build

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -23,13 +23,30 @@ CAMERA_CANCEL_DELAY_FRAMES = 10
 MIN_STEER_MSG_INTERVAL_MS = 15
 
 
+def get_lka_steering_cmd_counter(counter, CS):
+  if CS.loopback_lka_steering_cmd_updated:
+    return (CS.loopback_lka_steering_cmd_counter + 1) % 4
+
+  if CS.loopback_lka_steering_cmd_ts_nanos == 0 and counter < 0:
+    return (CS.pt_lka_steering_cmd_counter + 1) % 4
+
+  return counter % 4
+
+
 def get_stock_cc_active_for_cancel(CP, CS):
+  if CS.out.accFaulted:
+    return False
+
   stock_cc_active = CS.out.cruiseState.enabled or CS.pcm_acc_status != AccState.OFF
   if CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL:
     return CS.out.cruiseState.enabled
   return stock_cc_active
 
 
+def should_send_stock_long_cancel(cancel_counter, CS):
+  return cancel_counter > CAMERA_CANCEL_DELAY_FRAMES and not CS.out.accFaulted
+
+
 def use_interceptor_sng_launch(CP, CS, maneuver_mode=False):
   # Restrict the fixed standstill-launch gas to actual near-zero motion
   # so higher accel requests can take over once the car has started moving.
@@ -112,7 +129,7 @@ class CarController(CarControllerBase):
     self.last_button_frame = 0
     self.cancel_counter = 0
 
-    self.lka_steering_cmd_counter = 0
+    self.lka_steering_cmd_counter = -1
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
@@ -396,16 +413,12 @@ class CarController(CarControllerBase):
       if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
         steer_step = self.params.STEER_STEP
 
-    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
+    self.lka_steering_cmd_counter = get_lka_steering_cmd_counter(self.lka_steering_cmd_counter, CS)
 
     # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
     # received the ASCMLKASteeringCmd loopback confirmation too recently
     last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
     if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
-      # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
-      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
-        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
-
       if CC.latActive:
         new_torque = int(round(actuators.torque * self.params.STEER_MAX))
         apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
@@ -418,8 +431,10 @@ class CarController(CarControllerBase):
 
       self.last_steer_frame = self.frame
       self.apply_torque_last = apply_torque
-      idx = self.lka_steering_cmd_counter % 4
+      idx = self.lka_steering_cmd_counter
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_torque, idx, CC.latActive))
+      # Keep the counter moving even if panda stops returning loopback confirmations.
+      self.lka_steering_cmd_counter = (idx + 1) % 4
 
     if should_spoof_ecm_cruise_status(self.CP) and self.frame % 4 == 0:
       can_sends.append(gmcan.create_ecm_cruise_control_command(
@@ -551,7 +566,12 @@ class CarController(CarControllerBase):
         if self.CP.enableGasInterceptorDEPRECATED:
           can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx))
         if self.CP.carFingerprint not in CC_ONLY_CAR:
-          friction_brake_bus = CanBus.CHASSIS
+          volt_gateway_alt_brake = (
+            self.CP.carFingerprint == CAR.CHEVROLET_VOLT and
+            self.CP.networkLocation == NetworkLocation.gateway and
+            bool(self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value)
+          )
+          friction_brake_bus = CanBus.POWERTRAIN if volt_gateway_alt_brake else CanBus.CHASSIS
           # GM Camera exceptions
           # TODO: can we always check the longControlState?
           if self.CP.networkLocation == NetworkLocation.fwdCamera:
@@ -638,10 +658,10 @@ class CarController(CarControllerBase):
       self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
 
       # Stock longitudinal, integrated at camera
-      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
+      if self.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC and should_send_stock_long_cancel(self.cancel_counter, CS):
         malibu_cancel_requested = True
       elif (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
-        if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
+        if should_send_stock_long_cancel(self.cancel_counter, CS):
           self.last_button_frame = self.frame
           sdgm_stock_cancel_pt = (
             self.CP.carFingerprint in SDGM_CAR and

opendbc_repo/opendbc/car/gm/carstate.py

@@ -26,6 +26,7 @@ TransmissionType = structs.CarParams.TransmissionType
 NetworkLocation = structs.CarParams.NetworkLocation
 
 STANDSTILL_THRESHOLD = 10 * 0.0311
+VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
 
 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                 CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -46,6 +47,7 @@ class CarState(CarStateBase):
     self.cluster_min_speed = CV.KPH_TO_MS / 2.
 
     self.loopback_lka_steering_cmd_updated = False
+    self.loopback_lka_steering_cmd_counter = 0
     self.loopback_lka_steering_cmd_ts_nanos = 0
     self.pt_lka_steering_cmd_counter = 0
     self.cam_lka_steering_cmd_counter = 0
@@ -119,6 +121,7 @@ class CarState(CarStateBase):
     # Variables used for avoiding LKAS faults
     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_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
       self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
     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"]
@@ -153,7 +156,9 @@ class CarState(CarStateBase):
       else:
         ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
 
-    if self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
+    if self.CP.carFingerprint == CAR.CHEVROLET_VOLT and no_accel_pos:
+      ret.brakePressed = ret.brake >= VOLT_EBCM_BRAKE_PRESSED_THRESHOLD
+    elif self.CP.carFingerprint in {CAR.CHEVROLET_MALIBU_CC} or (self.CP.carFingerprint == CAR.CHEVROLET_BLAZER and not no_accel_pos):
       ret.brakePressed = ret.brake >= 8
     elif (self.CP.flags & GMFlags.FORCE_BRAKE_C9.value) or ((self.CP.networkLocation == NetworkLocation.fwdCamera) and (self.CP.carFingerprint != CAR.CHEVROLET_BLAZER)):
       ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0

opendbc_repo/opendbc/car/gm/interface.py

@@ -620,6 +620,9 @@ class CarInterface(CarInterfaceBase):
 
     if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
       ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
+      if candidate == CAR.CHEVROLET_VOLT and ret.networkLocation == NetworkLocation.gateway:
+        # Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
+        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value
 
     try:
       remote_start_boots_comma = params.get_bool("RemoteStartBootsComma")

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -103,6 +103,7 @@ class TestGMInterface:
                                          starpilot_toggles=_test_starpilot_toggles())
 
     assert car_params.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
 
     pt_parser = CarInterface.CarState.get_can_parsers(car_params)[Bus.pt]
     assert "ECMAcceleratorPos" not in pt_parser.vl

opendbc_repo/opendbc/car/tests/test_can_fingerprint.py

@@ -84,6 +84,23 @@ class TestCanFingerprint:
 
     assert candidate == "CHEVROLET_VOLT_CAMERA"
 
+  def test_gm_stored_candidate_fallback_demotes_volt_camera_with_only_camera_diag_msg(self):
+    fingerprints = {0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6}, 2: {0x24B: 8}}
+
+    candidate = _get_gm_stored_candidate_fallback(fingerprints, "CHEVROLET_VOLT_CAMERA", None)
+
+    assert candidate == "CHEVROLET_VOLT"
+
+  def test_gm_stored_candidate_fallback_keeps_volt_when_bus2_only_has_forwarded_pt_core_msgs(self):
+    fingerprints = {
+      0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6},
+      2: {201: 8, 209: 7, 211: 2, 241: 6},
+    }
+
+    candidate = _get_gm_stored_candidate_fallback(fingerprints, "CHEVROLET_VOLT", None)
+
+    assert candidate == "CHEVROLET_VOLT"
+
   def test_gm_stored_candidate_fallback_ignores_non_gm_fingerprint(self):
     fingerprints = {0: {1: 1, 2: 2, 3: 3, 4: 4}}
 

opendbc_repo/opendbc/safety/modes/gm.h

@@ -59,6 +59,7 @@ static bool gm_force_brake_c9 = false;
 static bool gm_panda_3d1_sched = false;
 static bool gm_panda_paddle_sched = false;
 static bool gm_bolt_2022_pedal = false;
+static bool gm_alt_brake = false;
 
 static bool gm_cc_long = false;
 static bool gm_has_acc = true;
@@ -246,10 +247,14 @@ static void gm_rx_hook(const CANPacket_t *msg) {
       brake_pressed = GET_BIT(msg, 40U);
     }
 
-    if ((msg->addr == 0xBEU) && ((gm_hw == GM_ASCM) || gm_sdgm || gm_ascm_int)) {
+    if ((msg->addr == 0xBEU) && (((gm_hw == GM_ASCM) && !gm_alt_brake) || gm_sdgm || gm_ascm_int)) {
       brake_pressed = msg->data[1] >= 8U;
     }
 
+    if ((msg->addr == 0xF1U) && gm_alt_brake) {
+      brake_pressed = msg->data[1] >= 6U;
+    }
+
     if ((msg->addr == 0xC9U) && (gm_hw == GM_CAM) && !gm_force_brake_c9) {
       brake_pressed = GET_BIT(msg, 40U);
     }
@@ -546,6 +551,12 @@ static safety_config gm_init(uint16_t param) {
                                            {0x1E1, 0, 7, .check_relay = false},
                                            {0xBD, 0, 7, .check_relay = false},
                                            {0x1F5, 0, 8, .check_relay = false}}; // pt bus
+  static const CanMsg GM_ASCM_ALT_BRAKE_TX_MSGS[] = {{0x180, 0, 4, .check_relay = true}, {0x409, 0, 7, .check_relay = false}, {0x40A, 0, 7, .check_relay = false}, {0x2CB, 0, 8, .check_relay = true}, {0x370, 0, 6, .check_relay = false}, {0x315, 0, 5, .check_relay = true},  // pt bus
+                                                     {0xA1, 1, 7, .check_relay = false}, {0x306, 1, 8, .check_relay = false}, {0x308, 1, 7, .check_relay = false}, {0x310, 1, 2, .check_relay = false},   // obs bus
+                                                     {0x200, 0, 6, .check_relay = false},
+                                                     {0x1E1, 0, 7, .check_relay = false},
+                                                     {0xBD, 0, 7, .check_relay = false},
+                                                     {0x1F5, 0, 8, .check_relay = false}}; // pt bus
 
 
   static const LongitudinalLimits GM_CAM_LONG_LIMITS = {
@@ -660,6 +671,7 @@ static safety_config gm_init(uint16_t param) {
   gm_remote_start_boots_comma = GET_FLAG(param, GM_PARAM_REMOTE_START_BOOTS_COMMA);
   gm_panda_3d1_sched = GET_FLAG(param, GM_PARAM_PANDA_3D1_SCHED) && gm_pedal_long && !gm_has_acc && !gm_bolt_2022_pedal;
   gm_panda_paddle_sched = GET_FLAG(param, GM_PARAM_PANDA_PADDLE_SCHED) && gm_pedal_long && enable_gas_interceptor;
+  gm_alt_brake = GET_FLAG(param, GM_PARAM_NO_CAMERA) && (gm_hw == GM_ASCM) && !gm_sdgm && !gm_ascm_int;
 
   gm_3d1_spoof_valid = false;
   gm_3d1_internal_tx = false;
@@ -726,6 +738,8 @@ static safety_config gm_init(uint16_t param) {
         ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS);
       }
     }
+  } else if (gm_alt_brake) {
+    ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_ALT_BRAKE_TX_MSGS);
   } else {
     ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS);
   }

opendbc_repo/opendbc/safety/tests/test_gm.py

@@ -196,7 +196,15 @@ class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase):
 
 
 class TestGmAscmEVSafety(TestGmAscmSafety, TestGmEVSafetyBase):
-  pass
+  EXTRA_SAFETY_PARAM = GMSafetyFlags.FLAG_GM_NO_CAMERA
+  TX_MSGS = [[0x180, 0], [0x409, 0], [0x40A, 0], [0x2CB, 0], [0x370, 0], [0x200, 0], [0x1E1, 0], [0xBD, 0], [0x1F5, 0], [0x315, 0],
+             [0xA1, 1], [0x306, 1], [0x308, 1], [0x310, 1]]
+  RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB, 0x315)}
+  BRAKE_BUS = 0
+
+  def _user_brake_msg(self, brake):
+    values = {"BrakePedalPosition": 6 if brake else 0}
+    return self.packer.make_can_msg_panda("EBCMBrakePedalPosition", 0, values)
 
 
 class TestGmCameraSafetyBase(TestGmSafetyBase):

panda/board/obj/gitversion.h

@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-9d2a8050-DEBUG";
+const uint8_t gitversion[19] = "DEV-59e50715-DEBUG";

panda/board/obj/version

@@ -1 +1 @@
-DEV-9d2a8050-DEBUG
+DEV-59e50715-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_2689391300508487509) {
-   out_2689391300508487509[0] = delta_x[0] + nom_x[0];
-   out_2689391300508487509[1] = delta_x[1] + nom_x[1];
-   out_2689391300508487509[2] = delta_x[2] + nom_x[2];
-   out_2689391300508487509[3] = delta_x[3] + nom_x[3];
-   out_2689391300508487509[4] = delta_x[4] + nom_x[4];
-   out_2689391300508487509[5] = delta_x[5] + nom_x[5];
-   out_2689391300508487509[6] = delta_x[6] + nom_x[6];
-   out_2689391300508487509[7] = delta_x[7] + nom_x[7];
-   out_2689391300508487509[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_1836217441218094185) {
+   out_1836217441218094185[0] = delta_x[0] + nom_x[0];
+   out_1836217441218094185[1] = delta_x[1] + nom_x[1];
+   out_1836217441218094185[2] = delta_x[2] + nom_x[2];
+   out_1836217441218094185[3] = delta_x[3] + nom_x[3];
+   out_1836217441218094185[4] = delta_x[4] + nom_x[4];
+   out_1836217441218094185[5] = delta_x[5] + nom_x[5];
+   out_1836217441218094185[6] = delta_x[6] + nom_x[6];
+   out_1836217441218094185[7] = delta_x[7] + nom_x[7];
+   out_1836217441218094185[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_7177783815062799236) {
-   out_7177783815062799236[0] = -nom_x[0] + true_x[0];
-   out_7177783815062799236[1] = -nom_x[1] + true_x[1];
-   out_7177783815062799236[2] = -nom_x[2] + true_x[2];
-   out_7177783815062799236[3] = -nom_x[3] + true_x[3];
-   out_7177783815062799236[4] = -nom_x[4] + true_x[4];
-   out_7177783815062799236[5] = -nom_x[5] + true_x[5];
-   out_7177783815062799236[6] = -nom_x[6] + true_x[6];
-   out_7177783815062799236[7] = -nom_x[7] + true_x[7];
-   out_7177783815062799236[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_3664144515047539542) {
+   out_3664144515047539542[0] = -nom_x[0] + true_x[0];
+   out_3664144515047539542[1] = -nom_x[1] + true_x[1];
+   out_3664144515047539542[2] = -nom_x[2] + true_x[2];
+   out_3664144515047539542[3] = -nom_x[3] + true_x[3];
+   out_3664144515047539542[4] = -nom_x[4] + true_x[4];
+   out_3664144515047539542[5] = -nom_x[5] + true_x[5];
+   out_3664144515047539542[6] = -nom_x[6] + true_x[6];
+   out_3664144515047539542[7] = -nom_x[7] + true_x[7];
+   out_3664144515047539542[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_8221602802744378233) {
-   out_8221602802744378233[0] = 1.0;
-   out_8221602802744378233[1] = 0.0;
-   out_8221602802744378233[2] = 0.0;
-   out_8221602802744378233[3] = 0.0;
-   out_8221602802744378233[4] = 0.0;
-   out_8221602802744378233[5] = 0.0;
-   out_8221602802744378233[6] = 0.0;
-   out_8221602802744378233[7] = 0.0;
-   out_8221602802744378233[8] = 0.0;
-   out_8221602802744378233[9] = 0.0;
-   out_8221602802744378233[10] = 1.0;
-   out_8221602802744378233[11] = 0.0;
-   out_8221602802744378233[12] = 0.0;
-   out_8221602802744378233[13] = 0.0;
-   out_8221602802744378233[14] = 0.0;
-   out_8221602802744378233[15] = 0.0;
-   out_8221602802744378233[16] = 0.0;
-   out_8221602802744378233[17] = 0.0;
-   out_8221602802744378233[18] = 0.0;
-   out_8221602802744378233[19] = 0.0;
-   out_8221602802744378233[20] = 1.0;
-   out_8221602802744378233[21] = 0.0;
-   out_8221602802744378233[22] = 0.0;
-   out_8221602802744378233[23] = 0.0;
-   out_8221602802744378233[24] = 0.0;
-   out_8221602802744378233[25] = 0.0;
-   out_8221602802744378233[26] = 0.0;
-   out_8221602802744378233[27] = 0.0;
-   out_8221602802744378233[28] = 0.0;
-   out_8221602802744378233[29] = 0.0;
-   out_8221602802744378233[30] = 1.0;
-   out_8221602802744378233[31] = 0.0;
-   out_8221602802744378233[32] = 0.0;
-   out_8221602802744378233[33] = 0.0;
-   out_8221602802744378233[34] = 0.0;
-   out_8221602802744378233[35] = 0.0;
-   out_8221602802744378233[36] = 0.0;
-   out_8221602802744378233[37] = 0.0;
-   out_8221602802744378233[38] = 0.0;
-   out_8221602802744378233[39] = 0.0;
-   out_8221602802744378233[40] = 1.0;
-   out_8221602802744378233[41] = 0.0;
-   out_8221602802744378233[42] = 0.0;
-   out_8221602802744378233[43] = 0.0;
-   out_8221602802744378233[44] = 0.0;
-   out_8221602802744378233[45] = 0.0;
-   out_8221602802744378233[46] = 0.0;
-   out_8221602802744378233[47] = 0.0;
-   out_8221602802744378233[48] = 0.0;
-   out_8221602802744378233[49] = 0.0;
-   out_8221602802744378233[50] = 1.0;
-   out_8221602802744378233[51] = 0.0;
-   out_8221602802744378233[52] = 0.0;
-   out_8221602802744378233[53] = 0.0;
-   out_8221602802744378233[54] = 0.0;
-   out_8221602802744378233[55] = 0.0;
-   out_8221602802744378233[56] = 0.0;
-   out_8221602802744378233[57] = 0.0;
-   out_8221602802744378233[58] = 0.0;
-   out_8221602802744378233[59] = 0.0;
-   out_8221602802744378233[60] = 1.0;
-   out_8221602802744378233[61] = 0.0;
-   out_8221602802744378233[62] = 0.0;
-   out_8221602802744378233[63] = 0.0;
-   out_8221602802744378233[64] = 0.0;
-   out_8221602802744378233[65] = 0.0;
-   out_8221602802744378233[66] = 0.0;
-   out_8221602802744378233[67] = 0.0;
-   out_8221602802744378233[68] = 0.0;
-   out_8221602802744378233[69] = 0.0;
-   out_8221602802744378233[70] = 1.0;
-   out_8221602802744378233[71] = 0.0;
-   out_8221602802744378233[72] = 0.0;
-   out_8221602802744378233[73] = 0.0;
-   out_8221602802744378233[74] = 0.0;
-   out_8221602802744378233[75] = 0.0;
-   out_8221602802744378233[76] = 0.0;
-   out_8221602802744378233[77] = 0.0;
-   out_8221602802744378233[78] = 0.0;
-   out_8221602802744378233[79] = 0.0;
-   out_8221602802744378233[80] = 1.0;
+void H_mod_fun(double *state, double *out_6584291372032100099) {
+   out_6584291372032100099[0] = 1.0;
+   out_6584291372032100099[1] = 0.0;
+   out_6584291372032100099[2] = 0.0;
+   out_6584291372032100099[3] = 0.0;
+   out_6584291372032100099[4] = 0.0;
+   out_6584291372032100099[5] = 0.0;
+   out_6584291372032100099[6] = 0.0;
+   out_6584291372032100099[7] = 0.0;
+   out_6584291372032100099[8] = 0.0;
+   out_6584291372032100099[9] = 0.0;
+   out_6584291372032100099[10] = 1.0;
+   out_6584291372032100099[11] = 0.0;
+   out_6584291372032100099[12] = 0.0;
+   out_6584291372032100099[13] = 0.0;
+   out_6584291372032100099[14] = 0.0;
+   out_6584291372032100099[15] = 0.0;
+   out_6584291372032100099[16] = 0.0;
+   out_6584291372032100099[17] = 0.0;
+   out_6584291372032100099[18] = 0.0;
+   out_6584291372032100099[19] = 0.0;
+   out_6584291372032100099[20] = 1.0;
+   out_6584291372032100099[21] = 0.0;
+   out_6584291372032100099[22] = 0.0;
+   out_6584291372032100099[23] = 0.0;
+   out_6584291372032100099[24] = 0.0;
+   out_6584291372032100099[25] = 0.0;
+   out_6584291372032100099[26] = 0.0;
+   out_6584291372032100099[27] = 0.0;
+   out_6584291372032100099[28] = 0.0;
+   out_6584291372032100099[29] = 0.0;
+   out_6584291372032100099[30] = 1.0;
+   out_6584291372032100099[31] = 0.0;
+   out_6584291372032100099[32] = 0.0;
+   out_6584291372032100099[33] = 0.0;
+   out_6584291372032100099[34] = 0.0;
+   out_6584291372032100099[35] = 0.0;
+   out_6584291372032100099[36] = 0.0;
+   out_6584291372032100099[37] = 0.0;
+   out_6584291372032100099[38] = 0.0;
+   out_6584291372032100099[39] = 0.0;
+   out_6584291372032100099[40] = 1.0;
+   out_6584291372032100099[41] = 0.0;
+   out_6584291372032100099[42] = 0.0;
+   out_6584291372032100099[43] = 0.0;
+   out_6584291372032100099[44] = 0.0;
+   out_6584291372032100099[45] = 0.0;
+   out_6584291372032100099[46] = 0.0;
+   out_6584291372032100099[47] = 0.0;
+   out_6584291372032100099[48] = 0.0;
+   out_6584291372032100099[49] = 0.0;
+   out_6584291372032100099[50] = 1.0;
+   out_6584291372032100099[51] = 0.0;
+   out_6584291372032100099[52] = 0.0;
+   out_6584291372032100099[53] = 0.0;
+   out_6584291372032100099[54] = 0.0;
+   out_6584291372032100099[55] = 0.0;
+   out_6584291372032100099[56] = 0.0;
+   out_6584291372032100099[57] = 0.0;
+   out_6584291372032100099[58] = 0.0;
+   out_6584291372032100099[59] = 0.0;
+   out_6584291372032100099[60] = 1.0;
+   out_6584291372032100099[61] = 0.0;
+   out_6584291372032100099[62] = 0.0;
+   out_6584291372032100099[63] = 0.0;
+   out_6584291372032100099[64] = 0.0;
+   out_6584291372032100099[65] = 0.0;
+   out_6584291372032100099[66] = 0.0;
+   out_6584291372032100099[67] = 0.0;
+   out_6584291372032100099[68] = 0.0;
+   out_6584291372032100099[69] = 0.0;
+   out_6584291372032100099[70] = 1.0;
+   out_6584291372032100099[71] = 0.0;
+   out_6584291372032100099[72] = 0.0;
+   out_6584291372032100099[73] = 0.0;
+   out_6584291372032100099[74] = 0.0;
+   out_6584291372032100099[75] = 0.0;
+   out_6584291372032100099[76] = 0.0;
+   out_6584291372032100099[77] = 0.0;
+   out_6584291372032100099[78] = 0.0;
+   out_6584291372032100099[79] = 0.0;
+   out_6584291372032100099[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_7651705913211861388) {
-   out_7651705913211861388[0] = state[0];
-   out_7651705913211861388[1] = state[1];
-   out_7651705913211861388[2] = state[2];
-   out_7651705913211861388[3] = state[3];
-   out_7651705913211861388[4] = state[4];
-   out_7651705913211861388[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_7651705913211861388[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_7651705913211861388[7] = state[7];
-   out_7651705913211861388[8] = state[8];
+void f_fun(double *state, double dt, double *out_775091494716029244) {
+   out_775091494716029244[0] = state[0];
+   out_775091494716029244[1] = state[1];
+   out_775091494716029244[2] = state[2];
+   out_775091494716029244[3] = state[3];
+   out_775091494716029244[4] = state[4];
+   out_775091494716029244[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_775091494716029244[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_775091494716029244[7] = state[7];
+   out_775091494716029244[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_97859790539154602) {
-   out_97859790539154602[0] = 1;
-   out_97859790539154602[1] = 0;
-   out_97859790539154602[2] = 0;
-   out_97859790539154602[3] = 0;
-   out_97859790539154602[4] = 0;
-   out_97859790539154602[5] = 0;
-   out_97859790539154602[6] = 0;
-   out_97859790539154602[7] = 0;
-   out_97859790539154602[8] = 0;
-   out_97859790539154602[9] = 0;
-   out_97859790539154602[10] = 1;
-   out_97859790539154602[11] = 0;
-   out_97859790539154602[12] = 0;
-   out_97859790539154602[13] = 0;
-   out_97859790539154602[14] = 0;
-   out_97859790539154602[15] = 0;
-   out_97859790539154602[16] = 0;
-   out_97859790539154602[17] = 0;
-   out_97859790539154602[18] = 0;
-   out_97859790539154602[19] = 0;
-   out_97859790539154602[20] = 1;
-   out_97859790539154602[21] = 0;
-   out_97859790539154602[22] = 0;
-   out_97859790539154602[23] = 0;
-   out_97859790539154602[24] = 0;
-   out_97859790539154602[25] = 0;
-   out_97859790539154602[26] = 0;
-   out_97859790539154602[27] = 0;
-   out_97859790539154602[28] = 0;
-   out_97859790539154602[29] = 0;
-   out_97859790539154602[30] = 1;
-   out_97859790539154602[31] = 0;
-   out_97859790539154602[32] = 0;
-   out_97859790539154602[33] = 0;
-   out_97859790539154602[34] = 0;
-   out_97859790539154602[35] = 0;
-   out_97859790539154602[36] = 0;
-   out_97859790539154602[37] = 0;
-   out_97859790539154602[38] = 0;
-   out_97859790539154602[39] = 0;
-   out_97859790539154602[40] = 1;
-   out_97859790539154602[41] = 0;
-   out_97859790539154602[42] = 0;
-   out_97859790539154602[43] = 0;
-   out_97859790539154602[44] = 0;
-   out_97859790539154602[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_97859790539154602[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_97859790539154602[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_97859790539154602[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_97859790539154602[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_97859790539154602[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_97859790539154602[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_97859790539154602[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_97859790539154602[53] = -9.8100000000000005*dt;
-   out_97859790539154602[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_97859790539154602[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_97859790539154602[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_97859790539154602[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_97859790539154602[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_97859790539154602[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_97859790539154602[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_97859790539154602[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_97859790539154602[62] = 0;
-   out_97859790539154602[63] = 0;
-   out_97859790539154602[64] = 0;
-   out_97859790539154602[65] = 0;
-   out_97859790539154602[66] = 0;
-   out_97859790539154602[67] = 0;
-   out_97859790539154602[68] = 0;
-   out_97859790539154602[69] = 0;
-   out_97859790539154602[70] = 1;
-   out_97859790539154602[71] = 0;
-   out_97859790539154602[72] = 0;
-   out_97859790539154602[73] = 0;
-   out_97859790539154602[74] = 0;
-   out_97859790539154602[75] = 0;
-   out_97859790539154602[76] = 0;
-   out_97859790539154602[77] = 0;
-   out_97859790539154602[78] = 0;
-   out_97859790539154602[79] = 0;
-   out_97859790539154602[80] = 1;
+void F_fun(double *state, double dt, double *out_1373692616022552200) {
+   out_1373692616022552200[0] = 1;
+   out_1373692616022552200[1] = 0;
+   out_1373692616022552200[2] = 0;
+   out_1373692616022552200[3] = 0;
+   out_1373692616022552200[4] = 0;
+   out_1373692616022552200[5] = 0;
+   out_1373692616022552200[6] = 0;
+   out_1373692616022552200[7] = 0;
+   out_1373692616022552200[8] = 0;
+   out_1373692616022552200[9] = 0;
+   out_1373692616022552200[10] = 1;
+   out_1373692616022552200[11] = 0;
+   out_1373692616022552200[12] = 0;
+   out_1373692616022552200[13] = 0;
+   out_1373692616022552200[14] = 0;
+   out_1373692616022552200[15] = 0;
+   out_1373692616022552200[16] = 0;
+   out_1373692616022552200[17] = 0;
+   out_1373692616022552200[18] = 0;
+   out_1373692616022552200[19] = 0;
+   out_1373692616022552200[20] = 1;
+   out_1373692616022552200[21] = 0;
+   out_1373692616022552200[22] = 0;
+   out_1373692616022552200[23] = 0;
+   out_1373692616022552200[24] = 0;
+   out_1373692616022552200[25] = 0;
+   out_1373692616022552200[26] = 0;
+   out_1373692616022552200[27] = 0;
+   out_1373692616022552200[28] = 0;
+   out_1373692616022552200[29] = 0;
+   out_1373692616022552200[30] = 1;
+   out_1373692616022552200[31] = 0;
+   out_1373692616022552200[32] = 0;
+   out_1373692616022552200[33] = 0;
+   out_1373692616022552200[34] = 0;
+   out_1373692616022552200[35] = 0;
+   out_1373692616022552200[36] = 0;
+   out_1373692616022552200[37] = 0;
+   out_1373692616022552200[38] = 0;
+   out_1373692616022552200[39] = 0;
+   out_1373692616022552200[40] = 1;
+   out_1373692616022552200[41] = 0;
+   out_1373692616022552200[42] = 0;
+   out_1373692616022552200[43] = 0;
+   out_1373692616022552200[44] = 0;
+   out_1373692616022552200[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_1373692616022552200[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_1373692616022552200[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1373692616022552200[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1373692616022552200[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_1373692616022552200[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_1373692616022552200[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_1373692616022552200[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_1373692616022552200[53] = -9.8100000000000005*dt;
+   out_1373692616022552200[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_1373692616022552200[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_1373692616022552200[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1373692616022552200[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1373692616022552200[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_1373692616022552200[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_1373692616022552200[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_1373692616022552200[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_1373692616022552200[62] = 0;
+   out_1373692616022552200[63] = 0;
+   out_1373692616022552200[64] = 0;
+   out_1373692616022552200[65] = 0;
+   out_1373692616022552200[66] = 0;
+   out_1373692616022552200[67] = 0;
+   out_1373692616022552200[68] = 0;
+   out_1373692616022552200[69] = 0;
+   out_1373692616022552200[70] = 1;
+   out_1373692616022552200[71] = 0;
+   out_1373692616022552200[72] = 0;
+   out_1373692616022552200[73] = 0;
+   out_1373692616022552200[74] = 0;
+   out_1373692616022552200[75] = 0;
+   out_1373692616022552200[76] = 0;
+   out_1373692616022552200[77] = 0;
+   out_1373692616022552200[78] = 0;
+   out_1373692616022552200[79] = 0;
+   out_1373692616022552200[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_1747255377487496462) {
-   out_1747255377487496462[0] = state[6];
+void h_25(double *state, double *unused, double *out_1913811324090937931) {
+   out_1913811324090937931[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_7588584345949747189) {
-   out_7588584345949747189[0] = 0;
-   out_7588584345949747189[1] = 0;
-   out_7588584345949747189[2] = 0;
-   out_7588584345949747189[3] = 0;
-   out_7588584345949747189[4] = 0;
-   out_7588584345949747189[5] = 0;
-   out_7588584345949747189[6] = 1;
-   out_7588584345949747189[7] = 0;
-   out_7588584345949747189[8] = 0;
+void H_25(double *state, double *unused, double *out_3061310722042608422) {
+   out_3061310722042608422[0] = 0;
+   out_3061310722042608422[1] = 0;
+   out_3061310722042608422[2] = 0;
+   out_3061310722042608422[3] = 0;
+   out_3061310722042608422[4] = 0;
+   out_3061310722042608422[5] = 0;
+   out_3061310722042608422[6] = 1;
+   out_3061310722042608422[7] = 0;
+   out_3061310722042608422[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_3070396560078381804) {
-   out_3070396560078381804[0] = state[4];
-   out_3070396560078381804[1] = state[5];
+void h_24(double *state, double *unused, double *out_8648690320250273547) {
+   out_8648690320250273547[0] = state[4];
+   out_8648690320250273547[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_7300234128957481291) {
