diff --git a/d2 b/d2 new file mode 100644 index 000000000..e69de29bb diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so index 2b2afd824..af1f7c694 100755 Binary files a/opendbc/can/parser_pyx.so and b/opendbc/can/parser_pyx.so differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index c676a8153..99e384983 100755 Binary files a/panda/board/obj/bootstub.panda.bin and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 8df3e88e5..eee07f5a6 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/selfdrive/hybrid_modeld/models/supercombo.thneed b/selfdrive/hybrid_modeld/models/supercombo.thneed index 99c357c4e..203c8c53b 100644 Binary files a/selfdrive/hybrid_modeld/models/supercombo.thneed and b/selfdrive/hybrid_modeld/models/supercombo.thneed differ diff --git a/selfdrive/legacy_modeld/models/supercombo.thneed b/selfdrive/legacy_modeld/models/supercombo.thneed index d72baf19c..c464669ed 100644 Binary files a/selfdrive/legacy_modeld/models/supercombo.thneed and b/selfdrive/legacy_modeld/models/supercombo.thneed differ diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index 2b16d1ff7..e563dba12 100644 --- a/selfdrive/locationd/models/generated/car.h +++ b/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_5511008102036755857); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_8300600328275299875); -void car_H_mod_fun(double *state, double *out_3128679903101307724); -void car_f_fun(double *state, double dt, double *out_3553875974525626115); -void car_F_fun(double *state, double dt, double *out_353016053043653311); -void car_h_25(double *state, double *unused, double *out_6199961577350591037); -void car_H_25(double *state, double *unused, double *out_5728077160425784390); -void car_h_24(double *state, double *unused, double *out_4286546153885119283); -void car_H_24(double *state, double *unused, double *out_5275992320295050906); -void car_h_30(double *state, double *unused, double *out_570873648999759899); -void car_H_30(double *state, double *unused, double *out_8190970583156159028); -void car_h_26(double *state, double *unused, double *out_372636203901902536); -void car_H_26(double *state, double *unused, double *out_8977163594409711002); -void car_h_27(double *state, double *unused, double *out_7245109228698114934); -void car_H_27(double *state, double *unused, double *out_8032179419369449371); -void car_h_29(double *state, double *unused, double *out_4430799618661085746); -void car_H_29(double *state, double *unused, double *out_8701201927470551212); -void car_h_28(double *state, double *unused, double *out_2243435961037269289); -void car_H_28(double *state, double *unused, double *out_7781911874673674153); -void car_h_31(double *state, double *unused, double *out_4483517239538288138); -void car_H_31(double *state, double *unused, double *out_8350955492176359526); +void car_err_fun(double *nom_x, double *delta_x, double *out_5707134025468540196); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_1436040563472290876); +void car_H_mod_fun(double *state, double *out_3949928528883118484); +void car_f_fun(double *state, double dt, double *out_7070584549021633741); +void car_F_fun(double *state, double dt, double *out_6590587311256226805); +void car_h_25(double *state, double *unused, double *out_5654373301579232004); +void car_H_25(double *state, double *unused, double *out_7074661439769165345); +void car_h_24(double *state, double *unused, double *out_6513601548719522224); +void car_H_24(double *state, double *unused, double *out_499089633177647244); +void car_h_30(double *state, double *unused, double *out_3209738123313789182); +void car_H_30(double *state, double *unused, double *out_157971098277548590); +void car_h_26(double *state, double *unused, double *out_3813054007990266699); +void car_H_26(double *state, double *unused, double *out_3770135470008364744); +void car_h_27(double *state, double *unused, double *out_2617587250134899319); +void car_H_27(double *state, double *unused, double *out_2332734410077973501); +void car_h_29(double *state, double *unused, double *out_4153247976215451617); +void car_H_29(double *state, double *unused, double *out_4046097136947524534); +void car_h_28(double *state, double *unused, double *out_7032847359308655157); +void car_H_28(double *state, double *unused, double *out_9128496154017055108); +void car_h_31(double *state, double *unused, double *out_5379179239294726115); +void car_H_31(double *state, double *unused, double *out_2013810742651908); 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); diff --git a/selfdrive/locationd/models/generated/gnss.h b/selfdrive/locationd/models/generated/gnss.h index f93ce5997..954235913 100644 --- a/selfdrive/locationd/models/generated/gnss.h +++ b/selfdrive/locationd/models/generated/gnss.h @@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void gnss_err_fun(double *nom_x, double *delta_x, double *out_1997882145746187898); -void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_7977352512819017738); -void gnss_H_mod_fun(double *state, double *out_8329454369015276923); -void gnss_f_fun(double *state, double dt, double *out_5966521461067562449); -void gnss_F_fun(double *state, double dt, double *out_3265364062710352632); -void gnss_h_6(double *state, double *sat_pos, double *out_8740291259499609875); -void gnss_H_6(double *state, double *sat_pos, double *out_6994153009562781871); -void gnss_h_20(double *state, double *sat_pos, double *out_8702166267876168587); -void gnss_H_20(double *state, double *sat_pos, double *out_2501154242205932671); -void gnss_h_7(double *state, double *sat_pos_vel, double *out_5603600966869776746); -void gnss_H_7(double *state, double *sat_pos_vel, double *out_950292981380994835); -void gnss_h_21(double *state, double *sat_pos_vel, double *out_5603600966869776746); -void gnss_H_21(double *state, double *sat_pos_vel, double *out_950292981380994835); +void gnss_err_fun(double *nom_x, double *delta_x, double *out_7770421545425657173); +void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6164518556458829483); +void gnss_H_mod_fun(double *state, double *out_2919674671833270942); +void gnss_f_fun(double *state, double dt, double *out_6013352302135505178); +void gnss_F_fun(double *state, double dt, double *out_8801647677645000288); +void gnss_h_6(double *state, double *sat_pos, double *out_1045578979136692424); +void gnss_H_6(double *state, double *sat_pos, double *out_241828252807820164); +void gnss_h_20(double *state, double *sat_pos, double *out_4714342939399742881); +void gnss_H_20(double *state, double *sat_pos, double *out_5855007215558211037); +void gnss_h_7(double *state, double *sat_pos_vel, double *out_8728837866926503241); +void gnss_H_7(double *state, double *sat_pos_vel, double *out_6725550507955256095); +void gnss_h_21(double *state, double *sat_pos_vel, double *out_8728837866926503241); +void gnss_H_21(double *state, double *sat_pos_vel, double *out_6725550507955256095); void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/locationd/models/generated/libkf.so b/selfdrive/locationd/models/generated/libkf.so index 2cd239426..59df9173a 100755 Binary files a/selfdrive/locationd/models/generated/libkf.so and b/selfdrive/locationd/models/generated/libkf.so differ diff --git a/selfdrive/locationd/models/generated/live.h b/selfdrive/locationd/models/generated/live.h index 4785818f9..5baa4d5a3 100644 --- a/selfdrive/locationd/models/generated/live.h +++ b/selfdrive/locationd/models/generated/live.h @@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea); -void live_H(double *in_vec, double *out_8523600387998743663); -void live_err_fun(double *nom_x, double *delta_x, double *out_397224092559137986); -void live_inv_err_fun(double *nom_x, double *true_x, double *out_2649753097327329786); -void live_H_mod_fun(double *state, double *out_3318911277463317602); -void live_f_fun(double *state, double dt, double *out_5229533073546206660); -void live_F_fun(double *state, double dt, double *out_8885458061524429284); -void live_h_4(double *state, double *unused, double *out_5760213005657753023); -void live_H_4(double *state, double *unused, double *out_5017816733173915125); -void live_h_9(double *state, double *unused, double *out_3101841756117904645); -void live_H_9(double *state, double *unused, double *out_6141708405271189021); -void live_h_10(double *state, double *unused, double *out_4743256218283672467); -void live_H_10(double *state, double *unused, double *out_8791731730799357953); -void live_h_12(double *state, double *unused, double *out_2579169362312866661); -void live_H_12(double *state, double *unused, double *out_5638915758221508792); -void live_h_35(double *state, double *unused, double *out_7312630217986212032); -void live_H_35(double *state, double *unused, double *out_8384478790546522501); -void live_h_32(double *state, double *unused, double *out_117205148134792667); -void live_H_32(double *state, double *unused, double *out_232577830109754697); -void live_h_13(double *state, double *unused, double *out_8001914803084542081); -void live_H_13(double *state, double *unused, double *out_3456886129192004094); -void live_h_14(double *state, double *unused, double *out_3101841756117904645); -void live_H_14(double *state, double *unused, double *out_6141708405271189021); -void live_h_33(double *state, double *unused, double *out_505168331143758912); -void live_H_33(double *state, double *unused, double *out_6911708278524171511); +void live_H(double *in_vec, double *out_924166259539900593); +void live_err_fun(double *nom_x, double *delta_x, double *out_2624644257926435556); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_4025951560506220674); +void live_H_mod_fun(double *state, double *out_5841896394523971320); +void live_f_fun(double *state, double dt, double *out_4088780942343910929); +void live_F_fun(double *state, double dt, double *out_5395698791493054447); +void live_h_4(double *state, double *unused, double *out_1475320639733206747); +void live_H_4(double *state, double *unused, double *out_6765011008485871039); +void live_h_9(double *state, double *unused, double *out_8384748376343217020); +void live_H_9(double *state, double *unused, double *out_6523821361856280394); +void live_h_10(double *state, double *unused, double *out_6382193643629262946); +void live_H_10(double *state, double *unused, double *out_6166121520443452896); +void live_h_12(double *state, double *unused, double *out_4546335320385339077); +void live_H_12(double *state, double *unused, double *out_6143911983438277372); +void live_h_35(double *state, double *unused, double *out_3599039103483015387); +void live_H_35(double *state, double *unused, double *out_3398348951113263663); +void live_h_32(double *state, double *unused, double *out_5930648090888766425); +void live_H_32(double *state, double *unused, double *out_8133530618902171597); +void live_h_13(double *state, double *unused, double *out_6616808016354863787); +void live_H_13(double *state, double *unused, double *out_3244583673599752062); +void live_h_14(double *state, double *unused, double *out_8384748376343217020); +void live_H_14(double *state, double *unused, double *out_6523821361856280394); +void live_h_33(double *state, double *unused, double *out_4385004923179070765); +void live_H_33(double *state, double *unused, double *out_247791946474406059); void live_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/updated.py b/selfdrive/updated.py index edec791e7..12e819c50 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -89,7 +89,7 @@ def set_consistent_flag(consistent: bool) -> None: def parse_release_notes(basedir: str) -> bytes: try: - version_type = "R2" if os.path.isfile(os.path.join(basedir, "prebuilt")) else "D2" + version_type = "D2" if os.path.isfile(os.path.join(basedir, "d2")) else "R2" with open(os.path.join(basedir, f"CHANGELOGS-{version_type}.md"), "rb") as f: r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes try: