181950591427252357) {
-   out_6181950591427252357[0] = state[4];
-   out_6181950591427252357[1] = state[5];
+void h_24(double *state, double *unused, double *out_7649152206074051029) {
+   out_7649152206074051029[0] = state[4];
+   out_7649152206074051029[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_1316215737251977382) {
-   out_1316215737251977382[0] = 0;
-   out_1316215737251977382[1] = 0;
-   out_1316215737251977382[2] = 0;
-   out_1316215737251977382[3] = 0;
-   out_1316215737251977382[4] = 1;
-   out_1316215737251977382[5] = 0;
-   out_1316215737251977382[6] = 0;
-   out_1316215737251977382[7] = 0;
-   out_1316215737251977382[8] = 0;
-   out_1316215737251977382[9] = 0;
-   out_1316215737251977382[10] = 0;
-   out_1316215737251977382[11] = 0;
-   out_1316215737251977382[12] = 0;
-   out_1316215737251977382[13] = 0;
-   out_1316215737251977382[14] = 1;
-   out_1316215737251977382[15] = 0;
-   out_1316215737251977382[16] = 0;
-   out_1316215737251977382[17] = 0;
+void H_24(double *state, double *unused, double *out_7794173981929387397) {
+   out_7794173981929387397[0] = 0;
+   out_7794173981929387397[1] = 0;
+   out_7794173981929387397[2] = 0;
+   out_7794173981929387397[3] = 0;
+   out_7794173981929387397[4] = 1;
+   out_7794173981929387397[5] = 0;
+   out_7794173981929387397[6] = 0;
+   out_7794173981929387397[7] = 0;
+   out_7794173981929387397[8] = 0;
+   out_7794173981929387397[9] = 0;
+   out_7794173981929387397[10] = 0;
+   out_7794173981929387397[11] = 0;
+   out_7794173981929387397[12] = 0;
+   out_7794173981929387397[13] = 0;
+   out_7794173981929387397[14] = 1;
+   out_7794173981929387397[15] = 0;
+   out_7794173981929387397[16] = 0;
+   out_7794173981929387397[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_4311037743139686772) {
-   out_4311037743139686772[0] = state[4];
+void h_30(double *state, double *unused, double *out_6334967069734272541) {
+   out_6334967069734272541[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_1657334272152076036) {
-   out_1657334272152076036[0] = 0;
-   out_1657334272152076036[1] = 0;
-   out_1657334272152076036[2] = 0;
-   out_1657334272152076036[3] = 0;
-   out_1657334272152076036[4] = 1;
-   out_1657334272152076036[5] = 0;
-   out_1657334272152076036[6] = 0;
-   out_1657334272152076036[7] = 0;
-   out_1657334272152076036[8] = 0;
+void H_30(double *state, double *unused, double *out_3104839510959997256) {
+   out_3104839510959997256[0] = 0;
+   out_3104839510959997256[1] = 0;
+   out_3104839510959997256[2] = 0;
+   out_3104839510959997256[3] = 0;
+   out_3104839510959997256[4] = 1;
+   out_3104839510959997256[5] = 0;
+   out_3104839510959997256[6] = 0;
+   out_3104839510959997256[7] = 0;
+   out_3104839510959997256[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_8569605146509354979) {
-   out_8569605146509354979[0] = state[7];
+void h_26(double *state, double *unused, double *out_1333293802073426896) {
+   out_1333293802073426896[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_9000859388213596943) {
-   out_9000859388213596943[0] = 0;
-   out_9000859388213596943[1] = 0;
-   out_9000859388213596943[2] = 0;
-   out_9000859388213596943[3] = 0;
-   out_9000859388213596943[4] = 0;
-   out_9000859388213596943[5] = 0;
-   out_9000859388213596943[6] = 0;
-   out_9000859388213596943[7] = 1;
-   out_9000859388213596943[8] = 0;
+void H_26(double *state, double *unused, double *out_507324860770818898) {
+   out_507324860770818898[0] = 0;
+   out_507324860770818898[1] = 0;
+   out_507324860770818898[2] = 0;
+   out_507324860770818898[3] = 0;
+   out_507324860770818898[4] = 0;
+   out_507324860770818898[5] = 0;
+   out_507324860770818898[6] = 0;
+   out_507324860770818898[7] = 1;
+   out_507324860770818898[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_2363197836558668263) {
-   out_2363197836558668263[0] = state[3];
+void h_27(double *state, double *unused, double *out_7255623560535088401) {
+   out_7255623560535088401[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_517429039648348875) {
-   out_517429039648348875[0] = 0;
-   out_517429039648348875[1] = 0;
-   out_517429039648348875[2] = 0;
-   out_517429039648348875[3] = 1;
-   out_517429039648348875[4] = 0;
-   out_517429039648348875[5] = 0;
-   out_517429039648348875[6] = 0;
-   out_517429039648348875[7] = 0;
-   out_517429039648348875[8] = 0;
+void H_27(double *state, double *unused, double *out_930076199159572345) {
+   out_930076199159572345[0] = 0;
+   out_930076199159572345[1] = 0;
+   out_930076199159572345[2] = 0;
+   out_930076199159572345[3] = 1;
+   out_930076199159572345[4] = 0;
+   out_930076199159572345[5] = 0;
+   out_930076199159572345[6] = 0;
+   out_930076199159572345[7] = 0;
+   out_930076199159572345[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_1498485639869833389) {
-   out_1498485639869833389[0] = state[1];
+void h_29(double *state, double *unused, double *out_3730561748925574890) {
+   out_3730561748925574890[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_2230791766517899908) {
-   out_2230791766517899908[0] = 0;
-   out_2230791766517899908[1] = 1;
-   out_2230791766517899908[2] = 0;
-   out_2230791766517899908[3] = 0;
-   out_2230791766517899908[4] = 0;
-   out_2230791766517899908[5] = 0;
-   out_2230791766517899908[6] = 0;
-   out_2230791766517899908[7] = 0;
-   out_2230791766517899908[8] = 0;
+void H_29(double *state, double *unused, double *out_3615070855274389440) {
+   out_3615070855274389440[0] = 0;
+   out_3615070855274389440[1] = 1;
+   out_3615070855274389440[2] = 0;
+   out_3615070855274389440[3] = 0;
+   out_3615070855274389440[4] = 0;
+   out_3615070855274389440[5] = 0;
+   out_3615070855274389440[6] = 0;
+   out_3615070855274389440[7] = 0;
+   out_3615070855274389440[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_6657345575881808179) {
-   out_6657345575881808179[0] = state[0];
+void h_28(double *state, double *unused, double *out_2029716344699763454) {
+   out_2029716344699763454[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_7313190783587430482) {
-   out_7313190783587430482[0] = 1;
-   out_7313190783587430482[1] = 0;
-   out_7313190783587430482[2] = 0;
-   out_7313190783587430482[3] = 0;
-   out_7313190783587430482[4] = 0;
-   out_7313190783587430482[5] = 0;
-   out_7313190783587430482[6] = 0;
-   out_7313190783587430482[7] = 0;
-   out_7313190783587430482[8] = 0;
+void H_28(double *state, double *unused, double *out_1180343743855347563) {
+   out_1180343743855347563[0] = 1;
+   out_1180343743855347563[1] = 0;
+   out_1180343743855347563[2] = 0;
+   out_1180343743855347563[3] = 0;
+   out_1180343743855347563[4] = 0;
+   out_1180343743855347563[5] = 0;
+   out_1180343743855347563[6] = 0;
+   out_1180343743855347563[7] = 0;
+   out_1180343743855347563[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_398394152601158533) {
-   out_398394152601158533[0] = state[8];
+void h_31(double *state, double *unused, double *out_2551997717259595220) {
+   out_2551997717259595220[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_5228710107462580291) {
-   out_5228710107462580291[0] = 0;
-   out_5228710107462580291[1] = 0;
-   out_5228710107462580291[2] = 0;
-   out_5228710107462580291[3] = 0;
-   out_5228710107462580291[4] = 0;
-   out_5228710107462580291[5] = 0;
-   out_5228710107462580291[6] = 0;
-   out_5228710107462580291[7] = 0;
-   out_5228710107462580291[8] = 1;
+void H_31(double *state, double *unused, double *out_3264824419980197754) {
+   out_3264824419980197754[0] = 0;
+   out_3264824419980197754[1] = 0;
+   out_3264824419980197754[2] = 0;
+   out_3264824419980197754[3] = 0;
+   out_3264824419980197754[4] = 0;
+   out_3264824419980197754[5] = 0;
+   out_3264824419980197754[6] = 0;
+   out_3264824419980197754[7] = 0;
+   out_3264824419980197754[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_6333242559483084265) {
-  err_fun(nom_x, delta_x, out_6333242559483084265);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6018065189512211380) {
+  err_fun(nom_x, delta_x, out_6018065189512211380);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072) {
-  inv_err_fun(nom_x, true_x, out_829248915283082072);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1095263434101283480) {
+  inv_err_fun(nom_x, true_x, out_1095263434101283480);
 }
-void car_H_mod_fun(double *state, double *out_8283696179185346057) {
-  H_mod_fun(state, out_8283696179185346057);
+void car_H_mod_fun(double *state, double *out_2728844015902940614) {
+  H_mod_fun(state, out_2728844015902940614);
 }
-void car_f_fun(double *state, double dt, double *out_3453347444055346076) {
-  f_fun(state,  dt, out_3453347444055346076);
+void car_f_fun(double *state, double dt, double *out_6525929466162239676) {
+  f_fun(state,  dt, out_6525929466162239676);
 }
-void car_F_fun(double *state, double dt, double *out_1825222330008905672) {
-  F_fun(state,  dt, out_1825222330008905672);
+void car_F_fun(double *state, double dt, double *out_2819353980597124361) {
+  F_fun(state,  dt, out_2819353980597124361);
 }
-void car_h_25(double *state, double *unused, double *out_7364871104219513908) {
-  h_25(state, unused, out_7364871104219513908);
+void car_h_25(double *state, double *unused, double *out_6189447245513617570) {
+  h_25(state, unused, out_6189447245513617570);
 }
-void car_H_25(double *state, double *unused, double *out_5259356069339540719) {
-  H_25(state, unused, out_5259356069339540719);
+void car_H_25(double *state, double *unused, double *out_3234178458103237326) {
+  H_25(state, unused, out_3234178458103237326);
 }
-void car_h_24(double *state, double *unused, double *out_6181950591427252357) {
-  h_24(state, unused, out_6181950591427252357);
+void car_h_24(double *state, double *unused, double *out_7649152206074051029) {
+  h_24(state, unused, out_7649152206074051029);
 }
-void car_H_24(double *state, double *unused, double *out_1316215737251977382) {
-  H_24(state, unused, out_1316215737251977382);
+void car_H_24(double *state, double *unused, double *out_7794173981929387397) {
+  H_24(state, unused, out_7794173981929387397);
 }
-void car_h_30(double *state, double *unused, double *out_4311037743139686772) {
-  h_30(state, unused, out_4311037743139686772);
+void car_h_30(double *state, double *unused, double *out_6334967069734272541) {
+  h_30(state, unused, out_6334967069734272541);
 }
-void car_H_30(double *state, double *unused, double *out_1657334272152076036) {
-  H_30(state, unused, out_1657334272152076036);
+void car_H_30(double *state, double *unused, double *out_3104839510959997256) {
+  H_30(state, unused, out_3104839510959997256);
 }
-void car_h_26(double *state, double *unused, double *out_8569605146509354979) {
-  h_26(state, unused, out_8569605146509354979);
+void car_h_26(double *state, double *unused, double *out_1333293802073426896) {
+  h_26(state, unused, out_1333293802073426896);
 }
-void car_H_26(double *state, double *unused, double *out_9000859388213596943) {
-  H_26(state, unused, out_9000859388213596943);
+void car_H_26(double *state, double *unused, double *out_507324860770818898) {
+  H_26(state, unused, out_507324860770818898);
 }
-void car_h_27(double *state, double *unused, double *out_2363197836558668263) {
-  h_27(state, unused, out_2363197836558668263);
+void car_h_27(double *state, double *unused, double *out_7255623560535088401) {
+  h_27(state, unused, out_7255623560535088401);
 }
-void car_H_27(double *state, double *unused, double *out_517429039648348875) {
-  H_27(state, unused, out_517429039648348875);
+void car_H_27(double *state, double *unused, double *out_930076199159572345) {
+  H_27(state, unused, out_930076199159572345);
 }
-void car_h_29(double *state, double *unused, double *out_1498485639869833389) {
-  h_29(state, unused, out_1498485639869833389);
+void car_h_29(double *state, double *unused, double *out_3730561748925574890) {
+  h_29(state, unused, out_3730561748925574890);
 }
-void car_H_29(double *state, double *unused, double *out_2230791766517899908) {
-  H_29(state, unused, out_2230791766517899908);
+void car_H_29(double *state, double *unused, double *out_3615070855274389440) {
+  H_29(state, unused, out_3615070855274389440);
 }
-void car_h_28(double *state, double *unused, double *out_6657345575881808179) {
-  h_28(state, unused, out_6657345575881808179);
+void car_h_28(double *state, double *unused, double *out_2029716344699763454) {
+  h_28(state, unused, out_2029716344699763454);
 }
-void car_H_28(double *state, double *unused, double *out_7313190783587430482) {
-  H_28(state, unused, out_7313190783587430482);
+void car_H_28(double *state, double *unused, double *out_1180343743855347563) {
+  H_28(state, unused, out_1180343743855347563);
 }
-void car_h_31(double *state, double *unused, double *out_398394152601158533) {
-  h_31(state, unused, out_398394152601158533);
+void car_h_31(double *state, double *unused, double *out_2551997717259595220) {
+  h_31(state, unused, out_2551997717259595220);
 }
-void car_H_31(double *state, double *unused, double *out_5228710107462580291) {
-  H_31(state, unused, out_5228710107462580291);
+void car_H_31(double *state, double *unused, double *out_3264824419980197754) {
+  H_31(state, unused, out_3264824419980197754);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

selfdrive/locationd/models/generated/car.h

@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_6333242559483084265);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_829248915283082072);
-void car_H_mod_fun(double *state, double *out_8283696179185346057);
-void car_f_fun(double *state, double dt, double *out_3453347444055346076);
-void car_F_fun(double *state, double dt, double *out_1825222330008905672);
-void car_h_25(double *state, double *unused, double *out_7364871104219513908);
-void car_H_25(double *state, double *unused, double *out_5259356069339540719);
-void car_h_24(double *state, double *unused, double *out_6181950591427252357);
-void car_H_24(double *state, double *unused, double *out_1316215737251977382);
-void car_h_30(double *state, double *unused, double *out_4311037743139686772);
-void car_H_30(double *state, double *unused, double *out_1657334272152076036);
-void car_h_26(double *state, double *unused, double *out_8569605146509354979);
-void car_H_26(double *state, double *unused, double *out_9000859388213596943);
-void car_h_27(double *state, double *unused, double *out_2363197836558668263);
-void car_H_27(double *state, double *unused, double *out_517429039648348875);
-void car_h_29(double *state, double *unused, double *out_1498485639869833389);
-void car_H_29(double *state, double *unused, double *out_2230791766517899908);
-void car_h_28(double *state, double *unused, double *out_6657345575881808179);
-void car_H_28(double *state, double *unused, double *out_7313190783587430482);
-void car_h_31(double *state, double *unused, double *out_398394152601158533);
-void car_H_31(double *state, double *unused, double *out_5228710107462580291);
+void car_err_fun(double *nom_x, double *delta_x, double *out_6018065189512211380);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_1095263434101283480);
+void car_H_mod_fun(double *state, double *out_2728844015902940614);
+void car_f_fun(double *state, double dt, double *out_6525929466162239676);
+void car_F_fun(double *state, double dt, double *out_2819353980597124361);
+void car_h_25(double *state, double *unused, double *out_6189447245513617570);
+void car_H_25(double *state, double *unused, double *out_3234178458103237326);
+void car_h_24(double *state, double *unused, double *out_7649152206074051029);
+void car_H_24(double *state, double *unused, double *out_7794173981929387397);
+void car_h_30(double *state, double *unused, double *out_6334967069734272541);
+void car_H_30(double *state, double *unused, double *out_3104839510959997256);
+void car_h_26(double *state, double *unused, double *out_1333293802073426896);
+void car_H_26(double *state, double *unused, double *out_507324860770818898);
+void car_h_27(double *state, double *unused, double *out_7255623560535088401);
+void car_H_27(double *state, double *unused, double *out_930076199159572345);
+void car_h_29(double *state, double *unused, double *out_3730561748925574890);
+void car_H_29(double *state, double *unused, double *out_3615070855274389440);
+void car_h_28(double *state, double *unused, double *out_2029716344699763454);
+void car_H_28(double *state, double *unused, double *out_1180343743855347563);
+void car_h_31(double *state, double *unused, double *out_2551997717259595220);
+void car_H_31(double *state, double *unused, double *out_3264824419980197754);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);

selfdrive/locationd/models/generated/pose.h

@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_3574067617578089570);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1515328263168530495);
-void pose_H_mod_fun(double *state, double *out_207229337745545750);
-void pose_f_fun(double *state, double dt, double *out_3493541226789963130);
-void pose_F_fun(double *state, double dt, double *out_5154051058888586616);
-void pose_h_4(double *state, double *unused, double *out_5970382648807117116);
-void pose_H_4(double *state, double *unused, double *out_4945289047293534985);
-void pose_h_10(double *state, double *unused, double *out_520088425664385209);
-void pose_H_10(double *state, double *unused, double *out_4050335309714945768);
-void pose_h_13(double *state, double *unused, double *out_1434579794425570866);
-void pose_H_13(double *state, double *unused, double *out_1111533583991010961);
-void pose_h_14(double *state, double *unused, double *out_5370135948753942539);
-void pose_H_14(double *state, double *unused, double *out_1862500614998162689);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_8753495689455606364);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7040060865599254852);
+void pose_H_mod_fun(double *state, double *out_2703870827941122868);
+void pose_f_fun(double *state, double dt, double *out_8883447168535687566);
+void pose_F_fun(double *state, double dt, double *out_5352116671186116134);
+void pose_h_4(double *state, double *unused, double *out_7227081021545178632);
+void pose_H_4(double *state, double *unused, double *out_496539073160347156);
+void pose_h_10(double *state, double *unused, double *out_1880125658668972037);
+void pose_H_10(double *state, double *unused, double *out_6033877093640339494);
+void pose_h_13(double *state, double *unused, double *out_7805785120847628893);
+void pose_H_13(double *state, double *unused, double *out_68062846521496948);
+void pose_h_14(double *state, double *unused, double *out_5362476079090588);
+void pose_H_14(double *state, double *unused, double *out_3579327505455719452);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

starpilot/common/starpilot_variables.py

@@ -377,6 +377,8 @@ class StarPilotVariables:
     self.staging_branch = branch == "StarPilot-Staging"
     self.testing_branch = branch == "StarPilot-Testing"
     self.vetting_branch = branch == "StarPilot-Vetting"
+    self.force_no_uploads = True
+    toggle.force_no_uploads = self.force_no_uploads
 
     self.frogs_go_moo = FROGS_GO_MOO_PATH.is_file()
     # Development/vetting branches are no longer gated into dashcam mode.
@@ -833,8 +835,8 @@ class StarPilotVariables:
     # Keep force-onroad desktop simulations from polluting logs, but never disable
     # loggerd/encoderd on real devices because that breaks route continuity/uploads.
     toggle.no_logging = self.get_value("NoLogging", condition=device_management and not self.vetting_branch) or (toggle.force_onroad and HARDWARE.get_device_type() == "pc")
-    toggle.no_uploads = self.get_value("NoUploads", condition=device_management and not self.vetting_branch)
-    toggle.no_onroad_uploads = self.get_value("DisableOnroadUploads", condition=toggle.no_uploads)
+    toggle.no_uploads = self.force_no_uploads or self.get_value("NoUploads", condition=device_management and not self.vetting_branch)
+    toggle.no_onroad_uploads = (not self.force_no_uploads) and self.get_value("DisableOnroadUploads", condition=toggle.no_uploads)
 
     toggle.nostalgia_mode = self.get_value("NostalgiaMode", condition=toggle.openpilot_longitudinal and toggle.car_model == HYUNDAI_CAR.HYUNDAI_IONIQ_6)
     toggle.remap_cancel_to_distance = self.get_value(

system/manager/manager.py

@@ -681,6 +681,13 @@ def manager_init() -> None:
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
   params.put("HardwareSerial", serial)
 
+  params.put_bool("NoUploads", True)
+  params_cache.put_bool("NoUploads", True)
+  params.put_bool("DisableOnroadUploads", False)
+  params_cache.put_bool("DisableOnroadUploads", False)
+  params.put_bool("AlwaysAllowUploads", False)
+  params_cache.put_bool("AlwaysAllowUploads", False)
+
   # Branch migration: rename legacy Bolt fingerprint persisted in CarParams.
   migrate_legacy_bolt_fingerprint(params)
 

system/manager/process_config.py

@@ -72,6 +72,8 @@ def allow_logging(started: bool, params: Params, CP: car.CarParams, starpilot_to
   return not starpilot_toggles.no_logging
 
 def allow_uploads(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
+  if getattr(starpilot_toggles, "force_no_uploads", False):
+    return False
   return params.get_bool("AlwaysAllowUploads") or not starpilot_toggles.no_uploads or starpilot_toggles.no_onroad_uploads
 
 def run_speed_limit_filler(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:

tools/joystick/joystick_control.py

@@ -52,7 +52,7 @@ class Joystick:
       self.flip_map = {'ABS_RZ': accel_axis}
     else:
       accel_axis = 'ABS_RX'
-      steer_axis = 'ABS_Z'
+      steer_axis = 'ABS_X'
       self.flip_map = {'ABS_RY': accel_axis}
 
     self.min_axis_value = {accel_axis: 0., steer_axis: 0.}