-   out_7300234128957481291[0] = 0;
-   out_7300234128957481291[1] = 0;
-   out_7300234128957481291[2] = 0;
-   out_7300234128957481291[3] = 0;
-   out_7300234128957481291[4] = 1;
-   out_7300234128957481291[5] = 0;
-   out_7300234128957481291[6] = 0;
-   out_7300234128957481291[7] = 0;
-   out_7300234128957481291[8] = 0;
-   out_7300234128957481291[9] = 0;
-   out_7300234128957481291[10] = 0;
-   out_7300234128957481291[11] = 0;
-   out_7300234128957481291[12] = 0;
-   out_7300234128957481291[13] = 0;
-   out_7300234128957481291[14] = 1;
-   out_7300234128957481291[15] = 0;
-   out_7300234128957481291[16] = 0;
-   out_7300234128957481291[17] = 0;
+void H_24(double *state, double *unused, double *out_496614876759714714) {
+   out_496614876759714714[0] = 0;
+   out_496614876759714714[1] = 0;
+   out_496614876759714714[2] = 0;
+   out_496614876759714714[3] = 0;
+   out_496614876759714714[4] = 1;
+   out_496614876759714714[5] = 0;
+   out_496614876759714714[6] = 0;
+   out_496614876759714714[7] = 0;
+   out_496614876759714714[8] = 0;
+   out_496614876759714714[9] = 0;
+   out_496614876759714714[10] = 0;
+   out_496614876759714714[11] = 0;
+   out_496614876759714714[12] = 0;
+   out_496614876759714714[13] = 0;
+   out_496614876759714714[14] = 1;
+   out_496614876759714714[15] = 0;
+   out_496614876759714714[16] = 0;
+   out_496614876759714714[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_2594165583737162996) {
-   out_2594165583737162996[0] = state[4];
+void h_30(double *state, double *unused, double *out_537139063672349691) {
+   out_537139063672349691[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_8339826769252555800) {
-   out_8339826769252555800[0] = 0;
-   out_8339826769252555800[1] = 0;
-   out_8339826769252555800[2] = 0;
-   out_8339826769252555800[3] = 0;
-   out_8339826769252555800[4] = 1;
-   out_8339826769252555800[5] = 0;
-   out_8339826769252555800[6] = 0;
-   out_8339826769252555800[7] = 0;
-   out_8339826769252555800[8] = 0;
+void H_30(double *state, double *unused, double *out_3190649669185848492) {
+   out_3190649669185848492[0] = 0;
+   out_3190649669185848492[1] = 0;
+   out_3190649669185848492[2] = 0;
+   out_3190649669185848492[3] = 0;
+   out_3190649669185848492[4] = 1;
+   out_3190649669185848492[5] = 0;
+   out_3190649669185848492[6] = 0;
+   out_3190649669185848492[7] = 0;
+   out_3190649669185848492[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_1234538052727793168) {
-   out_1234538052727793168[0] = state[7];
+void h_26(double *state, double *unused, double *out_8588046903789292966) {
+   out_8588046903789292966[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_3847081027075690965) {
-   out_3847081027075690965[0] = 0;
-   out_3847081027075690965[1] = 0;
-   out_3847081027075690965[2] = 0;
-   out_3847081027075690965[3] = 0;
-   out_3847081027075690965[4] = 0;
-   out_3847081027075690965[5] = 0;
-   out_3847081027075690965[6] = 0;
-   out_3847081027075690965[7] = 1;
-   out_3847081027075690965[8] = 0;
+void H_26(double *state, double *unused, double *out_6802814040916664646) {
+   out_6802814040916664646[0] = 0;
+   out_6802814040916664646[1] = 0;
+   out_6802814040916664646[2] = 0;
+   out_6802814040916664646[3] = 0;
+   out_6802814040916664646[4] = 0;
+   out_6802814040916664646[5] = 0;
+   out_6802814040916664646[6] = 0;
+   out_6802814040916664646[7] = 1;
+   out_6802814040916664646[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_4784041428931829147) {
-   out_4784041428931829147[0] = state[3];
+void h_27(double *state, double *unused, double *out_5342332393002513778) {
+   out_5342332393002513778[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_886124704021714080) {
-   out_886124704021714080[0] = 0;
-   out_886124704021714080[1] = 0;
-   out_886124704021714080[2] = 0;
-   out_886124704021714080[3] = 1;
-   out_886124704021714080[4] = 0;
-   out_886124704021714080[5] = 0;
-   out_886124704021714080[6] = 0;
-   out_886124704021714080[7] = 0;
-   out_886124704021714080[8] = 0;
+void H_27(double *state, double *unused, double *out_5365412980986273403) {
+   out_5365412980986273403[0] = 0;
+   out_5365412980986273403[1] = 0;
+   out_5365412980986273403[2] = 0;
+   out_5365412980986273403[3] = 1;
+   out_5365412980986273403[4] = 0;
+   out_5365412980986273403[5] = 0;
+   out_5365412980986273403[6] = 0;
+   out_5365412980986273403[7] = 0;
+   out_5365412980986273403[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_2407507683923682649) {
-   out_2407507683923682649[0] = state[1];
+void h_29(double *state, double *unused, double *out_4607750999443297846) {
+   out_4607750999443297846[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_3571119360136531175) {
-   out_3571119360136531175[0] = 0;
-   out_3571119360136531175[1] = 1;
-   out_3571119360136531175[2] = 0;
-   out_3571119360136531175[3] = 0;
-   out_3571119360136531175[4] = 0;
-   out_3571119360136531175[5] = 0;
-   out_3571119360136531175[6] = 0;
-   out_3571119360136531175[7] = 0;
-   out_3571119360136531175[8] = 0;
+void H_29(double *state, double *unused, double *out_2680418324871456308) {
+   out_2680418324871456308[0] = 0;
+   out_2680418324871456308[1] = 1;
+   out_2680418324871456308[2] = 0;
+   out_2680418324871456308[3] = 0;
+   out_2680418324871456308[4] = 0;
+   out_2680418324871456308[5] = 0;
+   out_2680418324871456308[6] = 0;
+   out_2680418324871456308[7] = 0;
+   out_2680418324871456308[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_7679778805471580716) {
-   out_7679778805471580716[0] = state[0];
+void h_28(double *state, double *unused, double *out_1728151616350094306) {
+   out_1728151616350094306[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_5534749631701857426) {
-   out_5534749631701857426[0] = 1;
-   out_5534749631701857426[1] = 0;
-   out_5534749631701857426[2] = 0;
-   out_5534749631701857426[3] = 0;
-   out_5534749631701857426[4] = 0;
-   out_5534749631701857426[5] = 0;
-   out_5534749631701857426[6] = 0;
-   out_5534749631701857426[7] = 0;
-   out_5534749631701857426[8] = 0;
+void H_28(double *state, double *unused, double *out_6285569348784196606) {
+   out_6285569348784196606[0] = 1;
+   out_6285569348784196606[1] = 0;
+   out_6285569348784196606[2] = 0;
+   out_6285569348784196606[3] = 0;
+   out_6285569348784196606[4] = 0;
+   out_6285569348784196606[5] = 0;
+   out_6285569348784196606[6] = 0;
+   out_6285569348784196606[7] = 0;
+   out_6285569348784196606[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_5023579848862854474) {
-   out_5023579848862854474[0] = state[8];
+void h_31(double *state, double *unused, double *out_7827544350761686304) {
+   out_7827544350761686304[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_3220872924842339489) {
-   out_3220872924842339489[0] = 0;
-   out_3220872924842339489[1] = 0;
-   out_3220872924842339489[2] = 0;
-   out_3220872924842339489[3] = 0;
-   out_3220872924842339489[4] = 0;
-   out_3220872924842339489[5] = 0;
-   out_3220872924842339489[6] = 0;
-   out_3220872924842339489[7] = 0;
-   out_3220872924842339489[8] = 1;
+void H_31(double *state, double *unused, double *out_3030664760165647994) {
+   out_3030664760165647994[0] = 0;
+   out_3030664760165647994[1] = 0;
+   out_3030664760165647994[2] = 0;
+   out_3030664760165647994[3] = 0;
+   out_3030664760165647994[4] = 0;
+   out_3030664760165647994[5] = 0;
+   out_3030664760165647994[6] = 0;
+   out_3030664760165647994[7] = 0;
+   out_3030664760165647994[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_2689391300508487509) {
-  err_fun(nom_x, delta_x, out_2689391300508487509);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1836217441218094185) {
+  err_fun(nom_x, delta_x, out_1836217441218094185);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7177783815062799236) {
-  inv_err_fun(nom_x, true_x, out_7177783815062799236);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3664144515047539542) {
+  inv_err_fun(nom_x, true_x, out_3664144515047539542);
 }
-void car_H_mod_fun(double *state, double *out_8221602802744378233) {
-  H_mod_fun(state, out_8221602802744378233);
+void car_H_mod_fun(double *state, double *out_6584291372032100099) {
+  H_mod_fun(state, out_6584291372032100099);
 }
-void car_f_fun(double *state, double dt, double *out_7651705913211861388) {
-  f_fun(state,  dt, out_7651705913211861388);
+void car_f_fun(double *state, double dt, double *out_775091494716029244) {
+  f_fun(state,  dt, out_775091494716029244);
 }
-void car_F_fun(double *state, double dt, double *out_97859790539154602) {
-  F_fun(state,  dt, out_97859790539154602);
+void car_F_fun(double *state, double dt, double *out_1373692616022552200) {
+  F_fun(state,  dt, out_1373692616022552200);
 }
-void car_h_25(double *state, double *unused, double *out_1747255377487496462) {
-  h_25(state, unused, out_1747255377487496462);
+void car_h_25(double *state, double *unused, double *out_1913811324090937931) {
+  h_25(state, unused, out_1913811324090937931);
 }
-void car_H_25(double *state, double *unused, double *out_7588584345949747189) {
-  H_25(state, unused, out_7588584345949747189);
+void car_H_25(double *state, double *unused, double *out_3061310722042608422) {
+  H_25(state, unused, out_3061310722042608422);
 }
-void car_h_24(double *state, double *unused, double *out_3070396560078381804) {
-  h_24(state, unused, out_3070396560078381804);
+void car_h_24(double *state, double *unused, double *out_8648690320250273547) {
+  h_24(state, unused, out_8648690320250273547);
 }
-void car_H_24(double *state, double *unused, double *out_7300234128957481291) {
-  H_24(state, unused, out_7300234128957481291);
+void car_H_24(double *state, double *unused, double *out_496614876759714714) {
+  H_24(state, unused, out_496614876759714714);
 }
-void car_h_30(double *state, double *unused, double *out_2594165583737162996) {
-  h_30(state, unused, out_2594165583737162996);
+void car_h_30(double *state, double *unused, double *out_537139063672349691) {
+  h_30(state, unused, out_537139063672349691);
 }
-void car_H_30(double *state, double *unused, double *out_8339826769252555800) {
-  H_30(state, unused, out_8339826769252555800);
+void car_H_30(double *state, double *unused, double *out_3190649669185848492) {
+  H_30(state, unused, out_3190649669185848492);
 }
-void car_h_26(double *state, double *unused, double *out_1234538052727793168) {
-  h_26(state, unused, out_1234538052727793168);
+void car_h_26(double *state, double *unused, double *out_8588046903789292966) {
+  h_26(state, unused, out_8588046903789292966);
 }
-void car_H_26(double *state, double *unused, double *out_3847081027075690965) {
-  H_26(state, unused, out_3847081027075690965);
+void car_H_26(double *state, double *unused, double *out_6802814040916664646) {
+  H_26(state, unused, out_6802814040916664646);
 }
-void car_h_27(double *state, double *unused, double *out_4784041428931829147) {
-  h_27(state, unused, out_4784041428931829147);
+void car_h_27(double *state, double *unused, double *out_5342332393002513778) {
+  h_27(state, unused, out_5342332393002513778);
 }
-void car_H_27(double *state, double *unused, double *out_886124704021714080) {
-  H_27(state, unused, out_886124704021714080);
+void car_H_27(double *state, double *unused, double *out_5365412980986273403) {
+  H_27(state, unused, out_5365412980986273403);
 }
-void car_h_29(double *state, double *unused, double *out_2407507683923682649) {
-  h_29(state, unused, out_2407507683923682649);
+void car_h_29(double *state, double *unused, double *out_4607750999443297846) {
+  h_29(state, unused, out_4607750999443297846);
 }
-void car_H_29(double *state, double *unused, double *out_3571119360136531175) {
-  H_29(state, unused, out_3571119360136531175);
+void car_H_29(double *state, double *unused, double *out_2680418324871456308) {
+  H_29(state, unused, out_2680418324871456308);
 }
-void car_h_28(double *state, double *unused, double *out_7679778805471580716) {
-  h_28(state, unused, out_7679778805471580716);
+void car_h_28(double *state, double *unused, double *out_1728151616350094306) {
+  h_28(state, unused, out_1728151616350094306);
 }
-void car_H_28(double *state, double *unused, double *out_5534749631701857426) {
-  H_28(state, unused, out_5534749631701857426);
+void car_H_28(double *state, double *unused, double *out_6285569348784196606) {
+  H_28(state, unused, out_6285569348784196606);
 }
-void car_h_31(double *state, double *unused, double *out_5023579848862854474) {
-  h_31(state, unused, out_5023579848862854474);
+void car_h_31(double *state, double *unused, double *out_7827544350761686304) {
+  h_31(state, unused, out_7827544350761686304);
 }
-void car_H_31(double *state, double *unused, double *out_3220872924842339489) {
-  H_31(state, unused, out_3220872924842339489);
+void car_H_31(double *state, double *unused, double *out_3030664760165647994) {
+  H_31(state, unused, out_3030664760165647994);
 }
 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_2689391300508487509);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_7177783815062799236);
-void car_H_mod_fun(double *state, double *out_8221602802744378233);
-void car_f_fun(double *state, double dt, double *out_7651705913211861388);
-void car_F_fun(double *state, double dt, double *out_97859790539154602);
-void car_h_25(double *state, double *unused, double *out_1747255377487496462);
-void car_H_25(double *state, double *unused, double *out_7588584345949747189);
-void car_h_24(double *state, double *unused, double *out_3070396560078381804);
-void car_H_24(double *state, double *unused, double *out_7300234128957481291);
-void car_h_30(double *state, double *unused, double *out_2594165583737162996);
-void car_H_30(double *state, double *unused, double *out_8339826769252555800);
-void car_h_26(double *state, double *unused, double *out_1234538052727793168);
-void car_H_26(double *state, double *unused, double *out_3847081027075690965);
-void car_h_27(double *state, double *unused, double *out_4784041428931829147);
-void car_H_27(double *state, double *unused, double *out_886124704021714080);
-void car_h_29(double *state, double *unused, double *out_2407507683923682649);
-void car_H_29(double *state, double *unused, double *out_3571119360136531175);
-void car_h_28(double *state, double *unused, double *out_7679778805471580716);
-void car_H_28(double *state, double *unused, double *out_5534749631701857426);
-void car_h_31(double *state, double *unused, double *out_5023579848862854474);
-void car_H_31(double *state, double *unused, double *out_3220872924842339489);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1836217441218094185);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3664144515047539542);
+void car_H_mod_fun(double *state, double *out_6584291372032100099);
+void car_f_fun(double *state, double dt, double *out_775091494716029244);
+void car_F_fun(double *state, double dt, double *out_1373692616022552200);
+void car_h_25(double *state, double *unused, double *out_1913811324090937931);
+void car_H_25(double *state, double *unused, double *out_3061310722042608422);
+void car_h_24(double *state, double *unused, double *out_8648690320250273547);
+void car_H_24(double *state, double *unused, double *out_496614876759714714);
+void car_h_30(double *state, double *unused, double *out_537139063672349691);
+void car_H_30(double *state, double *unused, double *out_3190649669185848492);
+void car_h_26(double *state, double *unused, double *out_8588046903789292966);
+void car_H_26(double *state, double *unused, double *out_6802814040916664646);
+void car_h_27(double *state, double *unused, double *out_5342332393002513778);
+void car_H_27(double *state, double *unused, double *out_5365412980986273403);
+void car_h_29(double *state, double *unused, double *out_4607750999443297846);
+void car_H_29(double *state, double *unused, double *out_2680418324871456308);
+void car_h_28(double *state, double *unused, double *out_1728151616350094306);
+void car_H_28(double *state, double *unused, double *out_6285569348784196606);
+void car_h_31(double *state, double *unused, double *out_7827544350761686304);
+void car_H_31(double *state, double *unused, double *out_3030664760165647994);
 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_9191542510053319957);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3004969772891744590);
-void pose_H_mod_fun(double *state, double *out_7359357434108742810);
-void pose_f_fun(double *state, double dt, double *out_729710836783527414);
-void pose_F_fun(double *state, double dt, double *out_8499021045100499940);
-void pose_h_4(double *state, double *unused, double *out_1075969755128808186);
-void pose_H_4(double *state, double *unused, double *out_5239304832848850085);
-void pose_h_10(double *state, double *unused, double *out_4050058798394118968);
-void pose_H_10(double *state, double *unused, double *out_3614267989921698938);
-void pose_h_13(double *state, double *unused, double *out_9106371473023855959);
-void pose_H_13(double *state, double *unused, double *out_8451578658181182886);
-void pose_h_14(double *state, double *unused, double *out_4347596682095509082);
-void pose_H_14(double *state, double *unused, double *out_9202545689188334614);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_8885455317417923135);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_7818671957054169652);
+void pose_H_mod_fun(double *state, double *out_6824361727259051753);
+void pose_f_fun(double *state, double dt, double *out_1755259086508631527);
+void pose_F_fun(double *state, double dt, double *out_4099616348303124892);
+void pose_h_4(double *state, double *unused, double *out_2755321730925237079);
+void pose_H_4(double *state, double *unused, double *out_3052554517415144181);
+void pose_h_10(double *state, double *unused, double *out_5342072843391651998);
+void pose_H_10(double *state, double *unused, double *out_7744556233743894871);
+void pose_h_13(double *state, double *unused, double *out_2174293281027337494);
+void pose_H_13(double *state, double *unused, double *out_6886309980717668205);
+void pose_h_14(double *state, double *unused, double *out_7883954814799996171);
+void pose_H_14(double *state, double *unused, double *out_6135342949710516477);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }