diff --git a/README.md b/README.md index d145586f..5b2c7788 100644 --- a/README.md +++ b/README.md @@ -1,4 +1,19 @@ -[![openpilot on the comma 3X](https://i.imgur.com/6l2qbf5.png)](https://comma.ai/shop/comma-3x) +![openpilot on the comma 3X](https://i.imgur.com/6l2qbf5.png) + +Table of Contents +======================= + +* [What is openpilot?](#what-is-openpilot) +* [What is FrogPilot?](#what-is-frogpilot) +* [Features](#features) +* [How to Install](#how-to-install) +* [Bug reports / Feature Requests](#bug-reports--feature-requests) +* [Discord](#discord) +* [Donations](#donations) +* [Credits](#credits) +* [Licensing](#licensing) + +--- What is openpilot? ------ @@ -7,21 +22,30 @@ What is openpilot? - - - + + + + + + + + + +
+ What is FrogPilot? 🐸 ------ -FrogPilot is a fully open-sourced fork of openpilot, featuring clear and focused commits aimed at benefiting the openpilot community. It thrives on contributions from both users and developers, focusing on a collaborative, community-led approach to deliver an advanced openpilot experience for all! +FrogPilot is a bi-weekly updated and 100% open-sourced fork of openpilot with clean commits dedicated to serve the openpilot community. FrogPilot is shaped by user and developer contributions, emphasizing collaborative, community-driven development to provide a bleeding-edge openpilot experience for everyone! ------ FrogPilot was last updated on: + -**March 15th, 2024** +**March 1st, 2024** Features ------ @@ -177,26 +201,27 @@ Discord [Join the FrogPilot Community Discord for easy access to updates, bug reporting, feature requests, future planned updates, and other FrogPilot related discussions!](https://discord.gg/frogpilot) +Donations +------ + +I DO NOT accept donations! So if anyone is claiming to be me or to be a part of FrogPilot and is asking for any type of financial compensation, IT IS A SCAM! + +I work on FrogPilot on my own and is purely a passion project to refine my skills and to help improve openpilot for the community. I do not and will not ever expect any type of financial exchange for my work. The only thing I’ll ever ask for in return is constructive feedback! + Credits ------ -* [AlexandreSato](https://github.com/AlexandreSato) -* [Crwusiz](https://github.com/crwusiz) -* [DragonPilot](https://github.com/dragonpilot-community) -* [ErichMoraga](https://github.com/ErichMoraga) -* [Garrettpall](https://github.com/garrettpall) -* [Henrycc](https://github.com/henryccy) -* [KRKeegan](https://github.com/krkeegan) -* [Mike8643](https://github.com/mike8643) -* [Move-Fast](https://github.com/move-fast) -* [Neokii](https://github.com/Neokii) -* [OPGM](https://github.com/opgm) -* [OPKR](https://github.com/openpilotkr) -* [Pfeiferj](https://github.com/pfeiferj) -* [ServerDummy](https://github.com/ServerDummy) -* [Sunnyhaibin](https://github.com/sunnyhaibin) -* [Thinkpad4by3](https://github.com/Thinkpad4by3) -* [Twilsonco](https://github.com/twilsonco) +* [AlexandreSato](https://github.com/AlexandreSato/openpilot) +* [Aragon7777](https://github.com/Aragon7777/openpilot) +* [Crwusiz](https://github.com/crwusiz/openpilot) +* [DragonPilot](https://github.com/dragonpilot-community/dragonpilot) +* [ErichMoraga](https://github.com/ErichMoraga/openpilot) +* [KRKeegan](https://github.com/krkeegan/openpilot) +* [Move-Fast](https://github.com/move-fast/openpilot) +* [OPGM](https://github.com/opgm/openpilot) +* [Pfeiferj](https://github.com/pfeiferj/openpilot) +* [Sunnyhaibin](https://github.com/sunnyhaibin/sunnypilot) +* [Twilsonco](https://github.com/twilsonco/openpilot) Licensing ------ @@ -213,5 +238,5 @@ NO WARRANTY EXPRESSED OR IMPLIED.** -![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg) +[![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions) [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) diff --git a/body/board/obj/body.bin b/body/board/obj/body.bin index ca398399..0d29f3f4 100755 Binary files a/body/board/obj/body.bin and b/body/board/obj/body.bin differ diff --git a/body/board/obj/body.bin.signed b/body/board/obj/body.bin.signed index b6e4aaf4..1ac163b5 100644 Binary files a/body/board/obj/body.bin.signed and b/body/board/obj/body.bin.signed differ diff --git a/body/board/obj/body.elf b/body/board/obj/body.elf index 91791de1..9dff43c3 100755 Binary files a/body/board/obj/body.elf and b/body/board/obj/body.elf differ diff --git a/body/board/obj/bootstub.body.bin b/body/board/obj/bootstub.body.bin index e76c937e..0abd6de3 100755 Binary files a/body/board/obj/bootstub.body.bin and b/body/board/obj/bootstub.body.bin differ diff --git a/body/board/obj/bootstub.body.elf b/body/board/obj/bootstub.body.elf index c8a122ed..143f26a1 100755 Binary files a/body/board/obj/bootstub.body.elf and b/body/board/obj/bootstub.body.elf differ diff --git a/body/board/obj/gitversion.h b/body/board/obj/gitversion.h index 49f70d50..7c8a7f5d 100644 --- a/body/board/obj/gitversion.h +++ b/body/board/obj/gitversion.h @@ -1 +1 @@ -const uint8_t gitversion[8] = "c566c96a"; +const uint8_t gitversion[8] = "c8448d1c"; diff --git a/cereal/visionipc/visionipc_pyx.so b/cereal/visionipc/visionipc_pyx.so index 53c50346..8cbda472 100755 Binary files a/cereal/visionipc/visionipc_pyx.so and b/cereal/visionipc/visionipc_pyx.so differ diff --git a/common/params.cc b/common/params.cc index 1b5fbfb4..ab04df13 100644 --- a/common/params.cc +++ b/common/params.cc @@ -247,6 +247,8 @@ std::unordered_map keys = { {"CrosstrekTorque", PERSISTENT}, {"CurrentHolidayTheme", PERSISTENT}, {"CurrentRandomEvent", PERSISTENT}, + {"CSLCEnabled", PERSISTENT}, + {"CSLCSpeed", PERSISTENT}, {"CurveSensitivity", PERSISTENT}, {"CustomAlerts", PERSISTENT}, {"CustomColors", PERSISTENT}, @@ -263,8 +265,10 @@ std::unordered_map keys = { {"DisableOnroadUploads", PERSISTENT}, {"DisableVTSCSmoothing", PERSISTENT}, {"DisengageVolume", PERSISTENT}, + {"DoSoftReboot", CLEAR_ON_MANAGER_START}, {"DragonPilotTune", PERSISTENT}, {"DriverCamera", PERSISTENT}, + {"DriverPrivacyProtection", PERSISTENT}, {"DriveStats", PERSISTENT}, {"DynamicPathWidth", PERSISTENT}, {"EngageVolume", PERSISTENT}, @@ -416,6 +420,8 @@ std::unordered_map keys = { {"StockTune", PERSISTENT}, {"StoppingDistance", PERSISTENT}, {"TetheringEnabled", PERSISTENT}, + {"TrafficMode", PERSISTENT}, + {"TrafficModeActive", CLEAR_ON_OFFROAD_TRANSITION}, {"TurnAggressiveness", PERSISTENT}, {"TurnDesires", PERSISTENT}, {"UnlimitedLength", PERSISTENT}, @@ -430,6 +436,17 @@ std::unordered_map keys = { {"WarningImmediateVolume", PERSISTENT}, {"WheelIcon", PERSISTENT}, {"WheelSpeed", PERSISTENT}, + // Customize Params + {"MinSteerSpeedStandard", PERSISTENT}, + {"MinSteerSpeedEngage", PERSISTENT}, + {"DashSpeedRatio1", PERSISTENT}, + {"DashSpeedRatio2", PERSISTENT}, + {"DashSpeedRatio3", PERSISTENT}, + {"SetSpeedRatio1", PERSISTENT}, + {"SetSpeedRatio2", PERSISTENT}, + {"SetSpeedRatio3", PERSISTENT}, + {"SpeedDecimal", PERSISTENT}, + {"CalibrationCircle", PERSISTENT}, }; } // namespace diff --git a/common/params_pyx.so b/common/params_pyx.so index cd5529ce..fcea0da2 100755 Binary files a/common/params_pyx.so and b/common/params_pyx.so differ diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so index 0f0412cb..eed691e9 100755 Binary files a/opendbc/can/libdbc.so and b/opendbc/can/libdbc.so differ diff --git a/opendbc/gm_global_a_powertrain_generated.dbc b/opendbc/gm_global_a_powertrain_generated.dbc index ca4d485d..77347776 100644 --- a/opendbc/gm_global_a_powertrain_generated.dbc +++ b/opendbc/gm_global_a_powertrain_generated.dbc @@ -165,6 +165,7 @@ BO_ 481 ASCMSteeringButton: 7 K124_ASCM SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX + SG_ ACCByFive : 26|2@0+ (1,0) [0|3] "" XXX SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.bin b/panda/board/jungle/obj/bootstub.panda_jungle.bin index a81ee623..922f37c3 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.bin and b/panda/board/jungle/obj/bootstub.panda_jungle.bin differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle.elf b/panda/board/jungle/obj/bootstub.panda_jungle.elf index d7600d88..fce5f91b 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle.elf and b/panda/board/jungle/obj/bootstub.panda_jungle.elf differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin index 1c09e184..e4f42bdb 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin and b/panda/board/jungle/obj/bootstub.panda_jungle_h7.bin differ diff --git a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf b/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf index 86b123be..64af1e15 100755 Binary files a/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf and b/panda/board/jungle/obj/bootstub.panda_jungle_h7.elf differ diff --git a/panda/board/jungle/obj/panda_jungle.bin b/panda/board/jungle/obj/panda_jungle.bin index 2fa93747..b00d9184 100755 Binary files a/panda/board/jungle/obj/panda_jungle.bin and b/panda/board/jungle/obj/panda_jungle.bin differ diff --git a/panda/board/jungle/obj/panda_jungle.bin.signed b/panda/board/jungle/obj/panda_jungle.bin.signed index 36d26816..85a752d2 100644 Binary files a/panda/board/jungle/obj/panda_jungle.bin.signed and b/panda/board/jungle/obj/panda_jungle.bin.signed differ diff --git a/panda/board/jungle/obj/panda_jungle.elf b/panda/board/jungle/obj/panda_jungle.elf index 7fc97fe7..39fffeb2 100755 Binary files a/panda/board/jungle/obj/panda_jungle.elf and b/panda/board/jungle/obj/panda_jungle.elf differ diff --git a/panda/board/jungle/obj/panda_jungle_h7.bin b/panda/board/jungle/obj/panda_jungle_h7.bin index df8114c7..3e731e89 100755 Binary files a/panda/board/jungle/obj/panda_jungle_h7.bin and b/panda/board/jungle/obj/panda_jungle_h7.bin differ diff --git a/panda/board/jungle/obj/panda_jungle_h7.bin.signed b/panda/board/jungle/obj/panda_jungle_h7.bin.signed index 2a10dd12..8df54024 100644 Binary files a/panda/board/jungle/obj/panda_jungle_h7.bin.signed and b/panda/board/jungle/obj/panda_jungle_h7.bin.signed differ diff --git a/panda/board/jungle/obj/panda_jungle_h7.elf b/panda/board/jungle/obj/panda_jungle_h7.elf index e2742102..d0ae7dbc 100755 Binary files a/panda/board/jungle/obj/panda_jungle_h7.elf and b/panda/board/jungle/obj/panda_jungle_h7.elf differ diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin index c6f98a94..cb0aa282 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/bootstub.panda.elf b/panda/board/obj/bootstub.panda.elf index fe40f100..8b77bd3a 100755 Binary files a/panda/board/obj/bootstub.panda.elf and b/panda/board/obj/bootstub.panda.elf differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin index 6c587065..710e4d57 100755 Binary files a/panda/board/obj/bootstub.panda_h7.bin and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.elf b/panda/board/obj/bootstub.panda_h7.elf index 725e6a45..ad7c50a6 100755 Binary files a/panda/board/obj/bootstub.panda_h7.elf and b/panda/board/obj/bootstub.panda_h7.elf differ diff --git a/panda/board/obj/gitversion.h b/panda/board/obj/gitversion.h index 07e32f3b..043bb43f 100644 --- a/panda/board/obj/gitversion.h +++ b/panda/board/obj/gitversion.h @@ -1 +1 @@ -const uint8_t gitversion[] = "DEV-c566c96a-DEBUG"; +const uint8_t gitversion[] = "DEV-c8448d1c-DEBUG"; diff --git a/panda/board/obj/panda.bin b/panda/board/obj/panda.bin index 9f1ebd81..7d53b592 100755 Binary files a/panda/board/obj/panda.bin and b/panda/board/obj/panda.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed index 69d65394..51a84469 100644 Binary files a/panda/board/obj/panda.bin.signed and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda.elf b/panda/board/obj/panda.elf index fc37534a..cde5f0ae 100755 Binary files a/panda/board/obj/panda.elf and b/panda/board/obj/panda.elf differ diff --git a/panda/board/obj/panda_h7.bin b/panda/board/obj/panda_h7.bin index 927aa43c..bb49438f 100755 Binary files a/panda/board/obj/panda_h7.bin and b/panda/board/obj/panda_h7.bin differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed index 54137b4a..73e56970 100644 Binary files a/panda/board/obj/panda_h7.bin.signed and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/obj/panda_h7.elf b/panda/board/obj/panda_h7.elf index d27f593d..05b31271 100755 Binary files a/panda/board/obj/panda_h7.elf and b/panda/board/obj/panda_h7.elf differ diff --git a/panda/board/obj/version b/panda/board/obj/version index 6a2dd1c0..cf671f93 100644 --- a/panda/board/obj/version +++ b/panda/board/obj/version @@ -1 +1 @@ -DEV-c566c96a-DEBUG \ No newline at end of file +DEV-c8448d1c-DEBUG \ No newline at end of file diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h index fe1636b0..84c5893d 100644 --- a/panda/board/safety/safety_gm.h +++ b/panda/board/safety/safety_gm.h @@ -58,7 +58,7 @@ const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8 {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus - {0x184, 2, 8}}; // camera bus + {0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus {0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus @@ -255,7 +255,7 @@ static bool gm_tx_hook(const CANPacket_t *to_send) { bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev; // For standard CC, allow spamming of SET / RESUME - if (gm_cc_long) { + if (gm_cc_long || (gm_hw == GM_SDGM) || (gm_hw == GM_CAM && gm_pcm_cruise)) { allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS); } diff --git a/rednose/helpers/ekf_sym_pyx.so b/rednose/helpers/ekf_sym_pyx.so index 63737dcf..39a69c36 100755 Binary files a/rednose/helpers/ekf_sym_pyx.so and b/rednose/helpers/ekf_sym_pyx.so differ diff --git a/selfdrive/assets/assets.cc b/selfdrive/assets/assets.cc index 95b7cdf1..cf2ee397 100644 --- a/selfdrive/assets/assets.cc +++ b/selfdrive/assets/assets.cc @@ -107,143 +107,144 @@ static const unsigned char qt_resource_data[] = { 0x77,0x69,0x64,0x74,0x68,0x3d,0x22,0x31,0x30,0x22,0x2f,0x3e,0xa,0x3c,0x2f,0x73, 0x76,0x67,0x3e,0xa, // 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0xe,0x34,0xe,0x14,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x5,0x43,0x6c, 0x6f,0x73,0x65,0x7,0x0,0x0,0x0,0xd,0x41,0x62,0x73,0x74,0x72,0x61,0x63,0x74, 0x41,0x6c,0x65,0x72,0x74,0x1,0x3,0x0,0x0,0x0,0x1c,0xe,0x23,0xe,0x35,0xe, @@ -1183,1390 +1184,1407 @@ static const unsigned char qt_resource_data[] = { 0x51,0x4f,0x62,0x6a,0x65,0x63,0x74,0x1,0x3,0x0,0x0,0x0,0x8,0xe,0x44,0xe, 0x21,0xe,0x25,0xe,0x4c,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x2,0x6d, 0x69,0x7,0x0,0x0,0x0,0x7,0x51,0x4f,0x62,0x6a,0x65,0x63,0x74,0x1,0x3,0x0, - 0x0,0x0,0x4e,0xe,0x4,0xe,0x38,0xe,0x13,0xe,0x41,0xe,0x19,0xe,0x48,0xe, - 0x43,0xe,0x8,0xe,0x2b,0xe,0x23,0xe,0x37,0xe,0x2d,0xe,0x44,0xe,0x21,0xe, - 0x48,0xe,0x27,0xe,0x48,0xe,0x32,0xe,0x15,0xe,0x49,0xe,0x2d,0xe,0x7,0xe, - 0x1,0xe,0x32,0xe,0x23,0xe,0x23,0xe,0x35,0xe,0x40,0xe,0xb,0xe,0x47,0xe, - 0x15,0xe,0x2d,0xe,0x38,0xe,0x1b,0xe,0x1,0xe,0x23,0xe,0x13,0xe,0x4c,0x0, - 0x3f,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x2b,0x41,0x72,0x65,0x20,0x79, - 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0x65,0x7,0x0,0x0,0x0,0xd,0x41,0x62,0x73,0x74,0x72,0x61,0x63,0x74,0x41,0x6c, 0x65,0x72,0x74,0x1,0x3,0x0,0x0,0x0,0xa,0x91,0xcd,0x55,0x5f,0x4e,0x26,0x66, @@ -7449,871 +8303,881 @@ static const unsigned char qt_resource_data[] = { 0x0,0x0,0x0,0x1,0x6d,0x7,0x0,0x0,0x0,0x7,0x51,0x4f,0x62,0x6a,0x65,0x63, 0x74,0x1,0x3,0x0,0x0,0x0,0x4,0x0,0x6d,0x0,0x69,0x8,0x0,0x0,0x0,0x0, 0x6,0x0,0x0,0x0,0x2,0x6d,0x69,0x7,0x0,0x0,0x0,0x7,0x51,0x4f,0x62,0x6a, - 0x65,0x63,0x74,0x1,0x3,0x0,0x0,0x0,0x18,0x60,0xa8,0x78,0xba,0x5b,0x9a,0x89, - 0x81,0x91,0xcd,0x8a,0x2d,0x4f,0x60,0x76,0x84,0x8a,0x2d,0x50,0x99,0x55,0xce,0xff, - 0x1f,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x2b,0x41,0x72,0x65,0x20,0x79, - 0x6f,0x75,0x20,0x73,0x75,0x72,0x65,0x20,0x79,0x6f,0x75,0x20,0x77,0x61,0x6e,0x74, - 0x20,0x74,0x6f,0x20,0x72,0x65,0x73,0x65,0x74,0x20,0x79,0x6f,0x75,0x72,0x20,0x64, - 0x65,0x76,0x69,0x63,0x65,0x3f,0x7,0x0,0x0,0x0,0x5,0x52,0x65,0x73,0x65,0x74, - 0x1,0x3,0x0,0x0,0x0,0x4,0x53,0xd6,0x6d,0x88,0x8,0x0,0x0,0x0,0x0,0x6, - 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0x0,0x2e,0x0,0x2e,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x18,0x53,0x63, + 0x61,0x6e,0x6e,0x69,0x6e,0x67,0x20,0x66,0x6f,0x72,0x20,0x6e,0x65,0x74,0x77,0x6f, + 0x72,0x6b,0x73,0x2e,0x2e,0x2e,0x7,0x0,0x0,0x0,0x6,0x57,0x69,0x66,0x69,0x55, + 0x49,0x1, // /data/openpilot/third_party/bootstrap/bootstrap-icons.svg 0x0,0x3,0x56,0xbb, 0x0, @@ -21994,1286 +22858,1290 @@ static const unsigned char qt_resource_data[] = { 0xb6,0x41,0x96,0x34,0x90,0xf2,0x73,0xec,0xd7,0x24,0xa0,0xcb,0x56,0xfb,0xff,0xbe, 0x9d,0xff,0xf6,0xbf,0xfe,0x2f,0x95,0xf3,0x33,0x5e, // /data/openpilot/selfdrive/ui/translations/main_tr.qm - 0x0,0x0,0x4f,0xdb, + 0x0,0x0,0x50,0x15, 0x3c, 0xb8,0x64,0x18,0xca,0xef,0x9c,0x95,0xcd,0x21,0x1c,0xbf,0x60,0xa1,0xbd,0xdd,0x42, - 0x0,0x0,0x5,0xe8,0x0,0x0,0x0,0x6d,0x0,0x0,0x21,0x9a,0x0,0x0,0x2,0xfd, - 0x0,0x0,0x2e,0x19,0x0,0x0,0x3,0x67,0x0,0x0,0x2e,0x3b,0x0,0x0,0x3,0x77, - 0x0,0x0,0x2e,0x5d,0x0,0x0,0x3,0x97,0x0,0x0,0x2e,0x7f,0x0,0x0,0x5,0x2f, - 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0x0,0x0,0xe,0x58,0xf,0xc7,0xe7,0x21,0x0,0x0,0x2b,0xc9,0xf,0xe0,0x46,0xae, + 0x0,0x0,0x3d,0x89,0x69,0x0,0x0,0x43,0xb4,0x3,0x0,0x0,0x0,0x6,0x95,0x89, 0x30,0x58,0x30,0x8b,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x5,0x43,0x6c, 0x6f,0x73,0x65,0x7,0x0,0x0,0x0,0xd,0x41,0x62,0x73,0x74,0x72,0x61,0x63,0x74, 0x41,0x6c,0x65,0x72,0x74,0x1,0x3,0x0,0x0,0x0,0x16,0x51,0x8d,0x8d,0x77,0x52, @@ -26308,727 +27192,740 @@ static const unsigned char qt_resource_data[] = { 0x0,0x0,0x7,0x51,0x4f,0x62,0x6a,0x65,0x63,0x74,0x1,0x3,0x0,0x0,0x0,0x6, 0xff,0x8f,0xff,0x72,0xff,0x99,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x2, 0x6d,0x69,0x7,0x0,0x0,0x0,0x7,0x51,0x4f,0x62,0x6a,0x65,0x63,0x74,0x1,0x3, - 0x0,0x0,0x0,0x1c,0x52,0x1d,0x67,0x1f,0x53,0x16,0x30,0x57,0x30,0x66,0x30,0x82, - 0x30,0x88,0x30,0x8d,0x30,0x57,0x30,0x44,0x30,0x67,0x30,0x59,0x30,0x4b,0xff,0x1f, - 0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0,0x2b,0x41,0x72,0x65,0x20,0x79,0x6f, - 0x75,0x20,0x73,0x75,0x72,0x65,0x20,0x79,0x6f,0x75,0x20,0x77,0x61,0x6e,0x74,0x20, - 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0x11,0x0,0x2e,0x0,0x2e,0x0,0x2e,0x8,0x0,0x0,0x0,0x0,0x6,0x0,0x0,0x0, + 0x18,0x53,0x63,0x61,0x6e,0x6e,0x69,0x6e,0x67,0x20,0x66,0x6f,0x72,0x20,0x6e,0x65, + 0x74,0x77,0x6f,0x72,0x6b,0x73,0x2e,0x2e,0x2e,0x7,0x0,0x0,0x0,0x6,0x57,0x69, + 0x66,0x69,0x55,0x49,0x1, // /data/openpilot/selfdrive/assets/img_circled_slash.svg 0x0,0x0,0x1,0x48, 0x3c, @@ -34283,86 +35226,86 @@ static const unsigned char qt_resource_struct[] = { 0x0,0x0,0x0,0xf4,0x0,0x2,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x1c, 0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0, // :/bootstrap-icons.svg - 0x0,0x0,0x1,0x4,0x0,0x1,0x0,0x0,0x0,0x1,0x0,0x2,0x5,0xb2, -0x0,0x0,0x1,0x8e,0x44,0x54,0x95,0x94, + 0x0,0x0,0x1,0x4,0x0,0x1,0x0,0x0,0x0,0x1,0x0,0x2,0x3b,0xc5, +0x0,0x0,0x1,0x8e,0x76,0x27,0xe4,0xb, // :/main_fr - 0x0,0x0,0x1,0xbe,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x6,0xf3,0x22, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x25, + 0x0,0x0,0x1,0xbe,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0x2c,0x40, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0x96, // :/main_de - 0x0,0x0,0x1,0xaa,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x6,0x8f,0x6a, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x11, + 0x0,0x0,0x1,0xaa,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x6,0xc7,0x87, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0x96, // :/main_en - 0x0,0x0,0x1,0xd2,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0x97,0xb6, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x11, + 0x0,0x0,0x1,0xd2,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0xd1,0xe5, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0x8c, // :/main_ar - 0x0,0x0,0x1,0x82,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x5,0xb2,0x26, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x39, + 0x0,0x0,0x1,0x82,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x5,0xe8,0x73, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xaa, // :/main_th 0x0,0x0,0x0,0x8e,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x5,0x8f, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x43, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xaa, // :/main_tr - 0x0,0x0,0x1,0x44,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x5,0x5c,0x71, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x2f, + 0x0,0x0,0x1,0x44,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x5,0x92,0x84, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xa0, // :/main_ja - 0x0,0x0,0x1,0x96,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x6,0x45,0xbf, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x57, + 0x0,0x0,0x1,0x96,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x6,0x7d,0x5, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xd2, // :/main_ko - 0x0,0x0,0x1,0xe6,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0x99,0xc8, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x57, + 0x0,0x0,0x1,0xe6,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x7,0xd3,0xf7, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xc8, // :/main_pt-BR - 0x0,0x0,0x0,0xa2,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x96,0x77, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x2f, + 0x0,0x0,0x0,0xa2,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x97,0x8a, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xa0, // :/offroad 0x0,0x0,0x1,0x30,0x0,0x2,0x0,0x0,0x0,0x7,0x0,0x0,0x0,0x15, 0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0, // :/main_zh-CHS - 0x0,0x0,0x0,0xbc,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x1,0x35,0x2, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x4d, + 0x0,0x0,0x0,0xbc,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x1,0x37,0xa, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xc8, // :/main_zh-CHT - 0x0,0x0,0x0,0xd8,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x1,0x9c,0xfc, -0x0,0x0,0x1,0x8b,0xf3,0xb8,0xbc,0x43, + 0x0,0x0,0x0,0xd8,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x1,0xd2,0x5e, +0x0,0x0,0x1,0x8b,0xf3,0xb8,0x92,0xbe, // :/img_continue_triangle.svg 0x0,0x0,0x0,0x56,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x4,0xc6, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xb8, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x6b, // :/img_circled_slash.svg - 0x0,0x0,0x1,0xfa,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xd,0x75, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xb8, + 0x0,0x0,0x1,0xfa,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x48,0x71, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x6b, // :/img_eye_closed.svg - 0x0,0x0,0x1,0x58,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x5,0xac,0x50, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xb8, + 0x0,0x0,0x1,0x58,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x5,0xe2,0x9d, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x6b, // :/img_circled_check.svg 0x0,0x0,0x0,0x26,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x3,0xb, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xb8, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x6b, // :/languages.json - 0x0,0x0,0x2,0x2a,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0xe,0xc1, -0x0,0x0,0x1,0x8e,0x44,0x54,0x92,0xb0, + 0x0,0x0,0x2,0x2a,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x49,0xbd, +0x0,0x0,0x1,0x8e,0x76,0x27,0xe1,0x1d, // :/img_eye_open.svg 0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xb8, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x6b, // :/offroad/icon_checkmark.svg - 0x0,0x0,0x3,0x58,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x45,0xa1, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xcc, + 0x0,0x0,0x3,0x58,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x80,0x9d, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x7f, // :/offroad/icon_lock_closed.svg - 0x0,0x0,0x2,0x4c,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x10,0x4, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xcc, + 0x0,0x0,0x2,0x4c,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x4b,0x0, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x7f, // :/offroad/icon_warning.png - 0x0,0x0,0x2,0xf2,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x1f,0xdc, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xcc, + 0x0,0x0,0x2,0xf2,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x5a,0xd8, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x89, // :/offroad/icon_wifi_strength_high.svg - 0x0,0x0,0x2,0x7a,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x12,0xe4, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xcc, + 0x0,0x0,0x2,0x7a,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x4d,0xe0, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x89, // :/offroad/icon_wifi_strength_low.svg - 0x0,0x0,0x3,0x82,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x46,0x98, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xcc, + 0x0,0x0,0x3,0x82,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x81,0x94, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x89, // :/offroad/icon_wifi_strength_full.svg - 0x0,0x0,0x2,0xb6,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x19,0x61, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xcc, + 0x0,0x0,0x2,0xb6,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x54,0x5d, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x89, // :/offroad/icon_wifi_strength_medium.svg - 0x0,0x0,0x3,0x18,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x3f,0x22, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xcc, + 0x0,0x0,0x3,0x18,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x7a,0x1e, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x89, // :/icons/close.svg - 0x0,0x0,0x3,0xbc,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x4d,0x19, -0x0,0x0,0x1,0x8e,0x44,0x54,0x80,0xb8, + 0x0,0x0,0x3,0xbc,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x8,0x88,0x15, +0x0,0x0,0x1,0x8e,0x76,0x27,0xcf,0x6b, }; diff --git a/selfdrive/boardd/boardd b/selfdrive/boardd/boardd index b270603d..b19c8cfd 100755 Binary files a/selfdrive/boardd/boardd and b/selfdrive/boardd/boardd differ diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 817fb8d2..27a366e5 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -219,7 +219,7 @@ def crash_log(candidate): "OfflineMode", "LateralTune", "ForceAutoTune", "NNFF", "SteerRatio", "UseLateralJerk", "LongitudinalTune", "AccelerationProfile", "DecelerationProfile", "AggressiveAcceleration", "StoppingDistance", "SmoothBraking", "Model", "MTSCEnabled", "DisableMTSCSmoothing", "MTSCAggressiveness", "MTSCCurvatureCheck", "MTSCLimit", "NudgelessLaneChange", "LaneChangeTime", "LaneDetection", "LaneDetectionWidth", - "OneLaneChange", "QOLControls", "DisableOnroadUploads", "HigherBitrate", "NavChill", "PauseLateralOnSignal", "ReverseCruise", "ReverseCruiseUI", + "OneLaneChange", "QOLControls", "DisableOnroadUploads", "HigherBitrate", "NavChill", "MinSteerSpeedStandard", "MinSteerSpeedEngage", "PauseLateralOnSignal", "ReverseCruise", "ReverseCruiseUI", "SetSpeedLimit", "SetSpeedOffset", "SpeedLimitController", "Offset1", "Offset2", "Offset3", "Offset4", "SLCConfirmation", "SLCFallback", "SLCPriority1", "SLCPriority2", "SLCPriority3", "SLCOverride", "TurnDesires", "VisionTurnControl", "DisableVTSCSmoothing", "CurveSensitivity", "TurnAggressiveness" @@ -232,6 +232,7 @@ def crash_log(candidate): "AdjacentPath", "AdjacentPathMetrics", "BlindSpotPath", "FPSCounter", "LeadInfo", "UseSI", "PedalsOnUI", "RoadNameUI", "UseVienna", "DriverCamera", "ModelUI", "DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "UnlimitedLength", "QOLVisuals", "DriveStats", "FullMap", "HideSpeed", "HideSpeedUI", "ShowSLCOffset", "SpeedLimitChangedAlert", "WheelSpeed", "RandomEvents", "ScreenBrightness", "WheelIcon", + "DashSpeedRatio1", "DashSpeedRatio2", "DashSpeedRatio3", "SetSpeedRatio1", "SetSpeedRatio2", "SetSpeedRatio3", "RotatingWheel", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed", "Sidebar" ], [ "FrogPilotDrives", "FrogPilotKilometers", "FrogPilotMinutes" diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 9ebb21ac..468b6e1e 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -6,9 +6,10 @@ from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command from openpilot.selfdrive.car.gm import gmcan -from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR -from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone +from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR, CAMERA_ACC_CAR +from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone, V_CRUISE_MAX from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from openpilot.common.params import Params VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation @@ -16,6 +17,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType +params_memory = Params("/dev/shm/params") + # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s CAMERA_CANCEL_DELAY_FRAMES = 10 # Enforce a minimum interval between steering messages to avoid a fault @@ -40,6 +43,8 @@ class CarController: self.cancel_counter = 0 self.pedal_steady = 0. + self.is_metric = Params().get_bool("IsMetric") + self.lka_steering_cmd_counter = 0 self.lka_icon_status_last = (False, False) @@ -113,7 +118,7 @@ class CarController: idx = self.lka_steering_cmd_counter % 4 can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) - if self.CP.openpilotLongitudinalControl: + if self.CP.openpilotLongitudinalControl and not frogpilot_variables.CSLC: # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: stopping = actuators.longControlState == LongCtrlState.stopping @@ -240,6 +245,16 @@ class CarController: else: can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) + # ACC Spam + if (self.CP.carFingerprint in SDGM_CAR or self.CP.carFingerprint in CAMERA_ACC_CAR) and frogpilot_variables.CSLC: + if CC.enabled and self.frame % 3 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and not CS.out.gasPressed: + bus = CanBus.CAMERA if self.CP.carFingerprint in SDGM_CAR else CanBus.POWERTRAIN + # slcSet = get_set_speed(self, hud_v_cruise) + # can_sends.extend(gmcan.create_gm_acc_spam_command(self.packer_pt, self, CS, slcSet, bus, CS.out.vEgo, frogpilot_variables, accel)) + # using ms + slcSet_ms = get_set_speed(self, hud_v_cruise) + can_sends.extend(gmcan.create_gm_acc_spam_command_ms(self.packer_pt, self, CS, slcSet_ms, bus, CS.out.vEgo, frogpilot_variables, accel)) + if self.CP.networkLocation == NetworkLocation.fwdCamera: # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 if self.frame % 10 == 0: @@ -255,3 +270,24 @@ class CarController: self.frame += 1 return new_actuators, can_sends + +def get_set_speed(self, hud_v_cruise): + # v_cruise_kph = min(hud_v_cruise * CV.MS_TO_KPH, V_CRUISE_MAX) + # v_cruise = int(round(v_cruise_kph * CV.KPH_TO_MPH)) + + # v_cruise_slc: int = 0 + # v_cruise_slc = params_memory.get_int("CSLCSpeed") + + # if v_cruise_slc > 0: + # v_cruise = v_cruise_slc + # return v_cruise + + # using ms + v_cruise_ms = min(hud_v_cruise, V_CRUISE_MAX * CV.KPH_TO_MS) + + v_cruise_slc_ms: float = 0. + v_cruise_slc_ms = params_memory.get_float("CSLCSpeed") + + if v_cruise_slc_ms > 0.: + v_cruise_ms = v_cruise_slc_ms + return v_cruise_ms diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 7c804761..9ddaab67 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -6,6 +6,7 @@ from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR +from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation @@ -167,44 +168,68 @@ class CarState(CarStateBase): ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1 ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1 + # FrogPilot functions + has_camera = self.CP.networkLocation == NetworkLocation.fwdCamera + has_camera &= not self.CP.flags & GMFlags.NO_CAMERA.value + has_camera &= not self.CP.carFingerprint in (CC_ONLY_CAR) + + if self.CP.carFingerprint in SDGM_CAR: + distance_pressed = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"] + else: + distance_pressed = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"] + # Driving personalities function - Credit goes to Mangomoose! - if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available: + if ret.cruiseState.available: # Sync with the onroad UI button if self.fpf.personality_changed_via_ui: self.personality_profile = self.fpf.current_personality - self.previous_personality_profile = self.personality_profile self.fpf.reset_personality_changed_param() - # Check if the car has a camera - has_camera = self.CP.networkLocation == NetworkLocation.fwdCamera - has_camera &= not self.CP.flags & GMFlags.NO_CAMERA.value - has_camera &= not self.CP.carFingerprint in (CC_ONLY_CAR) + if distance_pressed: + self.distance_pressed_counter += 1 - if has_camera: - # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2" - self.personality_profile = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCGapLevel"] - 1 - else: - if self.CP.carFingerprint in SDGM_CAR: - distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"] - else: - distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"] - - if distance_button and not self.distance_previously_pressed: - if self.display_menu: - self.personality_profile = (self.previous_personality_profile + 2) % 3 + if not self.distance_previously_pressed: self.display_timer = 350 - self.distance_previously_pressed = distance_button - # Check if the display is open - if self.display_timer > 0: - self.display_timer -= 1 - self.display_menu = True + elif self.distance_previously_pressed: + # Set the distance lines on the dash to match the new personality if the button was held down for less than 0.5 seconds + if self.distance_pressed_counter < CRUISE_LONG_PRESS and frogpilot_variables.personalities_via_wheel: + if has_camera: + # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2" + self.personality_profile = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCGapLevel"] - 1 + else: + self.personality_profile = (self.personality_profile + 2) % 3 + + self.fpf.distance_button_function(self.personality_profile) + + self.distance_pressed_counter = 0 + + # Check if the display is open + if self.display_timer > 0: + self.display_timer -= 1 + self.display_menu = True + else: + self.display_menu = False + + # Switch the current state of Experimental Mode if the button is held down for 0.5 seconds + if self.distance_pressed_counter == (CRUISE_LONG_PRESS - (CRUISE_LONG_PRESS - 1) * frogpilot_variables.CSLC) and frogpilot_variables.experimental_mode_via_distance: + if frogpilot_variables.conditional_experimental_mode: + self.fpf.update_cestatus_distance() else: - self.display_menu = False + self.fpf.update_experimental_mode() - if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0: - self.fpf.distance_button_function(self.personality_profile) - self.previous_personality_profile = self.personality_profile + # Switch the current state of Traffic Mode if the button is held down for 2.5 seconds + if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode: + self.fpf.update_traffic_mode() + + # Revert the previous changes to Experimental Mode + if frogpilot_variables.experimental_mode_via_distance: + if frogpilot_variables.conditional_experimental_mode: + self.fpf.update_cestatus_distance() + else: + self.fpf.update_experimental_mode() + + self.distance_previously_pressed = distance_pressed # Toggle Experimental Mode from steering wheel function if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available: diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py index e27957f5..87b7e18b 100644 --- a/selfdrive/car/gm/fingerprints.py +++ b/selfdrive/car/gm/fingerprints.py @@ -180,6 +180,16 @@ FINGERPRINTS = { { 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 }], + CAR.BABYENCLAVE: [ + # Buick Baby Enclave w/ ACC 2020-23 + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8 + }], + CAR.BABYAVENIR: [ + # Buick Baby Enclave Avenir w/ ACC 2020-23 + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 292: 2, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 331: 3, 352: 5, 353: 3, 368: 3, 381: 8, 384: 4, 386: 8, 388: 8, 394: 7, 398: 8, 401: 8, 405: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 450: 4, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 456: 8, 457: 6, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 503: 2, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 723: 4, 730: 4, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 872: 1, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 969: 8, 975: 2, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1037: 5, 1105: 5, 1187: 5, 1195: 3, 1201: 3, 1217: 8, 1218: 3, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1236: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1268: 2, 1271: 8, 1273: 3, 1276: 2, 1277: 7, 1278: 4, 1279: 4, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1345: 8, 1417: 8, 1512: 8, 1514: 8, 1517: 8, 1601: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1927: 7, 1930: 7, 2018: 8, 2020: 8, 2021: 8, 2028: 8 + }], } FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = { diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 4c563375..d06deaa3 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -12,6 +12,7 @@ def create_buttons(packer, bus, idx, button): "RollingCounter": idx, "ACCAlwaysOne": 1, "DistanceButton": 0, + "ACCByFive": 0, } checksum = 240 + int(values["ACCAlwaysOne"] * 0xf) @@ -22,6 +23,37 @@ def create_buttons(packer, bus, idx, button): values["SteeringButtonChecksum"] = checksum return packer.make_can_msg("ASCMSteeringButton", bus, values) +def create_buttons_five(packer, bus, idx, button, byfive): + if byfive and button == CruiseButtons.RES_ACCEL: + accbyfive = 2 + ACCAlwaysOne = 1 + checkoffset = -4 + elif byfive and button == CruiseButtons.DECEL_SET: + accbyfive = 3 + ACCAlwaysOne = 0 + checkoffset = 255*idx+10 + else: + accbyfive = 0 + ACCAlwaysOne = 1 + checkoffset = 0 + + values = { + "ACCButtons": button, + "RollingCounter": idx, + "ACCAlwaysOne": ACCAlwaysOne, + "DistanceButton": 0, + "ACCByFive": accbyfive, + } + + checksum = 240 + int(values["ACCAlwaysOne"] * 0xf) + checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0) + checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0 + checksum -= 2 * values["DistanceButton"] + checksum += checkoffset + + values["SteeringButtonChecksum"] = checksum + return packer.make_can_msg("ASCMSteeringButton", bus, values) + def create_pscm_status(packer, bus, pscm_status): values = {s: pscm_status[s] for s in [ @@ -217,3 +249,82 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators): return [create_buttons(packer, CanBus.POWERTRAIN, idx, cruiseBtn)] else: return [] + +def create_gm_acc_spam_command(packer, controller, CS, slcSet, bus, Vego, frogpilot_variables, accel): + cruiseBtn = CruiseButtons.INIT + byfive = 0 + speedSetPoint = int(round(CS.out.cruiseState.speed * CV.MS_TO_MPH)) + + FRAMES_ON = 6 + FRAMES_OFF = 30 - FRAMES_ON + + if not frogpilot_variables.experimentalMode: + if slcSet + 5 < Vego * CV.MS_TO_MPH: + slcSet = slcSet - 10 + else: + slcSet = int(round((Vego * 1.01 + 4.6 * accel + 0.7 * accel ** 3 - 1 / 35 * accel ** 5) * CV.MS_TO_MPH)) # 1.01 factor to match cluster speed better + + if slcSet <= int(math.floor((speedSetPoint - 1)/5.0)*5.0) and speedSetPoint > 20: + cruiseBtn = CruiseButtons.DECEL_SET + byfive = 1 + elif slcSet >= int(math.ceil((speedSetPoint + 1)/5.0)*5.0): + cruiseBtn = CruiseButtons.RES_ACCEL + byfive = 1 + elif slcSet < speedSetPoint and speedSetPoint > 16: + cruiseBtn = CruiseButtons.DECEL_SET + byfive = 0 + elif slcSet > speedSetPoint: + cruiseBtn = CruiseButtons.RES_ACCEL + byfive = 0 + else: + cruiseBtn = CruiseButtons.INIT + byfive = 0 + + if (cruiseBtn != CruiseButtons.INIT) and controller.frame % (FRAMES_ON + FRAMES_OFF) < FRAMES_ON: + controller.last_button_frame = controller.frame + idx = (CS.buttons_counter + 1) % 4 + return [create_buttons_five(packer, bus, idx, cruiseBtn, byfive)]*23 + else: + return [] + +# using ms +def create_gm_acc_spam_command_ms(packer, controller, CS, slcSet_ms, bus, Vego, frogpilot_variables, accel): + is_metric = controller.is_metric + MS_CONVERT = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH + slcSet = slcSet_ms * MS_CONVERT + + cruiseBtn = CruiseButtons.INIT + byfive = 0 + speedSetPoint = int(round(CS.out.cruiseState.speed * MS_CONVERT)) + + FRAMES_ON = 6 + FRAMES_OFF = 30 - FRAMES_ON + + if not frogpilot_variables.experimentalMode: + if slcSet + 5 < Vego * MS_CONVERT: + slcSet = slcSet - 10 + else: + slcSet = int(round((Vego * 1.01 + 4.6 * accel + 0.7 * accel ** 3 - 1 / 35 * accel ** 5) * MS_CONVERT)) # 1.01 factor to match cluster speed better + + if slcSet <= int(math.floor((speedSetPoint - 1)/5.0)*5.0) and speedSetPoint > (28 if is_metric else 20): + cruiseBtn = CruiseButtons.DECEL_SET + byfive = 1 + elif slcSet >= int(math.ceil((speedSetPoint + 1)/5.0)*5.0): + cruiseBtn = CruiseButtons.RES_ACCEL + byfive = 1 + elif slcSet <= (speedSetPoint - 1) and speedSetPoint > (24 if is_metric else 16): + cruiseBtn = CruiseButtons.DECEL_SET + byfive = 0 + elif slcSet >= (speedSetPoint + 1): + cruiseBtn = CruiseButtons.RES_ACCEL + byfive = 0 + else: + cruiseBtn = CruiseButtons.INIT + byfive = 0 + + if (cruiseBtn != CruiseButtons.INIT) and controller.frame % (FRAMES_ON + FRAMES_OFF) < FRAMES_ON: + controller.last_button_frame = controller.frame + idx = (CS.buttons_counter + 1) % 4 + return [create_buttons_five(packer, bus, idx, cruiseBtn, byfive)]*23 + else: + return [] diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index e96d6656..6c630d59 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -12,6 +12,10 @@ from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerP from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel from openpilot.selfdrive.controls.lib.drive_helpers import get_friction +from openpilot.common.params import Params + +params = Params() #params_memory = Params("/dev/shm/params") + ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName GearShifter = car.CarState.GearShifter @@ -149,6 +153,19 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = 30 * CV.MPH_TO_MS ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_SDGM + # Used for CEM with CSLC + ret.openpilotLongitudinalControl = params.get_bool("CSLCEnabled") #True + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.9] # == 2 mph allowable delta + ret.stoppingDecelRate = 7.45 # == 16.67 mph/s (OFF + ON = 30 frames) + ret.longitudinalActuatorDelayLowerBound = 1. + ret.longitudinalActuatorDelayUpperBound = 2. + + ret.longitudinalTuning.kpBP = [7.15, 7.2, 28.] # 7.15 m/s == 16 mph + ret.longitudinalTuning.kpV = [0., 4., 2.] # set lower end to 0 since we can't drive below that speed + ret.longitudinalTuning.kiBP = [0.] + ret.longitudinalTuning.kiV = [0.1] + else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway @@ -336,6 +353,26 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.BABYENCLAVE: + ret.mass = 2050. #3660. * CV.LB_TO_KG + ret.wheelbase = 2.86 #2.78 + ret.steerRatio = 16.0 #Avenir 15.0 / Others 16.0 #14.4 + ret.centerToFront = ret.wheelbase * 0.5 #ret.wheelbase * 0.4 + ret.steerActuatorDelay = 0.2 + ret.minSteerSpeed = 10 * CV.KPH_TO_MS + #ret.wheelSpeedFactor = 1.05 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + elif candidate == CAR.BABYAVENIR: + ret.mass = 2050. #3660. * CV.LB_TO_KG + ret.wheelbase = 2.86 #2.78 + ret.steerRatio = 15.0 #Avenir 15.0 / Others 16.0 #14.4 + ret.centerToFront = ret.wheelbase * 0.5 #ret.wheelbase * 0.4 + ret.steerActuatorDelay = 0.2 + ret.minSteerSpeed = 10 * CV.KPH_TO_MS + #ret.wheelSpeedFactor = 1.05 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.CT6_CC: ret.wheelbase = 3.11 ret.mass = 5198. * CV.LB_TO_KG diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 9af424eb..6e9d1e01 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -122,7 +122,9 @@ class CAR(StrEnum): TRAILBLAZER_CC = "CHEVROLET TRAILBLAZER 2024 NO ACC" XT4 = "CADILLAC XT4 2023" TRAX = "CHEVROLET TRAX 2024" - + # 昂科旗 + BABYENCLAVE = "BUICK BABY ENCLAVE 2020" + BABYAVENIR = "BUICK BABY ENCLAVE AVENIR 2020" class Footnote(Enum): OBD_II = CarFootnote( @@ -175,6 +177,9 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.TRAILBLAZER_CC: GMCarInfo("Chevrolet Trailblazer 2024 No ACC"), CAR.XT4: GMCarInfo("Cadillac XT4 2023", "Driver Assist Package"), CAR.TRAX: GMCarInfo("Chevrolet TRAX 2024"), + # 昂科旗 + CAR.BABYENCLAVE: GMCarInfo("BUICK BABY ENCLAVE 2020"), + CAR.BABYAVENIR: GMCarInfo("BUICK BABY ENCLAVE AVENIR 2020"), } @@ -210,22 +215,35 @@ class GMFlags(IntFlag): # In a Data Module, an identifier is a string used to recognize an object, # either by itself or together with the identifiers of parent objects. # Each returns a 4 byte hex representation of the decimal part number. `b"\x02\x8c\xf0'"` -> 42790951 +GM_BOOT_SOFTWARE_PART_NUMER_REQUEST = b'\x1a\xc0' # likely does not contain anything useful GM_SOFTWARE_MODULE_1_REQUEST = b'\x1a\xc1' GM_SOFTWARE_MODULE_2_REQUEST = b'\x1a\xc2' GM_SOFTWARE_MODULE_3_REQUEST = b'\x1a\xc3' + +# Part number of XML data file that is used to configure ECU +GM_XML_DATA_FILE_PART_NUMBER = b'\x1a\x9c' +GM_XML_CONFIG_COMPAT_ID = b'\x1a\x9b' # used to know if XML file is compatible with the ECU software/hardware + # This DID is for identifying the part number that reflects the mix of hardware, # software, and calibrations in the ECU when it first arrives at the vehicle assembly plant. # If there's an Alpha Code, it's associated with this part number and stored in the DID $DB. GM_END_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcb' +GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdb' GM_BASE_MODEL_PART_NUMBER_REQUEST = b'\x1a\xcc' +GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST = b'\x1a\xdc' GM_FW_RESPONSE = b'\x5a' GM_FW_REQUESTS = [ + GM_BOOT_SOFTWARE_PART_NUMER_REQUEST, GM_SOFTWARE_MODULE_1_REQUEST, GM_SOFTWARE_MODULE_2_REQUEST, GM_SOFTWARE_MODULE_3_REQUEST, + GM_XML_DATA_FILE_PART_NUMBER, + GM_XML_CONFIG_COMPAT_ID, GM_END_MODEL_PART_NUMBER_REQUEST, + GM_END_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST, GM_BASE_MODEL_PART_NUMBER_REQUEST, + GM_BASE_MODEL_PART_NUMBER_ALPHA_CODE_REQUEST, ] GM_RX_OFFSET = 0x400 @@ -251,7 +269,7 @@ EV_CAR = {CAR.VOLT, CAR.BOLT_EUV, CAR.VOLT_CC, CAR.BOLT_CC} CC_ONLY_CAR = {CAR.VOLT_CC, CAR.BOLT_CC, CAR.EQUINOX_CC, CAR.SUBURBAN_CC, CAR.YUKON_CC, CAR.CT6_CC, CAR.TRAILBLAZER_CC} # We're integrated at the Safety Data Gateway Module on these cars -SDGM_CAR = {CAR.XT4} +SDGM_CAR = {CAR.XT4, CAR.BABYENCLAVE, CAR.BABYAVENIR} # Slow acceleration cars SLOW_ACC = {CAR.SILVERADO} diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index c90eb78c..da8ea3fc 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -212,6 +212,17 @@ class CarState(CarStateBase): else: self.fpf.update_experimental_mode() + # Switch the current state of Traffic Mode if the button is held down for 2.5 seconds + if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode: + self.fpf.update_traffic_mode() + + # Revert the previous changes to Experimental Mode + if frogpilot_variables.experimental_mode_via_distance: + if frogpilot_variables.conditional_experimental_mode: + self.fpf.update_cestatus_distance() + else: + self.fpf.update_experimental_mode() + self.distance_previously_pressed = distance_pressed # Toggle Experimental Mode from steering wheel function @@ -342,6 +353,17 @@ class CarState(CarStateBase): else: self.fpf.update_experimental_mode() + # Switch the current state of Traffic Mode if the button is held down for 2.5 seconds + if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode: + self.fpf.update_traffic_mode() + + # Revert the previous changes to Experimental Mode + if frogpilot_variables.experimental_mode_via_distance: + if frogpilot_variables.conditional_experimental_mode: + self.fpf.update_cestatus_distance() + else: + self.fpf.update_experimental_mode() + self.distance_previously_pressed = distance_pressed # Toggle Experimental Mode from steering wheel function diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index b9eadc8c..ab49aa40 100644 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 8.4, 2: 9.3} + total_ref_time = {1: 8.3, 2: 9.2} brand_ref_times = { 1: { 'gm': 1.0, diff --git a/selfdrive/car/torque_data/lat_models/BUICK BABY ENCLAVE 2020.json b/selfdrive/car/torque_data/lat_models/BUICK BABY ENCLAVE 2020.json new file mode 100644 index 00000000..9b913b0b --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/BUICK BABY ENCLAVE 2020.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/BUICK BABY ENCLAVE AVENIR 2020.json b/selfdrive/car/torque_data/lat_models/BUICK BABY ENCLAVE AVENIR 2020.json new file mode 100644 index 00000000..9b913b0b --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/BUICK BABY ENCLAVE AVENIR 2020.json @@ -0,0 +1 @@ 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\ No newline at end of file diff --git a/selfdrive/car/torque_data/lat_models/CADILLAC XT4 2023.json b/selfdrive/car/torque_data/lat_models/CADILLAC XT4 2023.json new file mode 100644 index 00000000..9b913b0b --- /dev/null +++ b/selfdrive/car/torque_data/lat_models/CADILLAC XT4 2023.json @@ -0,0 +1 @@ +{"input_std":[[10.088922],[1.7304039],[1.4375063],[0.032994103],[1.6795603],[1.705598],[1.7235253],[1.6614505],[1.6000563],[1.5353311],[1.4539971],[0.03317187],[0.03311562],[0.033051275],[0.03286789],[0.032877274],[0.032806873],[0.03260343]],"model_test_loss":0.03966723382472992,"input_size":18,"current_date_and_time":"2024-01-01_14-14-43","input_mean":[[20.066832],[-0.05136131],[-0.012342298],[-0.008433405],[-0.04397132],[-0.046372537],[-0.048583414],[-0.045400653],[-0.04217297],[-0.04097941],[-0.044701155],[-0.008306612],[-0.008348125],[-0.00839202],[-0.008467563],[-0.008504569],[-0.008618364],[-0.008788095]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[0.10824418],[-3.950648],[0.5197182],[0.3076343],[0.10567791],[-0.3259538],[-4.7028112]],"dense_1_W":[[-0.049621016,4.9386864,0.22225372,-0.50468636,-3.3765612,-1.9841615,0.5936033,1.2246263,1.095548,-0.47902176,-0.7616768,1.3234537,0.16300178,-0.07880985,-1.8373971,-0.049319483,-0.60459226,1.2156714],[-2.9402063,-1.0523149,-1.5185233,0.08499111,1.0865579,1.0525727,-0.1465986,-1.1851599,-0.058953725,-0.71784014,-0.2685184,0.71635437,0.251132,-0.30601355,-1.5897934,0.29047543,0.6667731,-0.10071236],[0.08765433,-1.4536031,-0.041436948,1.4752282,1.1028615,-0.103432536,-1.5968647,-2.285883,-0.6667483,-0.57892895,-0.23919246,-1.3221359,0.07155015,0.059983663,0.39822084,-0.11438429,-0.4005641,-0.04918819],[-0.1959526,-2.809933,-0.022276916,-0.57120407,-2.1798573,2.0513213,1.8356556,-0.055707194,0.3841646,0.12270313,-0.29532853,0.49275506,0.28545102,-0.02213581,-0.521218,-0.03942573,0.23347743,0.14229931],[-0.24373251,1.262901,-0.030217288,-0.12808013,1.2804521,-0.5394455,-0.38009447,0.18441972,-1.0359122,-0.0037286265,0.45743093,0.09319222,-0.36370987,0.3297252,-0.08393048,-0.0047107562,0.5613129,-0.4091355],[-0.23719503,-0.9404126,0.0926261,-0.051616613,-0.8165314,-0.9222617,-0.7448186,-1.2979639,-0.98353225,-1.2773293,-0.8675987,-0.014418147,-0.33688357,0.1969778,0.24246852,0.3851128,-0.19693658,-0.17832237],[-3.5865424,0.25134856,2.0410974,-0.36557475,-0.38683096,-0.8154279,-0.29506618,1.6679535,0.08965232,0.930452,0.45192754,-0.89868283,0.07440813,0.741106,1.1072174,-0.32913235,-0.4937108,0.14072369]],"activation":"σ"},{"dense_2_W":[[0.62462366,0.024357427,-0.34448272,-0.58292437,0.30916855,-0.50713134,-0.024550552],[0.43805766,-1.7579072,1.6740372,0.7165605,-0.42498606,1.1669543,-1.0991927],[-0.48364595,0.32843345,0.16262369,0.47115666,0.27874565,-0.32797176,-0.09075741],[-0.43172115,2.606324,1.8938895,-0.05707055,-3.4264026,1.739798,1.4022785],[0.33687568,0.41764873,0.16324182,-0.43559888,0.41784057,-0.07301598,-0.5026542],[0.11593532,-0.18869904,0.1762756,0.060152486,-0.23414135,-0.2395376,-0.46473634],[0.47535148,-0.34020066,-0.45831692,-0.397216,0.49522024,-0.36963704,0.23053196],[-2.9408336,2.4035687,0.8452914,2.4860463,0.75528365,-1.2101015,-2.6158304],[-0.4068932,0.35180044,-0.11634056,0.06763626,0.5883134,0.23572896,-0.39835322],[0.07357192,0.06712496,0.3003713,0.59648097,-0.07899983,-0.172574,-0.40611476],[-1.287874,0.50961626,0.59372807,1.2224478,-0.7302619,0.4823332,-0.67932415],[-0.5403362,-0.27858207,-0.40738842,0.40268764,-0.063495964,0.51690423,-0.04180467],[-0.07790316,-0.10537112,0.4429389,-0.092080735,-0.37243918,0.21537852,0.37400663]],"activation":"σ","dense_2_b":[[-0.06885159],[0.3566078],[0.0072980775],[-2.5390923],[-0.023952484],[0.047878355],[-0.13942967],[0.07728126],[0.03442184],[-0.054491904],[0.41003013],[0.026669098],[0.0048307395]]},{"dense_3_W":[[0.57360715,-0.6479148,-0.0929001,-0.7427764,0.39374602,0.2991983,0.48279104,-0.5929245,0.5512572,-0.41308194,-0.4991242,0.3139667,-0.36608085],[0.07104535,0.3203424,0.088158935,0.30987358,0.60674554,0.020095633,0.1591004,-0.4921284,-0.53741044,-0.07802789,0.20392969,0.43387452,0.3946713],[0.46675494,0.124138534,0.43950367,0.19262728,0.35888654,-0.19278255,0.13110434,0.084211424,0.0558524,-0.47238368,0.27825364,-0.1752686,-0.319111]],"activation":"identity","dense_3_b":[[0.060640067],[0.019549234],[0.04906507]]},{"dense_4_W":[[0.80676174,0.060901254,0.5398813]],"dense_4_b":[[0.057569314]],"activation":"identity"}]} \ No newline at end of file diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index e3fcdc5c..2d61e8e1 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -40,6 +40,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "CADILLAC ESCALADE 2017" = [1.899999976158142, 1.842270016670227, 0.1120000034570694] "CADILLAC ESCALADE ESV 2019" = [1.15, 1.3, 0.2] "CADILLAC XT4 2023" = [1.45, 1.6, 0.2] +# 昂科旗 +"BUICK BABY ENCLAVE 2020" = [1.45, 1.6, 0.2] +"BUICK BABY ENCLAVE AVENIR 2020" = [1.45, 1.6, 0.2] "CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05] "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112] "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16] diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 18e6e73b..4e5665a8 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -136,8 +136,8 @@ class CarController: pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2]) pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset) interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS) - elif self.CP.enableGasInterceptor and CC.longActive and self.CP.carFingerprint in STOP_AND_GO_CAR and actuators.accel > 0.0 \ - and CS.out.standstill: + elif ((CC.longActive and actuators.accel > 0.) or (not self.CP.openpilotLongitudinalControl and CS.stock_resume_ready)) \ + and self.CP.carFingerprint in STOP_AND_GO_CAR and self.CP.enableGasInterceptor and CS.out.vEgo < 1e-3: interceptor_gas_cmd = 0.12 else: interceptor_gas_cmd = 0. diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 07dfb672..2fd9232b 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -182,7 +182,18 @@ class CarState(CarStateBase): if self.CP.carFingerprint != CAR.PRIUS_V: self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"]) + # if openpilot does not control longitudinal, in this case, assume 0x343 is on bus0 + # 1) the car is no longer sending standstill + # 2) the car is still in standstill + if not self.CP.openpilotLongitudinalControl: + self.stock_resume_ready = cp.vl["ACC_CONTROL"]["RELEASE_STANDSTILL"] == 1 + # FrogPilot functions + if self.CP.flags & ToyotaFlags.SMART_DSU: + distance_pressed = cp.vl["SDSU"]["FD_BUTTON"] == 1 + elif self.CP.openpilotLongitudinalControl: + # KRKeegan - Add support for toyota distance button + distance_pressed = cp_acc.vl["ACC_CONTROL"]["DISTANCE"] == 1 # Switch the current state of Experimental Mode if the LKAS button is double pressed if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V: @@ -197,19 +208,6 @@ class CarState(CarStateBase): self.lkas_previously_pressed = lkas_pressed - if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR: - # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2" - self.personality_profile = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"] - 1 - - if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or self.CP.flags & ToyotaFlags.SMART_DSU: - # distance button is wired to the ACC module (camera or radar) - if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): - distance_pressed = cp_acc.vl["ACC_CONTROL"]["DISTANCE"] - else: - distance_pressed = cp.vl["SDSU"]["FD_BUTTON"] - else: - distance_pressed = False - # Distance button functions if ret.cruiseState.available: if distance_pressed: @@ -229,10 +227,24 @@ class CarState(CarStateBase): else: self.fpf.update_experimental_mode() + # Switch the current state of Traffic Mode if the button is held down for 2.5 seconds + if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode: + self.fpf.update_traffic_mode() + + # Revert the previous changes to Experimental Mode + if frogpilot_variables.experimental_mode_via_distance: + if frogpilot_variables.conditional_experimental_mode: + self.fpf.update_cestatus_lkas() + else: + self.fpf.update_experimental_mode() + self.distance_previously_pressed = distance_pressed # Update the distance lines on the dash upon ignition/onroad UI button clicked if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available: + # Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2" + self.personality_profile = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"] - 1 + # Sync with the onroad UI button if self.fpf.personality_changed_via_ui: self.profile_restored = False @@ -328,7 +340,7 @@ class CarState(CarStateBase): if CP.enableBsm: messages.append(("BSM", 1)) - if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value: + if not CP.openpilotLongitudinalControl or (CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value): if not CP.flags & ToyotaFlags.SMART_DSU.value: messages += [ ("ACC_CONTROL", 33), @@ -343,9 +355,7 @@ class CarState(CarStateBase): ] if CP.flags & ToyotaFlags.SMART_DSU: - messages += [ - ("SDSU", 100), - ] + messages.append(("SDSU", 33)) messages += [("SECONDARY_STEER_ANGLE", 0)] @@ -372,4 +382,7 @@ class CarState(CarStateBase): ("PCS_HUD", 1), ] + if not CP.openpilotLongitudinalControl and CP.carFingerprint not in (TSS2_CAR, UNSUPPORTED_DSU_CAR): + messages.append(("ACC_CONTROL", 33)) + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5a08732e..967a1b03 100644 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -177,23 +177,19 @@ class Controls: # FrogPilot variables self.params = Params() self.params_memory = Params("/dev/shm/params") - self.params_storage = Params("/persist/comma/params") self.frogpilot_variables = SimpleNamespace() - self.drive_added = False self.driving_gear = False self.fcw_random_event_triggered = False - self.holiday_theme_alerted = False - self.previously_enabled = False self.openpilot_crashed = False self.previously_enabled = False self.random_event_triggered = False self.stopped_for_light_previously = False self.drive_distance = 0 - self.drive_time = 0 self.max_acceleration = 0 + self.previous_drive_distance = 0 self.previous_lead_distance = 0 self.previous_speed_limit = SpeedLimitController.desired_speed_limit self.random_event_timer = 0 @@ -201,6 +197,12 @@ class Controls: ignore = self.sensor_packets + ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] + + self.driver_privacy_protection = self.params.get_bool("DriverPrivacyProtection") + if self.driver_privacy_protection: + self.camera_packets = ["roadCameraState", "wideRoadCameraState"] + ignore += ['driverMonitoringState'] if SIMULATION else ['driverCameraState', 'managerState', 'driverMonitoringState'] + self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', @@ -301,6 +303,7 @@ class Controls: self.experimental_mode = False self.v_cruise_helper = VCruiseHelper(self.CP) self.recalibrating_seen = False + self.nn_alert_shown = False self.can_log_mono_time = 0 @@ -346,9 +349,8 @@ class Controls: return # Show holiday related event to indicate which holiday is active - if self.sm.frame >= 1000 and self.holiday_themes and self.params_memory.get_int("CurrentHolidayTheme") != 0 and not self.holiday_theme_alerted: + if self.sm.frame % 1000 == 0 and self.holiday_themes and self.params_memory.get_int("CurrentHolidayTheme") != 0: self.events.add(EventName.holidayActive) - self.holiday_theme_alerted = True # Add joystick event, static on cars, dynamic on nonCars if self.joystick_mode: @@ -370,7 +372,8 @@ class Controls: return # show alert to indicate whether NNFF is loaded - if self.sm.frame == 550 and self.CP.lateralTuning.which() == 'torque' and self.CI.has_lateral_torque_nn: + if not self.nn_alert_shown and self.sm.frame % 550 == 0 and self.CP.lateralTuning.which() == 'torque' and self.CI.has_lateral_torque_nn: + self.nn_alert_shown = True self.events.add(EventName.torqueNNLoad) # Block resume if cruise never previously enabled @@ -588,36 +591,10 @@ class Controls: # Store the total distance traveled self.drive_distance += CS.vEgo * DT_CTRL - self.drive_time += DT_CTRL - # Store the current drive's data after a minute when at a standstill - Need to do this live for comma powerless users - if self.drive_time > 60 and CS.standstill: - current_total_distance = self.params.get_float("FrogPilotKilometers") - distance_to_add = self.drive_distance / 1000 - new_total_distance = current_total_distance + distance_to_add - - self.params.put_float("FrogPilotKilometers", new_total_distance) - self.params_storage.put_float("FrogPilotKilometers", new_total_distance) - - self.drive_distance = 0 - - current_total_time = self.params.get_float("FrogPilotMinutes") - time_to_add = self.drive_time / 60 - new_total_time = current_total_time + time_to_add - - self.params.put_float("FrogPilotMinutes", new_total_time) - self.params_storage.put_float("FrogPilotMinutes", new_total_time) - - self.drive_time = 0 - - # Only count the drive if it lasted longer than 5 minutes - if self.sm.frame * DT_CTRL > 60 * 5 and not self.drive_added: - new_total_drives = self.params.get_int("FrogPilotDrives") + 1 - - self.params.put_int("FrogPilotDrives", new_total_drives) - self.params_storage.put_int("FrogPilotDrives", new_total_drives) - - self.drive_added = True + if self.drive_distance != self.previous_drive_distance: + self.params_memory.put_float("FrogPilotKilometers", self.drive_distance / 1000) + self.params_memory.put_float("FrogPilotMinutes", self.sm.frame * DT_CTRL / 60) # Acceleration Random Event alerts if self.random_events: @@ -687,7 +664,7 @@ class Controls: else: self.params_memory.put_bool("SLCConfirmed", True) - if self.params_memory.get_bool("SLCConfirmedPressed") or abs(current_speed_limit - desired_speed_limit) < 1 or not self.speed_limit_confirmation: + if self.params_memory.get_bool("SLCConfirmedPressed") or current_speed_limit == desired_speed_limit or not self.speed_limit_confirmation: self.FPCC.speedLimitChanged = False self.params_memory.put_bool("SLCConfirmedPressed", False) @@ -770,6 +747,13 @@ class Controls: def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" + resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) + set_pressed = any(be.type in (ButtonType.decelCruise, ButtonType.setCruise) for be in CS.buttonEvents) + if resume_pressed: + self.frogpilot_variables.prev_button = ButtonType.resumeCruise + elif set_pressed: + self.frogpilot_variables.prev_button = ButtonType.setCruise + self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric, self.FPCC.speedLimitChanged, self.frogpilot_variables) # decrement the soft disable timer at every step, as it's reset on @@ -881,7 +865,7 @@ class Controls: # Reset the Random Event flag after 5 seconds if self.random_event_triggered: self.random_event_timer += 1 - if self.random_event_timer * DT_CTRL >= 4: + if self.random_event_timer * DT_CTRL >= 5: self.random_event_triggered = False self.random_event_timer = 0 self.params_memory.remove("CurrentRandomEvent") @@ -895,6 +879,12 @@ class Controls: signal_check = not ((CS.leftBlinker or CS.rightBlinker) and CS.vEgo < self.pause_lateral_on_signal and not CS.standstill) + #测试最低启用速度 + #1.非巡航状态下，速度小于standard，暂停横向控制 + #2.在巡航状态下，速度小于engage，暂停横向控制 + min_steer_speed_check = not ((self.state not in ACTIVE_STATES) and CS.vEgo < max(self.CP.minSteerSpeed, self.min_steer_speed_standard) and not CS.standstill) and \ + not ((self.state in ACTIVE_STATES) and CS.vEgo < max(self.CP.minSteerSpeed, self.min_steer_speed_engage) and not CS.standstill) + # Always on lateral self.FPCC.alwaysOnLateral |= CS.cruiseState.enabled or self.always_on_lateral_main self.FPCC.alwaysOnLateral &= self.always_on_lateral @@ -908,7 +898,8 @@ class Controls: # Check which actuators can be enabled standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and signal_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ - (not standstill or self.joystick_mode) and not self.openpilot_crashed + (not standstill or self.joystick_mode) and not self.openpilot_crashed and \ + min_steer_speed_check CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl and not self.openpilot_crashed actuators = CC.actuators @@ -977,7 +968,7 @@ class Controls: good_speed = CS.vEgo > 5 max_torque = abs(self.last_actuators.steer) > 0.99 if undershooting and turning and good_speed and max_torque and not self.random_event_triggered: - if self.sm.frame % 10000 == 0 and self.random_events: + if self.sm.frame % 10000 == 0: lac_log.active and self.events.add(EventName.firefoxSteerSaturated) self.params_memory.put_int("CurrentRandomEvent", 1) self.random_event_triggered = True @@ -1127,6 +1118,7 @@ class Controls: controlsState.forceDecel = bool(force_decel) controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter controlsState.experimentalMode = self.experimental_mode + self.frogpilot_variables.experimentalMode = self.experimental_mode lat_tuning = self.CP.lateralTuning.which() if self.joystick_mode: @@ -1219,6 +1211,7 @@ class Controls: def update_frogpilot_params(self): self.frogpilot_variables.conditional_experimental_mode = self.params.get_bool("ConditionalExperimental") + self.frogpilot_variables.CSLC = self.params.get_bool("CSLCEnabled") custom_alerts = self.params.get_bool("CustomAlerts") self.green_light_alert = custom_alerts and self.params.get_bool("GreenLightAlert") @@ -1246,6 +1239,7 @@ class Controls: longitudinal_tune = self.params.get_bool("LongitudinalTune") self.frogpilot_variables.sport_plus = longitudinal_tune and self.params.get_int("AccelerationProfile") == 3 + self.frogpilot_variables.traffic_mode = longitudinal_tune and self.params.get_bool("TrafficMode") self.lane_detection = self.params.get_bool("LaneDetection") and self.params.get_bool("NudgelessLaneChange") self.lane_detection_width = self.params.get_int("LaneDetectionWidth") * (1 if self.is_metric else CV.FOOT_TO_METER) / 10 if self.lane_detection else 0 @@ -1257,6 +1251,10 @@ class Controls: self.pause_lateral_on_signal = self.params.get_int("PauseLateralOnSignal") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0 self.frogpilot_variables.reverse_cruise_increase = quality_of_life and self.params.get_bool("ReverseCruise") self.frogpilot_variables.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1 if self.is_metric else CV.MPH_TO_KPH) if quality_of_life else 0 + #MinSteerSpeedStandard, convert to MS + self.min_steer_speed_standard = self.params.get_int("MinSteerSpeedStandard") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0 + #MinSteerSpeedEngage, convert to MS + self.min_steer_speed_engage = self.params.get_int("MinSteerSpeedEngage") * (CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS) if quality_of_life else 0 self.random_events = self.params.get_bool("RandomEvents") self.frogpilot_variables.use_ev_tables = self.params.get_bool("EVTable") diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index 52240bbb..e4c9b47b 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -7,7 +7,7 @@ LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection TurnDirection = log.Desire -LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS +LANE_CHANGE_SPEED_MIN = 10 * CV.KPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 0a8645a8..b6a844d2 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -57,7 +57,7 @@ class VCruiseHelper: self.v_cruise_kph_last = self.v_cruise_kph if CS.cruiseState.available: - if not self.CP.pcmCruise: + if not self.CP.pcmCruise or frogpilot_variables.CSLC: # if stock cruise is completely disabled, then we can use our own set speed logic self._update_v_cruise_non_pcm(CS, enabled, is_metric, speed_limit_changed, frogpilot_variables) self.v_cruise_cluster_kph = self.v_cruise_kph @@ -152,7 +152,7 @@ class VCruiseHelper: def initialize_v_cruise(self, CS, experimental_mode: bool, desired_speed_limit, frogpilot_variables) -> None: # initializing is handled by the PCM - if self.CP.pcmCruise: + if self.CP.pcmCruise and not frogpilot_variables.CSLC: return if frogpilot_variables.conditional_experimental_mode: @@ -160,6 +160,21 @@ class VCruiseHelper: else: initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL + # CSLC resume/set logic + if frogpilot_variables.CSLC: + if frogpilot_variables.prev_button == ButtonType.resumeCruise and self.v_cruise_kph_last < 250: + self.v_cruise_kph = self.v_cruise_kph_last + else: + # Initial set speed + if desired_speed_limit != 0 and frogpilot_variables.set_speed_limit: + # If there's a known speed limit and the corresponding FP toggle is set, push it to the car + self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH)) + else: + # Use fixed initial set speed from mode etc. + self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX))) + self.v_cruise_cluster_kph = self.v_cruise_kph + return + # 250kph or above probably means we never had a set speed if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250: self.v_cruise_kph = self.v_cruise_kph_last @@ -167,7 +182,7 @@ class VCruiseHelper: # Initial set speed if desired_speed_limit != 0 and frogpilot_variables.set_speed_limit: # If there's a known speed limit and the corresponding FP toggle is set, push it to the car - self.v_cruise_kph = desired_speed_limit * CV.MS_TO_KPH + self.v_cruise_kph = int(round(desired_speed_limit * CV.MS_TO_KPH)) else: # Use fixed initial set speed from mode etc. self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX))) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 68fff821..27450080 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -238,8 +238,11 @@ def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging. def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: + params = Params() + quality_of_life = params.get_bool("QOLControls") + min_steer_speed_standard = params.get_int("MinSteerSpeedStandard") * (CV.KPH_TO_MS if metric else CV.MPH_TO_MS) if quality_of_life else 0 return Alert( - f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}", + f"Steer Unavailable Below {get_display_speed(max(CP.minSteerSpeed,min_steer_speed_standard), metric)}", "", AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4) @@ -748,7 +751,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.noGps: { - ET.PERMANENT: no_gps_alert, + #ET.PERMANENT: no_gps_alert, }, EventName.soundsUnavailable: { @@ -1128,10 +1131,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.yourFrogTriedToKillMe: { ET.PERMANENT: Alert( - "Your frog tried to kill me...", - "😡", - AlertStatus.frogpilot, AlertSize.mid, - Priority.MID, VisualAlert.none, AudibleAlert.angry, 5.), + "Your frog tried to kill me", + "😠", + AlertStatus.frogpilot, AlertSize.small, + Priority.MID, VisualAlert.none, AudibleAlert.angry, 3.), }, } diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 0e1c1d37..3b71b224 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -327,10 +327,10 @@ class LongitudinalMpc: lead_xv = np.column_stack((x_lead_traj, v_lead_traj)) return lead_xv - def process_lead(self, lead, increased_stopping_distance): + def process_lead(self, lead, frogpilot_planner): v_ego = self.x0[1] if lead is not None and lead.status: - x_lead = lead.dRel - increased_stopping_distance + x_lead = lead.dRel - (frogpilot_planner.increased_stopping_distance if not frogpilot_planner.traffic_mode_active else 0) v_lead = lead.vLead a_lead = lead.aLeadK a_lead_tau = lead.aLeadTau @@ -357,13 +357,17 @@ class LongitudinalMpc: self.max_a = max_a def update(self, radarstate, v_cruise, x, v, a, j, frogpilot_planner, personality=log.LongitudinalPersonality.standard): - t_follow = get_T_FOLLOW(frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_follow, frogpilot_planner.standard_follow, frogpilot_planner.relaxed_follow, personality) + if frogpilot_planner.traffic_mode_active: + t_follow = frogpilot_planner.traffic_mode_t_follow + else: + t_follow = get_T_FOLLOW(frogpilot_planner.custom_personalities, frogpilot_planner.aggressive_follow, frogpilot_planner.standard_follow, frogpilot_planner.relaxed_follow, personality) + self.t_follow = t_follow v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status - lead_xv_0 = self.process_lead(radarstate.leadOne, frogpilot_planner.increased_stopping_distance) - lead_xv_1 = self.process_lead(radarstate.leadTwo, frogpilot_planner.increased_stopping_distance) + lead_xv_0 = self.process_lead(radarstate.leadOne, frogpilot_planner) + lead_xv_1 = self.process_lead(radarstate.leadTwo, frogpilot_planner) # Offset by FrogAi for FrogPilot for a more natural takeoff with a lead if frogpilot_planner.aggressive_acceleration: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index d423a62d..e0791b54 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -24,8 +24,8 @@ A_CRUISE_MIN = -1.2 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] -ACCEL_MAX_PLUS = [ACCEL_MAX, 4.0] -ACCEL_MAX_PLUS_BP = [0., CRUISING_SPEED] +ACCEL_MAX_PLUS = [ACCEL_MAX, 2.5, 3.0, 3.5, 4.0] +ACCEL_MAX_PLUS_BP = [0., CRUISING_SPEED / 4, CRUISING_SPEED / 3, CRUISING_SPEED / 2, CRUISING_SPEED] # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] diff --git a/selfdrive/frogpilot/assets/custom_themes/tesla_theme/images/turn_signal_1.png b/selfdrive/frogpilot/assets/custom_themes/tesla_theme/images/turn_signal_1.png index 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a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_immediate.wav b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_immediate.wav index b1815a95..a8c778fa 100644 Binary files a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_immediate.wav and b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_immediate.wav differ diff --git a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_soft.wav b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_soft.wav index 261c7e13..e6f3c2c1 100644 Binary files a/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_soft.wav and b/selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/warning_soft.wav differ diff --git a/selfdrive/frogpilot/assets/random_events/images/weeb_wheel.gif b/selfdrive/frogpilot/assets/random_events/images/weeb_wheel.gif index 0c8374ea..95b205dd 100644 Binary files a/selfdrive/frogpilot/assets/random_events/images/weeb_wheel.gif and b/selfdrive/frogpilot/assets/random_events/images/weeb_wheel.gif differ diff --git a/selfdrive/frogpilot/fleetmanager/helpers.py b/selfdrive/frogpilot/fleetmanager/helpers.py index 65f1ce7f..1f423025 100644 --- a/selfdrive/frogpilot/fleetmanager/helpers.py +++ b/selfdrive/frogpilot/fleetmanager/helpers.py @@ -465,6 +465,11 @@ def get_all_toggle_values(): "HideUIElements", "HideAlerts", "HideMapIcon", "HideMaxSpeed", "ScreenBrightness", "ScreenBrightnessOnroad", "ScreenTimeout", "ScreenTimeoutOnroad", "ScreenRecorder", "StandbyMode", "WheelIcon", "RotatingWheel", "NumericalTemp", "Fahrenheit", "ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed", "Sidebar", + + "MinSteerSpeedStandard", "MinSteerSpeedEngage", + "DashSpeedRatio1", "DashSpeedRatio2", "DashSpeedRatio3", "SetSpeedRatio1", "SetSpeedRatio2", "SetSpeedRatio3", "SpeedDecimal", + "FrogPilotDrives", "FrogPilotKilometers", "FrogPilotMinutes", "CarMake", "CarModel", + "DriverPrivacyProtection", "CSLCEnabled", "CalibrationCircle", ] toggle_values = {} @@ -480,8 +485,10 @@ def get_all_toggle_values(): def store_toggle_values(updated_values): for key, value in updated_values.items(): try: - params.put(key, value.encode('utf-8')) - params_storage.put(key, value.encode('utf-8')) + # readonly key + if key not in ["FrogPilotDrives", "FrogPilotKilometers", "FrogPilotMinutes", "CarMake", "CarModel"]: + params.put(key, value.encode('utf-8')) + params_storage.put(key, value.encode('utf-8')) except Exception as e: print(f"Failed to update {key}: {e}") diff --git a/selfdrive/frogpilot/functions/conditional_experimental_mode.py b/selfdrive/frogpilot/functions/conditional_experimental_mode.py index f7d27f22..ee76acc9 100644 --- a/selfdrive/frogpilot/functions/conditional_experimental_mode.py +++ b/selfdrive/frogpilot/functions/conditional_experimental_mode.py @@ -71,7 +71,7 @@ class ConditionalExperimentalMode: return True # Navigation check - if self.navigation and modelData.navEnabled and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn) and (self.navigation_lead or not self.lead_detected): + if self.navigation and (frogpilotNavigation.approachingIntersection or frogpilotNavigation.approachingTurn) and (self.navigation_lead or not self.lead_detected): self.status_value = 7 if frogpilotNavigation.approachingIntersection else 8 return True diff --git a/selfdrive/frogpilot/functions/frogpilot_functions.py b/selfdrive/frogpilot/functions/frogpilot_functions.py index 4c94e1dc..20e13ec0 100644 --- a/selfdrive/frogpilot/functions/frogpilot_functions.py +++ b/selfdrive/frogpilot/functions/frogpilot_functions.py @@ -113,6 +113,11 @@ class FrogPilotFunctions: # Invert the value of "ExperimentalMode" self.params.put_bool("ExperimentalMode", not experimental_mode) + def update_traffic_mode(self): + traffic_mode = self.params_memory.get_bool("TrafficModeActive") + # Invert the value of "TrafficModeActive" + self.params_memory.put_bool("TrafficModeActive", not traffic_mode) + @staticmethod def road_curvature(modelData, v_ego): predicted_velocities = np.array(modelData.velocity.x) diff --git a/selfdrive/frogpilot/functions/frogpilot_planner.py b/selfdrive/frogpilot/functions/frogpilot_planner.py index fbc4ad95..8f06ce09 100644 --- a/selfdrive/frogpilot/functions/frogpilot_planner.py +++ b/selfdrive/frogpilot/functions/frogpilot_planner.py @@ -2,13 +2,13 @@ import cereal.messaging as messaging import numpy as np from openpilot.common.conversions import Conversions as CV -from openpilot.common.numpy_fast import clip +from openpilot.common.numpy_fast import clip, interp from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel -from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED, FrogPilotFunctions +from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CITY_SPEED_LIMIT, CRUISING_SPEED, FrogPilotFunctions from openpilot.selfdrive.frogpilot.functions.conditional_experimental_mode import ConditionalExperimentalMode from openpilot.selfdrive.frogpilot.functions.map_turn_speed_controller import MapTurnSpeedController @@ -17,6 +17,8 @@ from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import Speed TARGET_LAT_A = 1.9 # m/s^2 +TRAFFIC_MODE_BP = [0., CITY_SPEED_LIMIT / 4, CITY_SPEED_LIMIT / 3, CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT] + class FrogPilotPlanner: def __init__(self, CP, params, params_memory): self.CP = CP @@ -28,6 +30,7 @@ class FrogPilotPlanner: self.mtsc = MapTurnSpeedController() self.override_slc = False + self.traffic_mode_active = False self.overridden_speed = 0 self.mtsc_target = 0 @@ -87,16 +90,27 @@ class FrogPilotPlanner: # Update the current road curvature self.road_curvature = self.fpf.road_curvature(modelData, v_ego) + # Update the current state of "Traffic Mode" + self.traffic_mode_active = self.traffic_mode and self.params_memory.get_bool("TrafficModeActive") + if self.traffic_mode_active: + self.traffic_mode_t_follow = interp(v_ego, TRAFFIC_MODE_BP, [.50, .65, .80, .95, 1.]) + # Update the desired stopping distance self.stop_distance = STOP_DISTANCE # Update the max allowed speed self.v_cruise = self.update_v_cruise(carState, controlsState, enabled, modelData, v_cruise, v_ego) + # self.params_memory.put_int("CSLCSpeed", int(round(self.v_cruise * CV.MS_TO_MPH))) + self.params_memory.put_float("CSLCSpeed", round(self.v_cruise, 4)) #using ms + def update_v_cruise(self, carState, controlsState, enabled, modelData, v_cruise, v_ego): # Offsets to adjust the max speed to match the cluster v_ego_cluster = max(carState.vEgoCluster, v_ego) - v_ego_diff = v_ego_cluster - v_ego + if self.CSLC: + v_ego_diff = 0 + else: + v_ego_diff = v_ego_cluster - v_ego v_cruise_cluster = max(controlsState.vCruiseCluster, controlsState.vCruise) * CV.KPH_TO_MS v_cruise_diff = v_cruise_cluster - v_cruise @@ -111,6 +125,8 @@ class FrogPilotPlanner: self.mtsc_target = v_cruise if v_ego - self.mtsc_limit >= self.mtsc_target: self.mtsc_target = v_cruise + if self.mtsc_target < 12 * CV.MPH_TO_MS: + self.mtsc_target = v_cruise else: self.mtsc_target = v_cruise @@ -137,8 +153,7 @@ class FrogPilotPlanner: if self.speed_limit_controller_override == 1: # Set the speed limit to the manual set speed if carState.gasPressed: - self.overridden_speed = v_ego + v_ego_diff - self.overridden_speed = np.clip(self.overridden_speed, self.slc_target, v_cruise + v_cruise_diff) + self.overridden_speed = np.clip(v_ego + v_ego_diff, self.slc_target, v_cruise + v_cruise_diff) elif self.speed_limit_controller_override == 2: # Set the speed limit to the max set speed self.overridden_speed = v_cruise + v_cruise_diff @@ -171,7 +186,7 @@ class FrogPilotPlanner: targets = [self.mtsc_target, max(self.overridden_speed, self.slc_target) - v_ego_diff, self.vtsc_target] filtered_targets = [target for target in targets if target > CRUISING_SPEED] - return min(filtered_targets + [v_cruise]) if filtered_targets else v_cruise + return (min(filtered_targets) if filtered_targets else v_cruise) def publish(self, sm, pm, mpc): frogpilot_plan_send = messaging.new_message('frogpilotPlan') @@ -204,6 +219,8 @@ class FrogPilotPlanner: def update_frogpilot_params(self, params): self.is_metric = params.get_bool("IsMetric") + self.CSLC = params.get_bool("CSLCEnabled") + self.conditional_experimental_mode = params.get_bool("ConditionalExperimental") if self.conditional_experimental_mode: self.cem.update_frogpilot_params(self.is_metric, params) @@ -235,6 +252,7 @@ class FrogPilotPlanner: self.aggressive_acceleration = longitudinal_tune and params.get_bool("AggressiveAcceleration") self.increased_stopping_distance = params.get_int("StoppingDistance") * (1 if self.is_metric else CV.FOOT_TO_METER) if longitudinal_tune else 0 self.smoother_braking = longitudinal_tune and params.get_bool("SmoothBraking") + self.traffic_mode = longitudinal_tune and params.get_bool("TrafficMode") self.map_turn_speed_controller = params.get_bool("MTSCEnabled") if self.map_turn_speed_controller: diff --git a/selfdrive/frogpilot/functions/frogpilot_process.py b/selfdrive/frogpilot/functions/frogpilot_process.py index ecea541b..777afdd4 100644 --- a/selfdrive/frogpilot/functions/frogpilot_process.py +++ b/selfdrive/frogpilot/functions/frogpilot_process.py @@ -5,103 +5,96 @@ import threading from openpilot.common.params import Params from openpilot.common.realtime import Ratekeeper -class FrogPilotProcess: - def __init__(self): - self.params_memory = Params("/dev/shm/params") +def calculate_easter(year): + a = year % 19 + b = year // 100 + c = year % 100 + d = b // 4 + e = b % 4 + f = (b + 8) // 25 + g = (b - f + 1) // 3 + h = (19 * a + b - d - g + 15) % 30 + i = c // 4 + k = c % 4 + l = (32 + 2 * e + 2 * i - h - k) % 7 + m = (a + 11 * h + 22 * l) // 451 + month = (h + l - 7 * m + 114) // 31 + day = ((h + l - 7 * m + 114) % 31) + 1 + return datetime.datetime(year, month, day) - self.previous_theme_id = 0 +def calculate_thanksgiving(year): + fourth_thursday = 4 + november_first = datetime.datetime(year, 11, 1) + day_of_week = november_first.weekday() + thanksgiving = november_first + datetime.timedelta(days=((fourth_thursday - day_of_week) % 7) + 21) + return thanksgiving - @staticmethod - def calculate_easter(year): - a = year % 19 - b = year // 100 - c = year % 100 - d = b // 4 - e = b % 4 - f = (b + 8) // 25 - g = (b - f + 1) // 3 - h = (19 * a + b - d - g + 15) % 30 - i = c // 4 - k = c % 4 - l = (32 + 2 * e + 2 * i - h - k) % 7 - m = (a + 11 * h + 22 * l) // 451 - month = (h + l - 7 * m + 114) // 31 - day = ((h + l - 7 * m + 114) % 31) + 1 - return datetime.datetime(year, month, day) +def is_within_week_of(target_date, current_date): + start_of_week = target_date - datetime.timedelta(days=target_date.weekday()) + end_of_week = start_of_week + datetime.timedelta(days=6) + return start_of_week <= current_date <= end_of_week - @staticmethod - def calculate_thanksgiving(year): - fourth_thursday = 4 - november_first = datetime.datetime(year, 11, 1) - day_of_week = november_first.weekday() - thanksgiving = november_first + datetime.timedelta(days=((fourth_thursday - day_of_week) % 7) + 21) - return thanksgiving +def check_date(params_memory): + current_date = datetime.datetime.now() + year = current_date.year + previous_theme_id = params_memory.get_int("CurrentHolidayTheme") - @staticmethod - def is_within_week_of(target_date, current_date): - start_of_week = target_date - datetime.timedelta(days=target_date.weekday()) - end_of_week = start_of_week + datetime.timedelta(days=6) - return start_of_week <= current_date <= end_of_week + holidays = { + "april_fools_day": (datetime.datetime(year, 4, 1), 1), + "christmas": (datetime.datetime(year, 12, 25), 2), + "cinco_de_mayo": (datetime.datetime(year, 5, 5), 3), + "easter": (calculate_easter(year), 4), + "fourth_of_july": (datetime.datetime(year, 7, 4), 5), + "halloween": (datetime.datetime(year, 10, 31), 6), + "new_years_day": (datetime.datetime(year, 1, 1), 7), + "st_patricks_day": (datetime.datetime(year, 3, 17), 8), + "thanksgiving": (calculate_thanksgiving(year), 9), + "valentines_day": (datetime.datetime(year, 2, 14), 10), + "world_frog_day": (datetime.datetime(year, 3, 20), 11) + } - def check_date(self): - current_date = datetime.datetime.now() - year = current_date.year - - holidays = { - "april_fools": (datetime.datetime(year, 4, 1), 1), - "christmas_week": (datetime.datetime(year, 12, 25), 2), - "cinco_de_mayo": (datetime.datetime(year, 5, 5), 3), - "easter_week": (self.calculate_easter(year), 4), - "fourth_of_july": (datetime.datetime(year, 7, 4), 5), - "halloween_week": (datetime.datetime(year, 10, 31), 6), - "new_years": (datetime.datetime(year, 1, 1), 7), - "st_patricks": (datetime.datetime(year, 3, 17), 8), - "thanksgiving_week": (self.calculate_thanksgiving(year), 9), - "valentines": (datetime.datetime(year, 2, 14), 10), - "world_frog_day": (datetime.datetime(year, 3, 20), 11) - } - - for holiday, (date, theme_id) in holidays.items(): - if holiday.endswith("_week"): - if self.is_within_week_of(date, current_date): - self.params_memory.put_int("CurrentHolidayTheme", theme_id) - if theme_id != self.previous_theme_id: - threading.Thread(target=self.update_holiday_theme).start() - self.previous_theme_id = theme_id - return - - elif current_date.date() == date.date(): - self.params_memory.put_int("CurrentHolidayTheme", theme_id) - if theme_id != self.previous_theme_id: - threading.Thread(target=self.update_holiday_theme).start() - self.previous_theme_id = theme_id + for holiday, (date, theme_id) in holidays.items(): + if holiday in ["easter", "thanksgiving"] or holiday.endswith("_week"): + if is_within_week_of(date, current_date): + params_memory.put_int("CurrentHolidayTheme", theme_id) + if theme_id != previous_theme_id: + threading.Thread(target=update_holiday_theme, args=(params_memory,)).start() return + elif current_date.date() == date.date(): + params_memory.put_int("CurrentHolidayTheme", theme_id) + if theme_id != previous_theme_id: + threading.Thread(target=update_holiday_theme, args=(params_memory,)).start() + return + else: + params_memory.put_int("CurrentHolidayTheme", 0) + if previous_theme_id != 0: + threading.Thread(target=update_holiday_theme, args=(params_memory,)).start() - else: - self.params_memory.put_int("CurrentHolidayTheme", 0) - if self.previous_theme_id != 0: - threading.Thread(target=self.update_holiday_theme).start() - self.previous_theme_id = 0 +def update_holiday_theme(params_memory): + params_memory.put_bool("FrogPilotTogglesUpdated", True) + time.sleep(1) + params_memory.put_bool("FrogPilotTogglesUpdated", False) - def update_holiday_theme(self): - self.params_memory.put_bool("FrogPilotTogglesUpdated", True) - time.sleep(1) - self.params_memory.put_bool("FrogPilotTogglesUpdated", False) +def wait_for_next_minute(): + now = datetime.datetime.now() + next_minute = (now + datetime.timedelta(minutes=1)).replace(second=0, microsecond=0) + wait_seconds = (next_minute - now).total_seconds() + time.sleep(wait_seconds) - def frogpilot_process_thread(self): - rk = Ratekeeper(1.0) +def frogpilot_process_thread(): + params_memory = Params("/dev/shm/params") - while True: - current_time = datetime.datetime.now() + rk = Ratekeeper(1.0) - if current_time.second == 0: - self.check_date() - - rk.keep_time() + while True: + current_time = datetime.datetime.now() + if current_time.second == 0: + check_date(params_memory) + rk.keep_time() def main(): - frogpilot_process = FrogPilotProcess() - frogpilot_process.frogpilot_process_thread() + wait_for_next_minute() + frogpilot_process_thread() if __name__ == "__main__": main() diff --git a/selfdrive/frogpilot/functions/speed_limit_controller.py b/selfdrive/frogpilot/functions/speed_limit_controller.py index 85923f6c..a0a6826d 100644 --- a/selfdrive/frogpilot/functions/speed_limit_controller.py +++ b/selfdrive/frogpilot/functions/speed_limit_controller.py @@ -3,6 +3,8 @@ import json from openpilot.common.conversions import Conversions as CV from openpilot.common.params import Params +from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED + params = Params() params_memory = Params("/dev/shm/params") @@ -38,7 +40,7 @@ class SpeedLimitController: @property def speed_limit(self) -> float: limits = [self.car_speed_limit, self.map_speed_limit, self.nav_speed_limit] - filtered_limits = [limit for limit in limits if limit >= 1] + filtered_limits = [limit for limit in limits if limit > CRUISING_SPEED] if self.highest and filtered_limits: return max(filtered_limits) @@ -51,34 +53,25 @@ class SpeedLimitController: "Offline Maps": self.map_speed_limit, } - priorities = [ - self.speed_limit_priority1, - self.speed_limit_priority2, - self.speed_limit_priority3, - ] - - for priority in priorities: - speed_limit_value = speed_limits.get(priority, 0) - if speed_limit_value >= 1: - return speed_limit_value + for priority in self.priorities: + limit = speed_limits.get(priority) + if limit and limit > CRUISING_SPEED: + self.update_previous_limit(limit) + return limit if self.use_previous_limit: return self.prv_speed_limit return 0 - def update_previous_limit(self, speed_limit: float): - if self.prv_speed_limit != speed_limit: - params.put_float("PreviousSpeedLimit", speed_limit) - self.prv_speed_limit = speed_limit + def update_previous_limit(self, new_limit: float): + if self.prv_speed_limit != new_limit: + params.put_float("PreviousSpeedLimit", new_limit) + self.prv_speed_limit = new_limit @property def desired_speed_limit(self) -> float: - if self.speed_limit != 0: - self.update_previous_limit(self.speed_limit) - return self.speed_limit + self.offset - else: - return 0 + return self.speed_limit + self.offset if self.speed_limit != 0 else 0 @property def experimental_mode(self) -> bool: @@ -101,12 +94,16 @@ class SpeedLimitController: self.offset3 = params.get_int("Offset3") * conversion self.offset4 = params.get_int("Offset4") * conversion - self.speed_limit_priority1 = params.get("SLCPriority1", encoding='utf-8') - self.speed_limit_priority2 = params.get("SLCPriority2", encoding='utf-8') - self.speed_limit_priority3 = params.get("SLCPriority3", encoding='utf-8') + speed_limit_priority1 = params.get("SLCPriority1", encoding='utf-8') - self.highest = self.speed_limit_priority1 == "Highest" - self.lowest = self.speed_limit_priority1 == "Lowest" + self.highest = speed_limit_priority1 == "Highest" + self.lowest = speed_limit_priority1 == "Lowest" + + self.priorities = [ + speed_limit_priority1, + params.get("SLCPriority2", encoding='utf-8'), + params.get("SLCPriority3", encoding='utf-8'), + ] slc_fallback = params.get_int("SLCFallback") self.use_experimental_mode = slc_fallback == 1 diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index da1c4ec3..bfdb9f82 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -65,6 +65,7 @@ class Calibrator: # Read saved calibration self.params = Params() + self.calibration_circle = max(1, self.params.get_int("CalibrationCircle")) calibration_params = self.params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT @@ -144,7 +145,7 @@ class Calibrator: else: self.calib_spread = np.zeros(3) - if self.valid_blocks < INPUTS_NEEDED: + if self.valid_blocks < (INPUTS_NEEDED * self.calibration_circle): if self.cal_status == log.LiveCalibrationData.Status.recalibrating: self.cal_status = log.LiveCalibrationData.Status.recalibrating else: @@ -192,7 +193,7 @@ class Calibrator: else: height_certain = True - certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED) + certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < (INPUTS_NEEDED * self.calibration_circle)) if not (straight_and_fast and certain_if_calib): return None @@ -236,14 +237,14 @@ class Calibrator: liveCalibration = msg.liveCalibration liveCalibration.validBlocks = self.valid_blocks liveCalibration.calStatus = self.cal_status - liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) + liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * self.calibration_circle * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() liveCalibration.height = self.height.tolist() if self.not_car: - liveCalibration.validBlocks = INPUTS_NEEDED + liveCalibration.validBlocks = INPUTS_NEEDED * self.calibration_circle liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated liveCalibration.calPerc = 100. liveCalibration.rpyCalib = [0, 0, 0] diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd index 73a6cfb5..1f701edf 100755 Binary files a/selfdrive/locationd/locationd and b/selfdrive/locationd/locationd differ diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp index 97d689e1..33cf4b13 100644 --- a/selfdrive/locationd/models/generated/car.cpp +++ b/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_7226686656405340864) { - out_7226686656405340864[0] = delta_x[0] + nom_x[0]; - out_7226686656405340864[1] = delta_x[1] + nom_x[1]; - out_7226686656405340864[2] = delta_x[2] + nom_x[2]; - out_7226686656405340864[3] = delta_x[3] + nom_x[3]; - out_7226686656405340864[4] = delta_x[4] + nom_x[4]; - out_7226686656405340864[5] = delta_x[5] + nom_x[5]; - out_7226686656405340864[6] = delta_x[6] + nom_x[6]; - out_7226686656405340864[7] = delta_x[7] + nom_x[7]; - out_7226686656405340864[8] = delta_x[8] + nom_x[8]; +void err_fun(double *nom_x, double *delta_x, double *out_7418791751555442547) { + out_7418791751555442547[0] = delta_x[0] + nom_x[0]; + out_7418791751555442547[1] = delta_x[1] + nom_x[1]; + out_7418791751555442547[2] = delta_x[2] + nom_x[2]; + out_7418791751555442547[3] = delta_x[3] + nom_x[3]; + out_7418791751555442547[4] = delta_x[4] + nom_x[4]; + out_7418791751555442547[5] = delta_x[5] + nom_x[5]; + out_7418791751555442547[6] = delta_x[6] + nom_x[6]; + out_7418791751555442547[7] = delta_x[7] + nom_x[7]; + out_7418791751555442547[8] = delta_x[8] + nom_x[8]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_7867434532787478357) { - out_7867434532787478357[0] = -nom_x[0] + true_x[0]; - out_7867434532787478357[1] = -nom_x[1] + true_x[1]; - out_7867434532787478357[2] = -nom_x[2] + true_x[2]; - out_7867434532787478357[3] = -nom_x[3] + true_x[3]; - out_7867434532787478357[4] = -nom_x[4] + true_x[4]; - out_7867434532787478357[5] = -nom_x[5] + true_x[5]; - out_7867434532787478357[6] = -nom_x[6] + true_x[6]; - out_7867434532787478357[7] = -nom_x[7] + true_x[7]; - out_7867434532787478357[8] = -nom_x[8] + true_x[8]; +void inv_err_fun(double *nom_x, double *true_x, double *out_4675497126535007434) { + out_4675497126535007434[0] = -nom_x[0] + true_x[0]; + out_4675497126535007434[1] = -nom_x[1] + true_x[1]; + out_4675497126535007434[2] = -nom_x[2] + true_x[2]; + out_4675497126535007434[3] = -nom_x[3] + true_x[3]; + out_4675497126535007434[4] = -nom_x[4] + true_x[4]; + out_4675497126535007434[5] = -nom_x[5] + true_x[5]; + out_4675497126535007434[6] = -nom_x[6] + true_x[6]; + out_4675497126535007434[7] = -nom_x[7] + true_x[7]; + out_4675497126535007434[8] = -nom_x[8] + true_x[8]; } -void H_mod_fun(double *state, double *out_3288405267109084725) { - out_3288405267109084725[0] = 1.0; - out_3288405267109084725[1] = 0; - out_3288405267109084725[2] = 0; - out_3288405267109084725[3] = 0; - out_3288405267109084725[4] = 0; - out_3288405267109084725[5] = 0; - out_3288405267109084725[6] = 0; - out_3288405267109084725[7] = 0; - out_3288405267109084725[8] = 0; - out_3288405267109084725[9] = 0; - out_3288405267109084725[10] = 1.0; - out_3288405267109084725[11] = 0; - out_3288405267109084725[12] = 0; - out_3288405267109084725[13] = 0; - out_3288405267109084725[14] = 0; - out_3288405267109084725[15] = 0; - out_3288405267109084725[16] = 0; - out_3288405267109084725[17] = 0; - out_3288405267109084725[18] = 0; - out_3288405267109084725[19] = 0; - out_3288405267109084725[20] = 1.0; - out_3288405267109084725[21] = 0; - out_3288405267109084725[22] = 0; - out_3288405267109084725[23] = 0; - out_3288405267109084725[24] = 0; - out_3288405267109084725[25] = 0; - out_3288405267109084725[26] = 0; - out_3288405267109084725[27] = 0; - out_3288405267109084725[28] = 0; - out_3288405267109084725[29] = 0; - out_3288405267109084725[30] = 1.0; - out_3288405267109084725[31] = 0; - out_3288405267109084725[32] = 0; - out_3288405267109084725[33] = 0; - out_3288405267109084725[34] = 0; - out_3288405267109084725[35] = 0; - out_3288405267109084725[36] = 0; - out_3288405267109084725[37] = 0; - out_3288405267109084725[38] = 0; - out_3288405267109084725[39] = 0; - out_3288405267109084725[40] = 1.0; - out_3288405267109084725[41] = 0; - out_3288405267109084725[42] = 0; - out_3288405267109084725[43] = 0; - out_3288405267109084725[44] = 0; - out_3288405267109084725[45] = 0; - out_3288405267109084725[46] = 0; - out_3288405267109084725[47] = 0; - out_3288405267109084725[48] = 0; - out_3288405267109084725[49] = 0; - out_3288405267109084725[50] = 1.0; - out_3288405267109084725[51] = 0; - out_3288405267109084725[52] = 0; - out_3288405267109084725[53] = 0; - out_3288405267109084725[54] = 0; - out_3288405267109084725[55] = 0; - out_3288405267109084725[56] = 0; - out_3288405267109084725[57] = 0; - out_3288405267109084725[58] = 0; - out_3288405267109084725[59] = 0; - out_3288405267109084725[60] = 1.0; - out_3288405267109084725[61] = 0; - out_3288405267109084725[62] = 0; - out_3288405267109084725[63] = 0; - out_3288405267109084725[64] = 0; - out_3288405267109084725[65] = 0; - out_3288405267109084725[66] = 0; - out_3288405267109084725[67] = 0; - out_3288405267109084725[68] = 0; - out_3288405267109084725[69] = 0; - out_3288405267109084725[70] = 1.0; - out_3288405267109084725[71] = 0; - out_3288405267109084725[72] = 0; - out_3288405267109084725[73] = 0; - out_3288405267109084725[74] = 0; - out_3288405267109084725[75] = 0; - out_3288405267109084725[76] = 0; - out_3288405267109084725[77] = 0; - out_3288405267109084725[78] = 0; - out_3288405267109084725[79] = 0; - out_3288405267109084725[80] = 1.0; +void H_mod_fun(double *state, double *out_4383613899688875359) { + out_4383613899688875359[0] = 1.0; + out_4383613899688875359[1] = 0; + out_4383613899688875359[2] = 0; + out_4383613899688875359[3] = 0; + out_4383613899688875359[4] = 0; + out_4383613899688875359[5] = 0; + out_4383613899688875359[6] = 0; + out_4383613899688875359[7] = 0; + out_4383613899688875359[8] = 0; + out_4383613899688875359[9] = 0; + out_4383613899688875359[10] = 1.0; + out_4383613899688875359[11] = 0; + out_4383613899688875359[12] = 0; + out_4383613899688875359[13] = 0; + out_4383613899688875359[14] = 0; + out_4383613899688875359[15] = 0; + out_4383613899688875359[16] = 0; + out_4383613899688875359[17] = 0; + out_4383613899688875359[18] = 0; + out_4383613899688875359[19] = 0; + out_4383613899688875359[20] = 1.0; + out_4383613899688875359[21] = 0; + out_4383613899688875359[22] = 0; + out_4383613899688875359[23] = 0; + out_4383613899688875359[24] = 0; + out_4383613899688875359[25] = 0; + out_4383613899688875359[26] = 0; + out_4383613899688875359[27] = 0; + out_4383613899688875359[28] = 0; + out_4383613899688875359[29] = 0; + out_4383613899688875359[30] = 1.0; + out_4383613899688875359[31] = 0; + out_4383613899688875359[32] = 0; + out_4383613899688875359[33] = 0; + out_4383613899688875359[34] = 0; + out_4383613899688875359[35] = 0; + out_4383613899688875359[36] = 0; + out_4383613899688875359[37] = 0; + out_4383613899688875359[38] = 0; + out_4383613899688875359[39] = 0; + out_4383613899688875359[40] = 1.0; + out_4383613899688875359[41] = 0; + out_4383613899688875359[42] = 0; + out_4383613899688875359[43] = 0; + out_4383613899688875359[44] = 0; + out_4383613899688875359[45] = 0; + out_4383613899688875359[46] = 0; + out_4383613899688875359[47] = 0; + out_4383613899688875359[48] = 0; + out_4383613899688875359[49] = 0; + out_4383613899688875359[50] = 1.0; + out_4383613899688875359[51] = 0; + out_4383613899688875359[52] = 0; + out_4383613899688875359[53] = 0; + out_4383613899688875359[54] = 0; + out_4383613899688875359[55] = 0; + out_4383613899688875359[56] = 0; + out_4383613899688875359[57] = 0; + out_4383613899688875359[58] = 0; + out_4383613899688875359[59] = 0; + out_4383613899688875359[60] = 1.0; + out_4383613899688875359[61] = 0; + out_4383613899688875359[62] = 0; + out_4383613899688875359[63] = 0; + out_4383613899688875359[64] = 0; + out_4383613899688875359[65] = 0; + out_4383613899688875359[66] = 0; + out_4383613899688875359[67] = 0; + out_4383613899688875359[68] = 0; + out_4383613899688875359[69] = 0; + out_4383613899688875359[70] = 1.0; + out_4383613899688875359[71] = 0; + out_4383613899688875359[72] = 0; + out_4383613899688875359[73] = 0; + out_4383613899688875359[74] = 0; + out_4383613899688875359[75] = 0; + out_4383613899688875359[76] = 0; + out_4383613899688875359[77] = 0; + out_4383613899688875359[78] = 0; + out_4383613899688875359[79] = 0; + out_4383613899688875359[80] = 1.0; } -void f_fun(double *state, double dt, double *out_8974995752329095985) { - out_8974995752329095985[0] = state[0]; - out_8974995752329095985[1] = state[1]; - out_8974995752329095985[2] = state[2]; - out_8974995752329095985[3] = state[3]; - out_8974995752329095985[4] = state[4]; - out_8974995752329095985[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; - out_8974995752329095985[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_8974995752329095985[7] = state[7]; - out_8974995752329095985[8] = state[8]; +void f_fun(double *state, double dt, double *out_2672769777354396612) { + out_2672769777354396612[0] = state[0]; + out_2672769777354396612[1] = state[1]; + out_2672769777354396612[2] = state[2]; + out_2672769777354396612[3] = state[3]; + out_2672769777354396612[4] = state[4]; + out_2672769777354396612[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_2672769777354396612[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_2672769777354396612[7] = state[7]; + out_2672769777354396612[8] = state[8]; } -void F_fun(double *state, double dt, double *out_2278957145959582876) { - out_2278957145959582876[0] = 1; - out_2278957145959582876[1] = 0; - out_2278957145959582876[2] = 0; - out_2278957145959582876[3] = 0; - out_2278957145959582876[4] = 0; - out_2278957145959582876[5] = 0; - out_2278957145959582876[6] = 0; - out_2278957145959582876[7] = 0; - out_2278957145959582876[8] = 0; - out_2278957145959582876[9] = 0; - out_2278957145959582876[10] = 1; - out_2278957145959582876[11] = 0; - out_2278957145959582876[12] = 0; - out_2278957145959582876[13] = 0; - out_2278957145959582876[14] = 0; - out_2278957145959582876[15] = 0; - out_2278957145959582876[16] = 0; - out_2278957145959582876[17] = 0; - out_2278957145959582876[18] = 0; - out_2278957145959582876[19] = 0; - out_2278957145959582876[20] = 1; - out_2278957145959582876[21] = 0; - out_2278957145959582876[22] = 0; - out_2278957145959582876[23] = 0; - out_2278957145959582876[24] = 0; - out_2278957145959582876[25] = 0; - out_2278957145959582876[26] = 0; - out_2278957145959582876[27] = 0; - out_2278957145959582876[28] = 0; - out_2278957145959582876[29] = 0; - out_2278957145959582876[30] = 1; - out_2278957145959582876[31] = 0; - out_2278957145959582876[32] = 0; - out_2278957145959582876[33] = 0; - out_2278957145959582876[34] = 0; - out_2278957145959582876[35] = 0; - out_2278957145959582876[36] = 0; - out_2278957145959582876[37] = 0; - out_2278957145959582876[38] = 0; - out_2278957145959582876[39] = 0; - out_2278957145959582876[40] = 1; - out_2278957145959582876[41] = 0; - out_2278957145959582876[42] = 0; - out_2278957145959582876[43] = 0; - out_2278957145959582876[44] = 0; - out_2278957145959582876[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_2278957145959582876[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); - out_2278957145959582876[47] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2278957145959582876[48] = -dt*stiffness_front*state[0]/(mass*state[1]); - out_2278957145959582876[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_2278957145959582876[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; - out_2278957145959582876[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); - out_2278957145959582876[52] = dt*stiffness_front*state[0]/(mass*state[1]); - out_2278957145959582876[53] = -9.8000000000000007*dt; - out_2278957145959582876[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_2278957145959582876[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); - out_2278957145959582876[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2278957145959582876[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2278957145959582876[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_2278957145959582876[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); - out_2278957145959582876[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_2278957145959582876[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); - out_2278957145959582876[62] = 0; - out_2278957145959582876[63] = 0; - out_2278957145959582876[64] = 0; - out_2278957145959582876[65] = 0; - out_2278957145959582876[66] = 0; - out_2278957145959582876[67] = 0; - out_2278957145959582876[68] = 0; - out_2278957145959582876[69] = 0; - out_2278957145959582876[70] = 1; - out_2278957145959582876[71] = 0; - out_2278957145959582876[72] = 0; - out_2278957145959582876[73] = 0; - out_2278957145959582876[74] = 0; - out_2278957145959582876[75] = 0; - out_2278957145959582876[76] = 0; - out_2278957145959582876[77] = 0; - out_2278957145959582876[78] = 0; - out_2278957145959582876[79] = 0; - out_2278957145959582876[80] = 1; +void F_fun(double *state, double dt, double *out_8981334264948615307) { + out_8981334264948615307[0] = 1; + out_8981334264948615307[1] = 0; + out_8981334264948615307[2] = 0; + out_8981334264948615307[3] = 0; + out_8981334264948615307[4] = 0; + out_8981334264948615307[5] = 0; + out_8981334264948615307[6] = 0; + out_8981334264948615307[7] = 0; + out_8981334264948615307[8] = 0; + out_8981334264948615307[9] = 0; + out_8981334264948615307[10] = 1; + out_8981334264948615307[11] = 0; + out_8981334264948615307[12] = 0; + out_8981334264948615307[13] = 0; + out_8981334264948615307[14] = 0; + out_8981334264948615307[15] = 0; + out_8981334264948615307[16] = 0; + out_8981334264948615307[17] = 0; + out_8981334264948615307[18] = 0; + out_8981334264948615307[19] = 0; + out_8981334264948615307[20] = 1; + out_8981334264948615307[21] = 0; + out_8981334264948615307[22] = 0; + out_8981334264948615307[23] = 0; + out_8981334264948615307[24] = 0; + out_8981334264948615307[25] = 0; + out_8981334264948615307[26] = 0; + out_8981334264948615307[27] = 0; + out_8981334264948615307[28] = 0; + out_8981334264948615307[29] = 0; + out_8981334264948615307[30] = 1; + out_8981334264948615307[31] = 0; + out_8981334264948615307[32] = 0; + out_8981334264948615307[33] = 0; + out_8981334264948615307[34] = 0; + out_8981334264948615307[35] = 0; + out_8981334264948615307[36] = 0; + out_8981334264948615307[37] = 0; + out_8981334264948615307[38] = 0; + out_8981334264948615307[39] = 0; + out_8981334264948615307[40] = 1; + out_8981334264948615307[41] = 0; + out_8981334264948615307[42] = 0; + out_8981334264948615307[43] = 0; + out_8981334264948615307[44] = 0; + out_8981334264948615307[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_8981334264948615307[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_8981334264948615307[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8981334264948615307[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_8981334264948615307[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_8981334264948615307[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_8981334264948615307[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_8981334264948615307[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_8981334264948615307[53] = -9.8000000000000007*dt; + out_8981334264948615307[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_8981334264948615307[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_8981334264948615307[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8981334264948615307[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8981334264948615307[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_8981334264948615307[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_8981334264948615307[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_8981334264948615307[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_8981334264948615307[62] = 0; + out_8981334264948615307[63] = 0; + out_8981334264948615307[64] = 0; + out_8981334264948615307[65] = 0; + out_8981334264948615307[66] = 0; + out_8981334264948615307[67] = 0; + out_8981334264948615307[68] = 0; + out_8981334264948615307[69] = 0; + out_8981334264948615307[70] = 1; + out_8981334264948615307[71] = 0; + out_8981334264948615307[72] = 0; + out_8981334264948615307[73] = 0; + out_8981334264948615307[74] = 0; + out_8981334264948615307[75] = 0; + out_8981334264948615307[76] = 0; + out_8981334264948615307[77] = 0; + out_8981334264948615307[78] = 0; + out_8981334264948615307[79] = 0; + out_8981334264948615307[80] = 1; } -void h_25(double *state, double *unused, double *out_6677369844743091603) { - out_6677369844743091603[0] = state[6]; +void h_25(double *state, double *unused, double *out_2323891550179960131) { + out_2323891550179960131[0] = state[6]; } -void H_25(double *state, double *unused, double *out_2625808263069423248) { - out_2625808263069423248[0] = 0; - out_2625808263069423248[1] = 0; - out_2625808263069423248[2] = 0; - out_2625808263069423248[3] = 0; - out_2625808263069423248[4] = 0; - out_2625808263069423248[5] = 0; - out_2625808263069423248[6] = 1; - out_2625808263069423248[7] = 0; - out_2625808263069423248[8] = 0; +void H_25(double *state, double *unused, double *out_3130628365570768536) { + out_3130628365570768536[0] = 0; + out_3130628365570768536[1] = 0; + out_3130628365570768536[2] = 0; + out_3130628365570768536[3] = 0; + out_3130628365570768536[4] = 0; + out_3130628365570768536[5] = 0; + out_3130628365570768536[6] = 1; + out_3130628365570768536[7] = 0; + out_3130628365570768536[8] = 0; } -void h_24(double *state, double *unused, double *out_4367008819681309639) { - out_4367008819681309639[0] = state[4]; - out_4367008819681309639[1] = state[5]; +void h_24(double *state, double *unused, double *out_3959618100859615665) { + out_3959618100859615665[0] = state[4]; + out_3959618100859615665[1] = state[5]; } -void H_24(double *state, double *unused, double *out_4798457862074922814) { - out_4798457862074922814[0] = 0; - out_4798457862074922814[1] = 0; - out_4798457862074922814[2] = 0; - out_4798457862074922814[3] = 0; - out_4798457862074922814[4] = 1; - out_4798457862074922814[5] = 0; - out_4798457862074922814[6] = 0; - out_4798457862074922814[7] = 0; - out_4798457862074922814[8] = 0; - out_4798457862074922814[9] = 0; - out_4798457862074922814[10] = 0; - out_4798457862074922814[11] = 0; - out_4798457862074922814[12] = 0; - out_4798457862074922814[13] = 0; - out_4798457862074922814[14] = 1; - out_4798457862074922814[15] = 0; - out_4798457862074922814[16] = 0; - out_4798457862074922814[17] = 0; +void H_24(double *state, double *unused, double *out_3527273669924628031) { + out_3527273669924628031[0] = 0; + out_3527273669924628031[1] = 0; + out_3527273669924628031[2] = 0; + out_3527273669924628031[3] = 0; + out_3527273669924628031[4] = 1; + out_3527273669924628031[5] = 0; + out_3527273669924628031[6] = 0; + out_3527273669924628031[7] = 0; + out_3527273669924628031[8] = 0; + out_3527273669924628031[9] = 0; + out_3527273669924628031[10] = 0; + out_3527273669924628031[11] = 0; + out_3527273669924628031[12] = 0; + out_3527273669924628031[13] = 0; + out_3527273669924628031[14] = 1; + out_3527273669924628031[15] = 0; + out_3527273669924628031[16] = 0; + out_3527273669924628031[17] = 0; } -void h_30(double *state, double *unused, double *out_6520183176391962458) { - out_6520183176391962458[0] = state[4]; +void h_30(double *state, double *unused, double *out_6422194848459331995) { + out_6422194848459331995[0] = state[4]; } -void H_30(double *state, double *unused, double *out_107475304562174621) { - out_107475304562174621[0] = 0; - out_107475304562174621[1] = 0; - out_107475304562174621[2] = 0; - out_107475304562174621[3] = 0; - out_107475304562174621[4] = 1; - out_107475304562174621[5] = 0; - out_107475304562174621[6] = 0; - out_107475304562174621[7] = 0; - out_107475304562174621[8] = 0; +void H_30(double *state, double *unused, double *out_612295407063519909) { + out_612295407063519909[0] = 0; + out_612295407063519909[1] = 0; + out_612295407063519909[2] = 0; + out_612295407063519909[3] = 0; + out_612295407063519909[4] = 1; + out_612295407063519909[5] = 0; + out_612295407063519909[6] = 0; + out_612295407063519909[7] = 0; + out_612295407063519909[8] = 0; } -void h_26(double *state, double *unused, double *out_1518509908731116813) { - out_1518509908731116813[0] = state[7]; +void h_26(double *state, double *unused, double *out_4132346778849017835) { + out_4132346778849017835[0] = state[7]; } -void H_26(double *state, double *unused, double *out_6367311581943479472) { - out_6367311581943479472[0] = 0; - out_6367311581943479472[1] = 0; - out_6367311581943479472[2] = 0; - out_6367311581943479472[3] = 0; - out_6367311581943479472[4] = 0; - out_6367311581943479472[5] = 0; - out_6367311581943479472[6] = 0; - out_6367311581943479472[7] = 1; - out_6367311581943479472[8] = 0; +void H_26(double *state, double *unused, double *out_6872131684444824760) { + out_6872131684444824760[0] = 0; + out_6872131684444824760[1] = 0; + out_6872131684444824760[2] = 0; + out_6872131684444824760[3] = 0; + out_6872131684444824760[4] = 0; + out_6872131684444824760[5] = 0; + out_6872131684444824760[6] = 0; + out_6872131684444824760[7] = 1; + out_6872131684444824760[8] = 0; } -void h_27(double *state, double *unused, double *out_757773589685609210) { - out_757773589685609210[0] = state[3]; +void h_27(double *state, double *unused, double *out_6472417914086037009) { + out_6472417914086037009[0] = state[3]; } -void H_27(double *state, double *unused, double *out_9118476168712095259) { - out_9118476168712095259[0] = 0; - out_9118476168712095259[1] = 0; - out_9118476168712095259[2] = 0; - out_9118476168712095259[3] = 1; - out_9118476168712095259[4] = 0; - out_9118476168712095259[5] = 0; - out_9118476168712095259[6] = 0; - out_9118476168712095259[7] = 0; - out_9118476168712095259[8] = 0; +void H_27(double *state, double *unused, double *out_1611298664120423308) { + out_1611298664120423308[0] = 0; + out_1611298664120423308[1] = 0; + out_1611298664120423308[2] = 0; + out_1611298664120423308[3] = 1; + out_1611298664120423308[4] = 0; + out_1611298664120423308[5] = 0; + out_1611298664120423308[6] = 0; + out_1611298664120423308[7] = 0; + out_1611298664120423308[8] = 0; } -void h_29(double *state, double *unused, double *out_482579527401103321) { - out_482579527401103321[0] = state[1]; +void h_29(double *state, double *unused, double *out_8112642683195012955) { + out_8112642683195012955[0] = state[1]; } -void H_29(double *state, double *unused, double *out_6643273248882639262) { - out_6643273248882639262[0] = 0; - out_6643273248882639262[1] = 1; - out_6643273248882639262[2] = 0; - out_6643273248882639262[3] = 0; - out_6643273248882639262[4] = 0; - out_6643273248882639262[5] = 0; - out_6643273248882639262[6] = 0; - out_6643273248882639262[7] = 0; - out_6643273248882639262[8] = 0; +void H_29(double *state, double *unused, double *out_102064062749127725) { + out_102064062749127725[0] = 0; + out_102064062749127725[1] = 1; + out_102064062749127725[2] = 0; + out_102064062749127725[3] = 0; + out_102064062749127725[4] = 0; + out_102064062749127725[5] = 0; + out_102064062749127725[6] = 0; + out_102064062749127725[7] = 0; + out_102064062749127725[8] = 0; } -void h_28(double *state, double *unused, double *out_1701283442587271645) { - out_1701283442587271645[0] = state[0]; +void h_28(double *state, double *unused, double *out_738491572168184502) { + out_738491572168184502[0] = state[0]; } -void H_28(double *state, double *unused, double *out_4679642977317313011) { - out_4679642977317313011[0] = 1; - out_4679642977317313011[1] = 0; - out_4679642977317313011[2] = 0; - out_4679642977317313011[3] = 0; - out_4679642977317313011[4] = 0; - out_4679642977317313011[5] = 0; - out_4679642977317313011[6] = 0; - out_4679642977317313011[7] = 0; - out_4679642977317313011[8] = 0; +void H_28(double *state, double *unused, double *out_5184463079818658299) { + out_5184463079818658299[0] = 1; + out_5184463079818658299[1] = 0; + out_5184463079818658299[2] = 0; + out_5184463079818658299[3] = 0; + out_5184463079818658299[4] = 0; + out_5184463079818658299[5] = 0; + out_5184463079818658299[6] = 0; + out_5184463079818658299[7] = 0; + out_5184463079818658299[8] = 0; } -void h_31(double *state, double *unused, double *out_4998539002616109077) { - out_4998539002616109077[0] = state[8]; +void h_31(double *state, double *unused, double *out_8241579872775542300) { + out_8241579872775542300[0] = state[8]; } -void H_31(double *state, double *unused, double *out_6993519684176830948) { - out_6993519684176830948[0] = 0; - out_6993519684176830948[1] = 0; - out_6993519684176830948[2] = 0; - out_6993519684176830948[3] = 0; - out_6993519684176830948[4] = 0; - out_6993519684176830948[5] = 0; - out_6993519684176830948[6] = 0; - out_6993519684176830948[7] = 0; - out_6993519684176830948[8] = 1; +void H_31(double *state, double *unused, double *out_7498339786678176236) { + out_7498339786678176236[0] = 0; + out_7498339786678176236[1] = 0; + out_7498339786678176236[2] = 0; + out_7498339786678176236[3] = 0; + out_7498339786678176236[4] = 0; + out_7498339786678176236[5] = 0; + out_7498339786678176236[6] = 0; + out_7498339786678176236[7] = 0; + out_7498339786678176236[8] = 1; } #include #include @@ -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_7226686656405340864) { - err_fun(nom_x, delta_x, out_7226686656405340864); +void car_err_fun(double *nom_x, double *delta_x, double *out_7418791751555442547) { + err_fun(nom_x, delta_x, out_7418791751555442547); } -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7867434532787478357) { - inv_err_fun(nom_x, true_x, out_7867434532787478357); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4675497126535007434) { + inv_err_fun(nom_x, true_x, out_4675497126535007434); } -void car_H_mod_fun(double *state, double *out_3288405267109084725) { - H_mod_fun(state, out_3288405267109084725); +void car_H_mod_fun(double *state, double *out_4383613899688875359) { + H_mod_fun(state, out_4383613899688875359); } -void car_f_fun(double *state, double dt, double *out_8974995752329095985) { - f_fun(state, dt, out_8974995752329095985); +void car_f_fun(double *state, double dt, double *out_2672769777354396612) { + f_fun(state, dt, out_2672769777354396612); } -void car_F_fun(double *state, double dt, double *out_2278957145959582876) { - F_fun(state, dt, out_2278957145959582876); +void car_F_fun(double *state, double dt, double *out_8981334264948615307) { + F_fun(state, dt, out_8981334264948615307); } -void car_h_25(double *state, double *unused, double *out_6677369844743091603) { - h_25(state, unused, out_6677369844743091603); +void car_h_25(double *state, double *unused, double *out_2323891550179960131) { + h_25(state, unused, out_2323891550179960131); } -void car_H_25(double *state, double *unused, double *out_2625808263069423248) { - H_25(state, unused, out_2625808263069423248); +void car_H_25(double *state, double *unused, double *out_3130628365570768536) { + H_25(state, unused, out_3130628365570768536); } -void car_h_24(double *state, double *unused, double *out_4367008819681309639) { - h_24(state, unused, out_4367008819681309639); +void car_h_24(double *state, double *unused, double *out_3959618100859615665) { + h_24(state, unused, out_3959618100859615665); } -void car_H_24(double *state, double *unused, double *out_4798457862074922814) { - H_24(state, unused, out_4798457862074922814); +void car_H_24(double *state, double *unused, double *out_3527273669924628031) { + H_24(state, unused, out_3527273669924628031); } -void car_h_30(double *state, double *unused, double *out_6520183176391962458) { - h_30(state, unused, out_6520183176391962458); +void car_h_30(double *state, double *unused, double *out_6422194848459331995) { + h_30(state, unused, out_6422194848459331995); } -void car_H_30(double *state, double *unused, double *out_107475304562174621) { - H_30(state, unused, out_107475304562174621); +void car_H_30(double *state, double *unused, double *out_612295407063519909) { + H_30(state, unused, out_612295407063519909); } -void car_h_26(double *state, double *unused, double *out_1518509908731116813) { - h_26(state, unused, out_1518509908731116813); +void car_h_26(double *state, double *unused, double *out_4132346778849017835) { + h_26(state, unused, out_4132346778849017835); } -void car_H_26(double *state, double *unused, double *out_6367311581943479472) { - H_26(state, unused, out_6367311581943479472); +void car_H_26(double *state, double *unused, double *out_6872131684444824760) { + H_26(state, unused, out_6872131684444824760); } -void car_h_27(double *state, double *unused, double *out_757773589685609210) { - h_27(state, unused, out_757773589685609210); +void car_h_27(double *state, double *unused, double *out_6472417914086037009) { + h_27(state, unused, out_6472417914086037009); } -void car_H_27(double *state, double *unused, double *out_9118476168712095259) { - H_27(state, unused, out_9118476168712095259); +void car_H_27(double *state, double *unused, double *out_1611298664120423308) { + H_27(state, unused, out_1611298664120423308); } -void car_h_29(double *state, double *unused, double *out_482579527401103321) { - h_29(state, unused, out_482579527401103321); +void car_h_29(double *state, double *unused, double *out_8112642683195012955) { + h_29(state, unused, out_8112642683195012955); } -void car_H_29(double *state, double *unused, double *out_6643273248882639262) { - H_29(state, unused, out_6643273248882639262); +void car_H_29(double *state, double *unused, double *out_102064062749127725) { + H_29(state, unused, out_102064062749127725); } -void car_h_28(double *state, double *unused, double *out_1701283442587271645) { - h_28(state, unused, out_1701283442587271645); +void car_h_28(double *state, double *unused, double *out_738491572168184502) { + h_28(state, unused, out_738491572168184502); } -void car_H_28(double *state, double *unused, double *out_4679642977317313011) { - H_28(state, unused, out_4679642977317313011); +void car_H_28(double *state, double *unused, double *out_5184463079818658299) { + H_28(state, unused, out_5184463079818658299); } -void car_h_31(double *state, double *unused, double *out_4998539002616109077) { - h_31(state, unused, out_4998539002616109077); +void car_h_31(double *state, double *unused, double *out_8241579872775542300) { + h_31(state, unused, out_8241579872775542300); } -void car_H_31(double *state, double *unused, double *out_6993519684176830948) { - H_31(state, unused, out_6993519684176830948); +void car_H_31(double *state, double *unused, double *out_7498339786678176236) { + H_31(state, unused, out_7498339786678176236); } void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/car.h b/selfdrive/locationd/models/generated/car.h index a2e46a4a..dbf96fa9 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_7226686656405340864); -void car_inv_err_fun(double *nom_x, double *true_x, double *out_7867434532787478357); -void car_H_mod_fun(double *state, double *out_3288405267109084725); -void car_f_fun(double *state, double dt, double *out_8974995752329095985); -void car_F_fun(double *state, double dt, double *out_2278957145959582876); -void car_h_25(double *state, double *unused, double *out_6677369844743091603); -void car_H_25(double *state, double *unused, double *out_2625808263069423248); -void car_h_24(double *state, double *unused, double *out_4367008819681309639); -void car_H_24(double *state, double *unused, double *out_4798457862074922814); -void car_h_30(double *state, double *unused, double *out_6520183176391962458); -void car_H_30(double *state, double *unused, double *out_107475304562174621); -void car_h_26(double *state, double *unused, double *out_1518509908731116813); -void car_H_26(double *state, double *unused, double *out_6367311581943479472); -void car_h_27(double *state, double *unused, double *out_757773589685609210); -void car_H_27(double *state, double *unused, double *out_9118476168712095259); -void car_h_29(double *state, double *unused, double *out_482579527401103321); -void car_H_29(double *state, double *unused, double *out_6643273248882639262); -void car_h_28(double *state, double *unused, double *out_1701283442587271645); -void car_H_28(double *state, double *unused, double *out_4679642977317313011); -void car_h_31(double *state, double *unused, double *out_4998539002616109077); -void car_H_31(double *state, double *unused, double *out_6993519684176830948); +void car_err_fun(double *nom_x, double *delta_x, double *out_7418791751555442547); +void car_inv_err_fun(double *nom_x, double *true_x, double *out_4675497126535007434); +void car_H_mod_fun(double *state, double *out_4383613899688875359); +void car_f_fun(double *state, double dt, double *out_2672769777354396612); +void car_F_fun(double *state, double dt, double *out_8981334264948615307); +void car_h_25(double *state, double *unused, double *out_2323891550179960131); +void car_H_25(double *state, double *unused, double *out_3130628365570768536); +void car_h_24(double *state, double *unused, double *out_3959618100859615665); +void car_H_24(double *state, double *unused, double *out_3527273669924628031); +void car_h_30(double *state, double *unused, double *out_6422194848459331995); +void car_H_30(double *state, double *unused, double *out_612295407063519909); +void car_h_26(double *state, double *unused, double *out_4132346778849017835); +void car_H_26(double *state, double *unused, double *out_6872131684444824760); +void car_h_27(double *state, double *unused, double *out_6472417914086037009); +void car_H_27(double *state, double *unused, double *out_1611298664120423308); +void car_h_29(double *state, double *unused, double *out_8112642683195012955); +void car_H_29(double *state, double *unused, double *out_102064062749127725); +void car_h_28(double *state, double *unused, double *out_738491572168184502); +void car_H_28(double *state, double *unused, double *out_5184463079818658299); +void car_h_31(double *state, double *unused, double *out_8241579872775542300); +void car_H_31(double *state, double *unused, double *out_7498339786678176236); 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/libcar.so b/selfdrive/locationd/models/generated/libcar.so index c7aa26fb..55d6abbb 100755 Binary files a/selfdrive/locationd/models/generated/libcar.so and b/selfdrive/locationd/models/generated/libcar.so differ diff --git a/selfdrive/locationd/models/generated/liblive.so b/selfdrive/locationd/models/generated/liblive.so index ffee21ce..59c09a8a 100755 Binary files a/selfdrive/locationd/models/generated/liblive.so and b/selfdrive/locationd/models/generated/liblive.so differ diff --git a/selfdrive/locationd/models/generated/live.cpp b/selfdrive/locationd/models/generated/live.cpp index 2df169db..a44aa82a 100644 --- a/selfdrive/locationd/models/generated/live.cpp +++ b/selfdrive/locationd/models/generated/live.cpp @@ -22,1683 +22,1683 @@ const static double MAHA_THRESH_33 = 7.814727903251177; * * * This file is part of 'ekf' * ******************************************************************************/ -void H(double *in_vec, double *out_5293441557815059236) { - out_5293441557815059236[0] = 0; - out_5293441557815059236[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; - out_5293441557815059236[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; - out_5293441557815059236[3] = cos(in_vec[1])*cos(in_vec[2]); - out_5293441557815059236[4] = sin(in_vec[2])*cos(in_vec[1]); - out_5293441557815059236[5] = -sin(in_vec[1]); - out_5293441557815059236[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; - out_5293441557815059236[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; - out_5293441557815059236[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; - out_5293441557815059236[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); - out_5293441557815059236[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); - out_5293441557815059236[11] = sin(in_vec[0])*cos(in_vec[1]); - out_5293441557815059236[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; - out_5293441557815059236[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; - out_5293441557815059236[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; - out_5293441557815059236[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); - out_5293441557815059236[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); - out_5293441557815059236[17] = cos(in_vec[0])*cos(in_vec[1]); +void H(double *in_vec, double *out_8945704586164018613) { + out_8945704586164018613[0] = 0; + out_8945704586164018613[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; + out_8945704586164018613[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; + out_8945704586164018613[3] = cos(in_vec[1])*cos(in_vec[2]); + out_8945704586164018613[4] = sin(in_vec[2])*cos(in_vec[1]); + out_8945704586164018613[5] = -sin(in_vec[1]); + out_8945704586164018613[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_8945704586164018613[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_8945704586164018613[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; + out_8945704586164018613[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); + out_8945704586164018613[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); + out_8945704586164018613[11] = sin(in_vec[0])*cos(in_vec[1]); + out_8945704586164018613[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_8945704586164018613[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_8945704586164018613[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; + out_8945704586164018613[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); + out_8945704586164018613[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); + out_8945704586164018613[17] = cos(in_vec[0])*cos(in_vec[1]); } -void err_fun(double *nom_x, double *delta_x, double *out_1546401775213992318) { - out_1546401775213992318[0] = delta_x[0] + nom_x[0]; - out_1546401775213992318[1] = delta_x[1] + nom_x[1]; - out_1546401775213992318[2] = delta_x[2] + nom_x[2]; - out_1546401775213992318[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; - out_1546401775213992318[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; - out_1546401775213992318[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; - out_1546401775213992318[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; - out_1546401775213992318[7] = delta_x[6] + nom_x[7]; - out_1546401775213992318[8] = delta_x[7] + nom_x[8]; - out_1546401775213992318[9] = delta_x[8] + nom_x[9]; - out_1546401775213992318[10] = delta_x[9] + nom_x[10]; - out_1546401775213992318[11] = delta_x[10] + nom_x[11]; - out_1546401775213992318[12] = delta_x[11] + nom_x[12]; - out_1546401775213992318[13] = delta_x[12] + nom_x[13]; - out_1546401775213992318[14] = delta_x[13] + nom_x[14]; - out_1546401775213992318[15] = delta_x[14] + nom_x[15]; - out_1546401775213992318[16] = delta_x[15] + nom_x[16]; - out_1546401775213992318[17] = delta_x[16] + nom_x[17]; - out_1546401775213992318[18] = delta_x[17] + nom_x[18]; - out_1546401775213992318[19] = delta_x[18] + nom_x[19]; - out_1546401775213992318[20] = delta_x[19] + nom_x[20]; - out_1546401775213992318[21] = delta_x[20] + nom_x[21]; +void err_fun(double *nom_x, double *delta_x, double *out_8370097340763738192) { + out_8370097340763738192[0] = delta_x[0] + nom_x[0]; + out_8370097340763738192[1] = delta_x[1] + nom_x[1]; + out_8370097340763738192[2] = delta_x[2] + nom_x[2]; + out_8370097340763738192[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; + out_8370097340763738192[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; + out_8370097340763738192[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; + out_8370097340763738192[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; + out_8370097340763738192[7] = delta_x[6] + nom_x[7]; + out_8370097340763738192[8] = delta_x[7] + nom_x[8]; + out_8370097340763738192[9] = delta_x[8] + nom_x[9]; + out_8370097340763738192[10] = delta_x[9] + nom_x[10]; + out_8370097340763738192[11] = delta_x[10] + nom_x[11]; + out_8370097340763738192[12] = delta_x[11] + nom_x[12]; + out_8370097340763738192[13] = delta_x[12] + nom_x[13]; + out_8370097340763738192[14] = delta_x[13] + nom_x[14]; + out_8370097340763738192[15] = delta_x[14] + nom_x[15]; + out_8370097340763738192[16] = delta_x[15] + nom_x[16]; + out_8370097340763738192[17] = delta_x[16] + nom_x[17]; + out_8370097340763738192[18] = delta_x[17] + nom_x[18]; + out_8370097340763738192[19] = delta_x[18] + nom_x[19]; + out_8370097340763738192[20] = delta_x[19] + nom_x[20]; + out_8370097340763738192[21] = delta_x[20] + nom_x[21]; } -void inv_err_fun(double *nom_x, double *true_x, double *out_2887183460710572165) { - out_2887183460710572165[0] = -nom_x[0] + true_x[0]; - out_2887183460710572165[1] = -nom_x[1] + true_x[1]; - out_2887183460710572165[2] = -nom_x[2] + true_x[2]; - out_2887183460710572165[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; - out_2887183460710572165[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; - out_2887183460710572165[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; - out_2887183460710572165[6] = -nom_x[7] + true_x[7]; - out_2887183460710572165[7] = -nom_x[8] + true_x[8]; - out_2887183460710572165[8] = -nom_x[9] + true_x[9]; - out_2887183460710572165[9] = -nom_x[10] + true_x[10]; - out_2887183460710572165[10] = -nom_x[11] + true_x[11]; - out_2887183460710572165[11] = -nom_x[12] + true_x[12]; - out_2887183460710572165[12] = -nom_x[13] + true_x[13]; - out_2887183460710572165[13] = -nom_x[14] + true_x[14]; - out_2887183460710572165[14] = -nom_x[15] + true_x[15]; - out_2887183460710572165[15] = -nom_x[16] + true_x[16]; - out_2887183460710572165[16] = -nom_x[17] + true_x[17]; - out_2887183460710572165[17] = -nom_x[18] + true_x[18]; - out_2887183460710572165[18] = -nom_x[19] + true_x[19]; - out_2887183460710572165[19] = -nom_x[20] + true_x[20]; - out_2887183460710572165[20] = -nom_x[21] + true_x[21]; +void inv_err_fun(double *nom_x, double *true_x, double *out_1561714653313430456) { + out_1561714653313430456[0] = -nom_x[0] + true_x[0]; + out_1561714653313430456[1] = -nom_x[1] + true_x[1]; + out_1561714653313430456[2] = -nom_x[2] + true_x[2]; + out_1561714653313430456[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; + out_1561714653313430456[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; + out_1561714653313430456[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; + out_1561714653313430456[6] = -nom_x[7] + true_x[7]; + out_1561714653313430456[7] = -nom_x[8] + true_x[8]; + out_1561714653313430456[8] = -nom_x[9] + true_x[9]; + out_1561714653313430456[9] = -nom_x[10] + true_x[10]; + out_1561714653313430456[10] = -nom_x[11] + true_x[11]; + out_1561714653313430456[11] = -nom_x[12] + true_x[12]; + out_1561714653313430456[12] = -nom_x[13] + true_x[13]; + out_1561714653313430456[13] = -nom_x[14] + true_x[14]; + out_1561714653313430456[14] = -nom_x[15] + true_x[15]; + out_1561714653313430456[15] = -nom_x[16] + true_x[16]; + out_1561714653313430456[16] = -nom_x[17] + true_x[17]; + out_1561714653313430456[17] = -nom_x[18] + true_x[18]; + out_1561714653313430456[18] = -nom_x[19] + true_x[19]; + out_1561714653313430456[19] = -nom_x[20] + true_x[20]; + out_1561714653313430456[20] = -nom_x[21] + true_x[21]; } -void H_mod_fun(double *state, double *out_346680257265563192) { - out_346680257265563192[0] = 1.0; - out_346680257265563192[1] = 0; - out_346680257265563192[2] = 0; - out_346680257265563192[3] = 0; - out_346680257265563192[4] = 0; - out_346680257265563192[5] = 0; - out_346680257265563192[6] = 0; - out_346680257265563192[7] = 0; - out_346680257265563192[8] = 0; - out_346680257265563192[9] = 0; - out_346680257265563192[10] = 0; - out_346680257265563192[11] = 0; - out_346680257265563192[12] = 0; - out_346680257265563192[13] = 0; - out_346680257265563192[14] = 0; - out_346680257265563192[15] = 0; - out_346680257265563192[16] = 0; - out_346680257265563192[17] = 0; - out_346680257265563192[18] = 0; - out_346680257265563192[19] = 0; - out_346680257265563192[20] = 0; - out_346680257265563192[21] = 0; - out_346680257265563192[22] = 1.0; - out_346680257265563192[23] = 0; - out_346680257265563192[24] = 0; - out_346680257265563192[25] = 0; - out_346680257265563192[26] = 0; - out_346680257265563192[27] = 0; - out_346680257265563192[28] = 0; - out_346680257265563192[29] = 0; - out_346680257265563192[30] = 0; - out_346680257265563192[31] = 0; - out_346680257265563192[32] = 0; - out_346680257265563192[33] = 0; - out_346680257265563192[34] = 0; - out_346680257265563192[35] = 0; - out_346680257265563192[36] = 0; - out_346680257265563192[37] = 0; - out_346680257265563192[38] = 0; - out_346680257265563192[39] = 0; - out_346680257265563192[40] = 0; - out_346680257265563192[41] = 0; - out_346680257265563192[42] = 0; - out_346680257265563192[43] = 0; - out_346680257265563192[44] = 1.0; - out_346680257265563192[45] = 0; - out_346680257265563192[46] = 0; - out_346680257265563192[47] = 0; - out_346680257265563192[48] = 0; - out_346680257265563192[49] = 0; - out_346680257265563192[50] = 0; - out_346680257265563192[51] = 0; - out_346680257265563192[52] = 0; - out_346680257265563192[53] = 0; - out_346680257265563192[54] = 0; - out_346680257265563192[55] = 0; - out_346680257265563192[56] = 0; - out_346680257265563192[57] = 0; - out_346680257265563192[58] = 0; - out_346680257265563192[59] = 0; - out_346680257265563192[60] = 0; - out_346680257265563192[61] = 0; - out_346680257265563192[62] = 0; - out_346680257265563192[63] = 0; - out_346680257265563192[64] = 0; - out_346680257265563192[65] = 0; - out_346680257265563192[66] = -0.5*state[4]; - out_346680257265563192[67] = -0.5*state[5]; - out_346680257265563192[68] = -0.5*state[6]; - out_346680257265563192[69] = 0; - out_346680257265563192[70] = 0; - out_346680257265563192[71] = 0; - out_346680257265563192[72] = 0; - out_346680257265563192[73] = 0; - out_346680257265563192[74] = 0; - out_346680257265563192[75] = 0; - out_346680257265563192[76] = 0; - out_346680257265563192[77] = 0; - out_346680257265563192[78] = 0; - out_346680257265563192[79] = 0; - out_346680257265563192[80] = 0; - out_346680257265563192[81] = 0; - out_346680257265563192[82] = 0; - out_346680257265563192[83] = 0; - out_346680257265563192[84] = 0; - out_346680257265563192[85] = 0; - out_346680257265563192[86] = 0; - out_346680257265563192[87] = 0.5*state[3]; - out_346680257265563192[88] = 0.5*state[6]; - out_346680257265563192[89] = -0.5*state[5]; - out_346680257265563192[90] = 0; - out_346680257265563192[91] = 0; - out_346680257265563192[92] = 0; - out_346680257265563192[93] = 0; - out_346680257265563192[94] = 0; - out_346680257265563192[95] = 0; - out_346680257265563192[96] = 0; - out_346680257265563192[97] = 0; - out_346680257265563192[98] = 0; - out_346680257265563192[99] = 0; - out_346680257265563192[100] = 0; - out_346680257265563192[101] = 0; - out_346680257265563192[102] = 0; - out_346680257265563192[103] = 0; - out_346680257265563192[104] = 0; - out_346680257265563192[105] = 0; - out_346680257265563192[106] = 0; - out_346680257265563192[107] = 0; - out_346680257265563192[108] = -0.5*state[6]; - out_346680257265563192[109] = 0.5*state[3]; - out_346680257265563192[110] = 0.5*state[4]; - out_346680257265563192[111] = 0; - out_346680257265563192[112] = 0; - out_346680257265563192[113] = 0; - out_346680257265563192[114] = 0; - out_346680257265563192[115] = 0; - out_346680257265563192[116] = 0; - out_346680257265563192[117] = 0; - out_346680257265563192[118] = 0; - out_346680257265563192[119] = 0; - out_346680257265563192[120] = 0; - out_346680257265563192[121] = 0; - out_346680257265563192[122] = 0; - out_346680257265563192[123] = 0; - out_346680257265563192[124] = 0; - out_346680257265563192[125] = 0; - out_346680257265563192[126] = 0; - out_346680257265563192[127] = 0; - out_346680257265563192[128] = 0; - out_346680257265563192[129] = 0.5*state[5]; - out_346680257265563192[130] = -0.5*state[4]; - out_346680257265563192[131] = 0.5*state[3]; - out_346680257265563192[132] = 0; - out_346680257265563192[133] = 0; - out_346680257265563192[134] = 0; - out_346680257265563192[135] = 0; - out_346680257265563192[136] = 0; - out_346680257265563192[137] = 0; - out_346680257265563192[138] = 0; - out_346680257265563192[139] = 0; - out_346680257265563192[140] = 0; - out_346680257265563192[141] = 0; - out_346680257265563192[142] = 0; - out_346680257265563192[143] = 0; - out_346680257265563192[144] = 0; - out_346680257265563192[145] = 0; - out_346680257265563192[146] = 0; - out_346680257265563192[147] = 0; - out_346680257265563192[148] = 0; - out_346680257265563192[149] = 0; - out_346680257265563192[150] = 0; - out_346680257265563192[151] = 0; - out_346680257265563192[152] = 0; - out_346680257265563192[153] = 1.0; - out_346680257265563192[154] = 0; - out_346680257265563192[155] = 0; - out_346680257265563192[156] = 0; - out_346680257265563192[157] = 0; - out_346680257265563192[158] = 0; - out_346680257265563192[159] = 0; - out_346680257265563192[160] = 0; - out_346680257265563192[161] = 0; - out_346680257265563192[162] = 0; - out_346680257265563192[163] = 0; - out_346680257265563192[164] = 0; - out_346680257265563192[165] = 0; - out_346680257265563192[166] = 0; - out_346680257265563192[167] = 0; - out_346680257265563192[168] = 0; - out_346680257265563192[169] = 0; - out_346680257265563192[170] = 0; - out_346680257265563192[171] = 0; - out_346680257265563192[172] = 0; - out_346680257265563192[173] = 0; - out_346680257265563192[174] = 0; - out_346680257265563192[175] = 1.0; - out_346680257265563192[176] = 0; - out_346680257265563192[177] = 0; - out_346680257265563192[178] = 0; - out_346680257265563192[179] = 0; - out_346680257265563192[180] = 0; - out_346680257265563192[181] = 0; - out_346680257265563192[182] = 0; - out_346680257265563192[183] = 0; - out_346680257265563192[184] = 0; - out_346680257265563192[185] = 0; - out_346680257265563192[186] = 0; - out_346680257265563192[187] = 0; - out_346680257265563192[188] = 0; - out_346680257265563192[189] = 0; - out_346680257265563192[190] = 0; - out_346680257265563192[191] = 0; - out_346680257265563192[192] = 0; - out_346680257265563192[193] = 0; - out_346680257265563192[194] = 0; - out_346680257265563192[195] = 0; - out_346680257265563192[196] = 0; - out_346680257265563192[197] = 1.0; - out_346680257265563192[198] = 0; - out_346680257265563192[199] = 0; - out_346680257265563192[200] = 0; - out_346680257265563192[201] = 0; - out_346680257265563192[202] = 0; - out_346680257265563192[203] = 0; - out_346680257265563192[204] = 0; - out_346680257265563192[205] = 0; - out_346680257265563192[206] = 0; - out_346680257265563192[207] = 0; - out_346680257265563192[208] = 0; - out_346680257265563192[209] = 0; - out_346680257265563192[210] = 0; - out_346680257265563192[211] = 0; - out_346680257265563192[212] = 0; - out_346680257265563192[213] = 0; - out_346680257265563192[214] = 0; - out_346680257265563192[215] = 0; - out_346680257265563192[216] = 0; - out_346680257265563192[217] = 0; - out_346680257265563192[218] = 0; - out_346680257265563192[219] = 1.0; - out_346680257265563192[220] = 0; - out_346680257265563192[221] = 0; - out_346680257265563192[222] = 0; - out_346680257265563192[223] = 0; - out_346680257265563192[224] = 0; - out_346680257265563192[225] = 0; - out_346680257265563192[226] = 0; - out_346680257265563192[227] = 0; - out_346680257265563192[228] = 0; - out_346680257265563192[229] = 0; - out_346680257265563192[230] = 0; - out_346680257265563192[231] = 0; - out_346680257265563192[232] = 0; - out_346680257265563192[233] = 0; - out_346680257265563192[234] = 0; - out_346680257265563192[235] = 0; - out_346680257265563192[236] = 0; - out_346680257265563192[237] = 0; - out_346680257265563192[238] = 0; - out_346680257265563192[239] = 0; - out_346680257265563192[240] = 0; - out_346680257265563192[241] = 1.0; - out_346680257265563192[242] = 0; - out_346680257265563192[243] = 0; - out_346680257265563192[244] = 0; - out_346680257265563192[245] = 0; - out_346680257265563192[246] = 0; - out_346680257265563192[247] = 0; - out_346680257265563192[248] = 0; - out_346680257265563192[249] = 0; - out_346680257265563192[250] = 0; - out_346680257265563192[251] = 0; - out_346680257265563192[252] = 0; - out_346680257265563192[253] = 0; - out_346680257265563192[254] = 0; - out_346680257265563192[255] = 0; - out_346680257265563192[256] = 0; - out_346680257265563192[257] = 0; - out_346680257265563192[258] = 0; - out_346680257265563192[259] = 0; - out_346680257265563192[260] = 0; - out_346680257265563192[261] = 0; - out_346680257265563192[262] = 0; - out_346680257265563192[263] = 1.0; - out_346680257265563192[264] = 0; - out_346680257265563192[265] = 0; - out_346680257265563192[266] = 0; - out_346680257265563192[267] = 0; - out_346680257265563192[268] = 0; - out_346680257265563192[269] = 0; - out_346680257265563192[270] = 0; - out_346680257265563192[271] = 0; - out_346680257265563192[272] = 0; - out_346680257265563192[273] = 0; - out_346680257265563192[274] = 0; - out_346680257265563192[275] = 0; - out_346680257265563192[276] = 0; - out_346680257265563192[277] = 0; - out_346680257265563192[278] = 0; - out_346680257265563192[279] = 0; - out_346680257265563192[280] = 0; - out_346680257265563192[281] = 0; - out_346680257265563192[282] = 0; - out_346680257265563192[283] = 0; - out_346680257265563192[284] = 0; - out_346680257265563192[285] = 1.0; - out_346680257265563192[286] = 0; - out_346680257265563192[287] = 0; - out_346680257265563192[288] = 0; - out_346680257265563192[289] = 0; - out_346680257265563192[290] = 0; - out_346680257265563192[291] = 0; - out_346680257265563192[292] = 0; - out_346680257265563192[293] = 0; - out_346680257265563192[294] = 0; - out_346680257265563192[295] = 0; - out_346680257265563192[296] = 0; - out_346680257265563192[297] = 0; - out_346680257265563192[298] = 0; - out_346680257265563192[299] = 0; - out_346680257265563192[300] = 0; - out_346680257265563192[301] = 0; - out_346680257265563192[302] = 0; - out_346680257265563192[303] = 0; - out_346680257265563192[304] = 0; - out_346680257265563192[305] = 0; - out_346680257265563192[306] = 0; - out_346680257265563192[307] = 1.0; - out_346680257265563192[308] = 0; - out_346680257265563192[309] = 0; - out_346680257265563192[310] = 0; - out_346680257265563192[311] = 0; - out_346680257265563192[312] = 0; - out_346680257265563192[313] = 0; - out_346680257265563192[314] = 0; - out_346680257265563192[315] = 0; - out_346680257265563192[316] = 0; - out_346680257265563192[317] = 0; - out_346680257265563192[318] = 0; - out_346680257265563192[319] = 0; - out_346680257265563192[320] = 0; - out_346680257265563192[321] = 0; - out_346680257265563192[322] = 0; - out_346680257265563192[323] = 0; - out_346680257265563192[324] = 0; - out_346680257265563192[325] = 0; - out_346680257265563192[326] = 0; - out_346680257265563192[327] = 0; - out_346680257265563192[328] = 0; - out_346680257265563192[329] = 1.0; - out_346680257265563192[330] = 0; - out_346680257265563192[331] = 0; - out_346680257265563192[332] = 0; - out_346680257265563192[333] = 0; - out_346680257265563192[334] = 0; - out_346680257265563192[335] = 0; - out_346680257265563192[336] = 0; - out_346680257265563192[337] = 0; - out_346680257265563192[338] = 0; - out_346680257265563192[339] = 0; - out_346680257265563192[340] = 0; - out_346680257265563192[341] = 0; - out_346680257265563192[342] = 0; - out_346680257265563192[343] = 0; - out_346680257265563192[344] = 0; - out_346680257265563192[345] = 0; - out_346680257265563192[346] = 0; - out_346680257265563192[347] = 0; - out_346680257265563192[348] = 0; - out_346680257265563192[349] = 0; - out_346680257265563192[350] = 0; - out_346680257265563192[351] = 1.0; - out_346680257265563192[352] = 0; - out_346680257265563192[353] = 0; - out_346680257265563192[354] = 0; - out_346680257265563192[355] = 0; - out_346680257265563192[356] = 0; - out_346680257265563192[357] = 0; - out_346680257265563192[358] = 0; - out_346680257265563192[359] = 0; - out_346680257265563192[360] = 0; - out_346680257265563192[361] = 0; - out_346680257265563192[362] = 0; - out_346680257265563192[363] = 0; - out_346680257265563192[364] = 0; - out_346680257265563192[365] = 0; - out_346680257265563192[366] = 0; - out_346680257265563192[367] = 0; - out_346680257265563192[368] = 0; - out_346680257265563192[369] = 0; - out_346680257265563192[370] = 0; - out_346680257265563192[371] = 0; - out_346680257265563192[372] = 0; - out_346680257265563192[373] = 1.0; - out_346680257265563192[374] = 0; - out_346680257265563192[375] = 0; - out_346680257265563192[376] = 0; - out_346680257265563192[377] = 0; - out_346680257265563192[378] = 0; - out_346680257265563192[379] = 0; - out_346680257265563192[380] = 0; - out_346680257265563192[381] = 0; - out_346680257265563192[382] = 0; - out_346680257265563192[383] = 0; - out_346680257265563192[384] = 0; - out_346680257265563192[385] = 0; - out_346680257265563192[386] = 0; - out_346680257265563192[387] = 0; - out_346680257265563192[388] = 0; - out_346680257265563192[389] = 0; - out_346680257265563192[390] = 0; - out_346680257265563192[391] = 0; - out_346680257265563192[392] = 0; - out_346680257265563192[393] = 0; - out_346680257265563192[394] = 0; - out_346680257265563192[395] = 1.0; - out_346680257265563192[396] = 0; - out_346680257265563192[397] = 0; - out_346680257265563192[398] = 0; - out_346680257265563192[399] = 0; - out_346680257265563192[400] = 0; - out_346680257265563192[401] = 0; - out_346680257265563192[402] = 0; - out_346680257265563192[403] = 0; - out_346680257265563192[404] = 0; - out_346680257265563192[405] = 0; - out_346680257265563192[406] = 0; - out_346680257265563192[407] = 0; - out_346680257265563192[408] = 0; - out_346680257265563192[409] = 0; - out_346680257265563192[410] = 0; - out_346680257265563192[411] = 0; - out_346680257265563192[412] = 0; - out_346680257265563192[413] = 0; - out_346680257265563192[414] = 0; - out_346680257265563192[415] = 0; - out_346680257265563192[416] = 0; - out_346680257265563192[417] = 1.0; - out_346680257265563192[418] = 0; - out_346680257265563192[419] = 0; - out_346680257265563192[420] = 0; - out_346680257265563192[421] = 0; - out_346680257265563192[422] = 0; - out_346680257265563192[423] = 0; - out_346680257265563192[424] = 0; - out_346680257265563192[425] = 0; - out_346680257265563192[426] = 0; - out_346680257265563192[427] = 0; - out_346680257265563192[428] = 0; - out_346680257265563192[429] = 0; - out_346680257265563192[430] = 0; - out_346680257265563192[431] = 0; - out_346680257265563192[432] = 0; - out_346680257265563192[433] = 0; - out_346680257265563192[434] = 0; - out_346680257265563192[435] = 0; - out_346680257265563192[436] = 0; - out_346680257265563192[437] = 0; - out_346680257265563192[438] = 0; - out_346680257265563192[439] = 1.0; - out_346680257265563192[440] = 0; - out_346680257265563192[441] = 0; - out_346680257265563192[442] = 0; - out_346680257265563192[443] = 0; - out_346680257265563192[444] = 0; - out_346680257265563192[445] = 0; - out_346680257265563192[446] = 0; - out_346680257265563192[447] = 0; - out_346680257265563192[448] = 0; - out_346680257265563192[449] = 0; - out_346680257265563192[450] = 0; - out_346680257265563192[451] = 0; - out_346680257265563192[452] = 0; - out_346680257265563192[453] = 0; - out_346680257265563192[454] = 0; - out_346680257265563192[455] = 0; - out_346680257265563192[456] = 0; - out_346680257265563192[457] = 0; - out_346680257265563192[458] = 0; - out_346680257265563192[459] = 0; - out_346680257265563192[460] = 0; - out_346680257265563192[461] = 1.0; +void H_mod_fun(double *state, double *out_619228651928883812) { + out_619228651928883812[0] = 1.0; + out_619228651928883812[1] = 0; + out_619228651928883812[2] = 0; + out_619228651928883812[3] = 0; + out_619228651928883812[4] = 0; + out_619228651928883812[5] = 0; + out_619228651928883812[6] = 0; + out_619228651928883812[7] = 0; + out_619228651928883812[8] = 0; + out_619228651928883812[9] = 0; + out_619228651928883812[10] = 0; + out_619228651928883812[11] = 0; + out_619228651928883812[12] = 0; + out_619228651928883812[13] = 0; + out_619228651928883812[14] = 0; + out_619228651928883812[15] = 0; + out_619228651928883812[16] = 0; + out_619228651928883812[17] = 0; + out_619228651928883812[18] = 0; + out_619228651928883812[19] = 0; + out_619228651928883812[20] = 0; + out_619228651928883812[21] = 0; + out_619228651928883812[22] = 1.0; + out_619228651928883812[23] = 0; + out_619228651928883812[24] = 0; + out_619228651928883812[25] = 0; + out_619228651928883812[26] = 0; + out_619228651928883812[27] = 0; + out_619228651928883812[28] = 0; + out_619228651928883812[29] = 0; + out_619228651928883812[30] = 0; + out_619228651928883812[31] = 0; + out_619228651928883812[32] = 0; + out_619228651928883812[33] = 0; + out_619228651928883812[34] = 0; + out_619228651928883812[35] = 0; + out_619228651928883812[36] = 0; + out_619228651928883812[37] = 0; + out_619228651928883812[38] = 0; + out_619228651928883812[39] = 0; + out_619228651928883812[40] = 0; + out_619228651928883812[41] = 0; + out_619228651928883812[42] = 0; + out_619228651928883812[43] = 0; + out_619228651928883812[44] = 1.0; + out_619228651928883812[45] = 0; + out_619228651928883812[46] = 0; + out_619228651928883812[47] = 0; + out_619228651928883812[48] = 0; + out_619228651928883812[49] = 0; + out_619228651928883812[50] = 0; + out_619228651928883812[51] = 0; + out_619228651928883812[52] = 0; + out_619228651928883812[53] = 0; + out_619228651928883812[54] = 0; + out_619228651928883812[55] = 0; + out_619228651928883812[56] = 0; + out_619228651928883812[57] = 0; + out_619228651928883812[58] = 0; + out_619228651928883812[59] = 0; + out_619228651928883812[60] = 0; + out_619228651928883812[61] = 0; + out_619228651928883812[62] = 0; + out_619228651928883812[63] = 0; + out_619228651928883812[64] = 0; + out_619228651928883812[65] = 0; + out_619228651928883812[66] = -0.5*state[4]; + out_619228651928883812[67] = -0.5*state[5]; + out_619228651928883812[68] = -0.5*state[6]; + out_619228651928883812[69] = 0; + out_619228651928883812[70] = 0; + out_619228651928883812[71] = 0; + out_619228651928883812[72] = 0; + out_619228651928883812[73] = 0; + out_619228651928883812[74] = 0; + out_619228651928883812[75] = 0; + out_619228651928883812[76] = 0; + out_619228651928883812[77] = 0; + out_619228651928883812[78] = 0; + out_619228651928883812[79] = 0; + out_619228651928883812[80] = 0; + out_619228651928883812[81] = 0; + out_619228651928883812[82] = 0; + out_619228651928883812[83] = 0; + out_619228651928883812[84] = 0; + out_619228651928883812[85] = 0; + out_619228651928883812[86] = 0; + out_619228651928883812[87] = 0.5*state[3]; + out_619228651928883812[88] = 0.5*state[6]; + out_619228651928883812[89] = -0.5*state[5]; + out_619228651928883812[90] = 0; + out_619228651928883812[91] = 0; + out_619228651928883812[92] = 0; + out_619228651928883812[93] = 0; + out_619228651928883812[94] = 0; + out_619228651928883812[95] = 0; + out_619228651928883812[96] = 0; + out_619228651928883812[97] = 0; + out_619228651928883812[98] = 0; + out_619228651928883812[99] = 0; + out_619228651928883812[100] = 0; + out_619228651928883812[101] = 0; + out_619228651928883812[102] = 0; + out_619228651928883812[103] = 0; + out_619228651928883812[104] = 0; + out_619228651928883812[105] = 0; + out_619228651928883812[106] = 0; + out_619228651928883812[107] = 0; + out_619228651928883812[108] = -0.5*state[6]; + out_619228651928883812[109] = 0.5*state[3]; + out_619228651928883812[110] = 0.5*state[4]; + out_619228651928883812[111] = 0; + out_619228651928883812[112] = 0; + out_619228651928883812[113] = 0; + out_619228651928883812[114] = 0; + out_619228651928883812[115] = 0; + out_619228651928883812[116] = 0; + out_619228651928883812[117] = 0; + out_619228651928883812[118] = 0; + out_619228651928883812[119] = 0; + out_619228651928883812[120] = 0; + out_619228651928883812[121] = 0; + out_619228651928883812[122] = 0; + out_619228651928883812[123] = 0; + out_619228651928883812[124] = 0; + out_619228651928883812[125] = 0; + out_619228651928883812[126] = 0; + out_619228651928883812[127] = 0; + out_619228651928883812[128] = 0; + out_619228651928883812[129] = 0.5*state[5]; + out_619228651928883812[130] = -0.5*state[4]; + out_619228651928883812[131] = 0.5*state[3]; + out_619228651928883812[132] = 0; + out_619228651928883812[133] = 0; + out_619228651928883812[134] = 0; + out_619228651928883812[135] = 0; + out_619228651928883812[136] = 0; + out_619228651928883812[137] = 0; + out_619228651928883812[138] = 0; + out_619228651928883812[139] = 0; + out_619228651928883812[140] = 0; + out_619228651928883812[141] = 0; + out_619228651928883812[142] = 0; + out_619228651928883812[143] = 0; + out_619228651928883812[144] = 0; + out_619228651928883812[145] = 0; + out_619228651928883812[146] = 0; + out_619228651928883812[147] = 0; + out_619228651928883812[148] = 0; + out_619228651928883812[149] = 0; + out_619228651928883812[150] = 0; + out_619228651928883812[151] = 0; + out_619228651928883812[152] = 0; + out_619228651928883812[153] = 1.0; + out_619228651928883812[154] = 0; + out_619228651928883812[155] = 0; + out_619228651928883812[156] = 0; + out_619228651928883812[157] = 0; + out_619228651928883812[158] = 0; + out_619228651928883812[159] = 0; + out_619228651928883812[160] = 0; + out_619228651928883812[161] = 0; + out_619228651928883812[162] = 0; + out_619228651928883812[163] = 0; + out_619228651928883812[164] = 0; + out_619228651928883812[165] = 0; + out_619228651928883812[166] = 0; + out_619228651928883812[167] = 0; + out_619228651928883812[168] = 0; + out_619228651928883812[169] = 0; + out_619228651928883812[170] = 0; + out_619228651928883812[171] = 0; + out_619228651928883812[172] = 0; + out_619228651928883812[173] = 0; + out_619228651928883812[174] = 0; + out_619228651928883812[175] = 1.0; + out_619228651928883812[176] = 0; + out_619228651928883812[177] = 0; + out_619228651928883812[178] = 0; + out_619228651928883812[179] = 0; + out_619228651928883812[180] = 0; + out_619228651928883812[181] = 0; + out_619228651928883812[182] = 0; + out_619228651928883812[183] = 0; + out_619228651928883812[184] = 0; + out_619228651928883812[185] = 0; + out_619228651928883812[186] = 0; + out_619228651928883812[187] = 0; + out_619228651928883812[188] = 0; + out_619228651928883812[189] = 0; + out_619228651928883812[190] = 0; + out_619228651928883812[191] = 0; + out_619228651928883812[192] = 0; + out_619228651928883812[193] = 0; + out_619228651928883812[194] = 0; + out_619228651928883812[195] = 0; + out_619228651928883812[196] = 0; + out_619228651928883812[197] = 1.0; + out_619228651928883812[198] = 0; + out_619228651928883812[199] = 0; + out_619228651928883812[200] = 0; + out_619228651928883812[201] = 0; + out_619228651928883812[202] = 0; + out_619228651928883812[203] = 0; + out_619228651928883812[204] = 0; + out_619228651928883812[205] = 0; + out_619228651928883812[206] = 0; + out_619228651928883812[207] = 0; + out_619228651928883812[208] = 0; + out_619228651928883812[209] = 0; + out_619228651928883812[210] = 0; + out_619228651928883812[211] = 0; + out_619228651928883812[212] = 0; + out_619228651928883812[213] = 0; + out_619228651928883812[214] = 0; + out_619228651928883812[215] = 0; + out_619228651928883812[216] = 0; + out_619228651928883812[217] = 0; + out_619228651928883812[218] = 0; + out_619228651928883812[219] = 1.0; + out_619228651928883812[220] = 0; + out_619228651928883812[221] = 0; + out_619228651928883812[222] = 0; + out_619228651928883812[223] = 0; + out_619228651928883812[224] = 0; + out_619228651928883812[225] = 0; + out_619228651928883812[226] = 0; + out_619228651928883812[227] = 0; + out_619228651928883812[228] = 0; + out_619228651928883812[229] = 0; + out_619228651928883812[230] = 0; + out_619228651928883812[231] = 0; + out_619228651928883812[232] = 0; + out_619228651928883812[233] = 0; + out_619228651928883812[234] = 0; + out_619228651928883812[235] = 0; + out_619228651928883812[236] = 0; + out_619228651928883812[237] = 0; + out_619228651928883812[238] = 0; + out_619228651928883812[239] = 0; + out_619228651928883812[240] = 0; + out_619228651928883812[241] = 1.0; + out_619228651928883812[242] = 0; + out_619228651928883812[243] = 0; + out_619228651928883812[244] = 0; + out_619228651928883812[245] = 0; + out_619228651928883812[246] = 0; + out_619228651928883812[247] = 0; + out_619228651928883812[248] = 0; + out_619228651928883812[249] = 0; + out_619228651928883812[250] = 0; + out_619228651928883812[251] = 0; + out_619228651928883812[252] = 0; + out_619228651928883812[253] = 0; + out_619228651928883812[254] = 0; + out_619228651928883812[255] = 0; + out_619228651928883812[256] = 0; + out_619228651928883812[257] = 0; + out_619228651928883812[258] = 0; + out_619228651928883812[259] = 0; + out_619228651928883812[260] = 0; + out_619228651928883812[261] = 0; + out_619228651928883812[262] = 0; + out_619228651928883812[263] = 1.0; + out_619228651928883812[264] = 0; + out_619228651928883812[265] = 0; + out_619228651928883812[266] = 0; + out_619228651928883812[267] = 0; + out_619228651928883812[268] = 0; + out_619228651928883812[269] = 0; + out_619228651928883812[270] = 0; + out_619228651928883812[271] = 0; + out_619228651928883812[272] = 0; + out_619228651928883812[273] = 0; + out_619228651928883812[274] = 0; + out_619228651928883812[275] = 0; + out_619228651928883812[276] = 0; + out_619228651928883812[277] = 0; + out_619228651928883812[278] = 0; + out_619228651928883812[279] = 0; + out_619228651928883812[280] = 0; + out_619228651928883812[281] = 0; + out_619228651928883812[282] = 0; + out_619228651928883812[283] = 0; + out_619228651928883812[284] = 0; + out_619228651928883812[285] = 1.0; + out_619228651928883812[286] = 0; + out_619228651928883812[287] = 0; + out_619228651928883812[288] = 0; + out_619228651928883812[289] = 0; + out_619228651928883812[290] = 0; + out_619228651928883812[291] = 0; + out_619228651928883812[292] = 0; + out_619228651928883812[293] = 0; + out_619228651928883812[294] = 0; + out_619228651928883812[295] = 0; + out_619228651928883812[296] = 0; + out_619228651928883812[297] = 0; + out_619228651928883812[298] = 0; + out_619228651928883812[299] = 0; + out_619228651928883812[300] = 0; + out_619228651928883812[301] = 0; + out_619228651928883812[302] = 0; + out_619228651928883812[303] = 0; + out_619228651928883812[304] = 0; + out_619228651928883812[305] = 0; + out_619228651928883812[306] = 0; + out_619228651928883812[307] = 1.0; + out_619228651928883812[308] = 0; + out_619228651928883812[309] = 0; + out_619228651928883812[310] = 0; + out_619228651928883812[311] = 0; + out_619228651928883812[312] = 0; + out_619228651928883812[313] = 0; + out_619228651928883812[314] = 0; + out_619228651928883812[315] = 0; + out_619228651928883812[316] = 0; + out_619228651928883812[317] = 0; + out_619228651928883812[318] = 0; + out_619228651928883812[319] = 0; + out_619228651928883812[320] = 0; + out_619228651928883812[321] = 0; + out_619228651928883812[322] = 0; + out_619228651928883812[323] = 0; + out_619228651928883812[324] = 0; + out_619228651928883812[325] = 0; + out_619228651928883812[326] = 0; + out_619228651928883812[327] = 0; + out_619228651928883812[328] = 0; + out_619228651928883812[329] = 1.0; + out_619228651928883812[330] = 0; + out_619228651928883812[331] = 0; + out_619228651928883812[332] = 0; + out_619228651928883812[333] = 0; + out_619228651928883812[334] = 0; + out_619228651928883812[335] = 0; + out_619228651928883812[336] = 0; + out_619228651928883812[337] = 0; + out_619228651928883812[338] = 0; + out_619228651928883812[339] = 0; + out_619228651928883812[340] = 0; + out_619228651928883812[341] = 0; + out_619228651928883812[342] = 0; + out_619228651928883812[343] = 0; + out_619228651928883812[344] = 0; + out_619228651928883812[345] = 0; + out_619228651928883812[346] = 0; + out_619228651928883812[347] = 0; + out_619228651928883812[348] = 0; + out_619228651928883812[349] = 0; + out_619228651928883812[350] = 0; + out_619228651928883812[351] = 1.0; + out_619228651928883812[352] = 0; + out_619228651928883812[353] = 0; + out_619228651928883812[354] = 0; + out_619228651928883812[355] = 0; + out_619228651928883812[356] = 0; + out_619228651928883812[357] = 0; + out_619228651928883812[358] = 0; + out_619228651928883812[359] = 0; + out_619228651928883812[360] = 0; + out_619228651928883812[361] = 0; + out_619228651928883812[362] = 0; + out_619228651928883812[363] = 0; + out_619228651928883812[364] = 0; + out_619228651928883812[365] = 0; + out_619228651928883812[366] = 0; + out_619228651928883812[367] = 0; + out_619228651928883812[368] = 0; + out_619228651928883812[369] = 0; + out_619228651928883812[370] = 0; + out_619228651928883812[371] = 0; + out_619228651928883812[372] = 0; + out_619228651928883812[373] = 1.0; + out_619228651928883812[374] = 0; + out_619228651928883812[375] = 0; + out_619228651928883812[376] = 0; + out_619228651928883812[377] = 0; + out_619228651928883812[378] = 0; + out_619228651928883812[379] = 0; + out_619228651928883812[380] = 0; + out_619228651928883812[381] = 0; + out_619228651928883812[382] = 0; + out_619228651928883812[383] = 0; + out_619228651928883812[384] = 0; + out_619228651928883812[385] = 0; + out_619228651928883812[386] = 0; + out_619228651928883812[387] = 0; + out_619228651928883812[388] = 0; + out_619228651928883812[389] = 0; + out_619228651928883812[390] = 0; + out_619228651928883812[391] = 0; + out_619228651928883812[392] = 0; + out_619228651928883812[393] = 0; + out_619228651928883812[394] = 0; + out_619228651928883812[395] = 1.0; + out_619228651928883812[396] = 0; + out_619228651928883812[397] = 0; + out_619228651928883812[398] = 0; + out_619228651928883812[399] = 0; + out_619228651928883812[400] = 0; + out_619228651928883812[401] = 0; + out_619228651928883812[402] = 0; + out_619228651928883812[403] = 0; + out_619228651928883812[404] = 0; + out_619228651928883812[405] = 0; + out_619228651928883812[406] = 0; + out_619228651928883812[407] = 0; + out_619228651928883812[408] = 0; + out_619228651928883812[409] = 0; + out_619228651928883812[410] = 0; + out_619228651928883812[411] = 0; + out_619228651928883812[412] = 0; + out_619228651928883812[413] = 0; + out_619228651928883812[414] = 0; + out_619228651928883812[415] = 0; + out_619228651928883812[416] = 0; + out_619228651928883812[417] = 1.0; + out_619228651928883812[418] = 0; + out_619228651928883812[419] = 0; + out_619228651928883812[420] = 0; + out_619228651928883812[421] = 0; + out_619228651928883812[422] = 0; + out_619228651928883812[423] = 0; + out_619228651928883812[424] = 0; + out_619228651928883812[425] = 0; + out_619228651928883812[426] = 0; + out_619228651928883812[427] = 0; + out_619228651928883812[428] = 0; + out_619228651928883812[429] = 0; + out_619228651928883812[430] = 0; + out_619228651928883812[431] = 0; + out_619228651928883812[432] = 0; + out_619228651928883812[433] = 0; + out_619228651928883812[434] = 0; + out_619228651928883812[435] = 0; + out_619228651928883812[436] = 0; + out_619228651928883812[437] = 0; + out_619228651928883812[438] = 0; + out_619228651928883812[439] = 1.0; + out_619228651928883812[440] = 0; + out_619228651928883812[441] = 0; + out_619228651928883812[442] = 0; + out_619228651928883812[443] = 0; + out_619228651928883812[444] = 0; + out_619228651928883812[445] = 0; + out_619228651928883812[446] = 0; + out_619228651928883812[447] = 0; + out_619228651928883812[448] = 0; + out_619228651928883812[449] = 0; + out_619228651928883812[450] = 0; + out_619228651928883812[451] = 0; + out_619228651928883812[452] = 0; + out_619228651928883812[453] = 0; + out_619228651928883812[454] = 0; + out_619228651928883812[455] = 0; + out_619228651928883812[456] = 0; + out_619228651928883812[457] = 0; + out_619228651928883812[458] = 0; + out_619228651928883812[459] = 0; + out_619228651928883812[460] = 0; + out_619228651928883812[461] = 1.0; } -void f_fun(double *state, double dt, double *out_2387280456333129282) { - out_2387280456333129282[0] = dt*state[7] + state[0]; - out_2387280456333129282[1] = dt*state[8] + state[1]; - out_2387280456333129282[2] = dt*state[9] + state[2]; - out_2387280456333129282[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; - out_2387280456333129282[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; - out_2387280456333129282[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; - out_2387280456333129282[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; - out_2387280456333129282[7] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]) + state[7]; - out_2387280456333129282[8] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]) + state[8]; - out_2387280456333129282[9] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]) + state[9]; - out_2387280456333129282[10] = state[10]; - out_2387280456333129282[11] = state[11]; - out_2387280456333129282[12] = state[12]; - out_2387280456333129282[13] = state[13]; - out_2387280456333129282[14] = state[14]; - out_2387280456333129282[15] = state[15]; - out_2387280456333129282[16] = state[16]; - out_2387280456333129282[17] = state[17]; - out_2387280456333129282[18] = state[18]; - out_2387280456333129282[19] = state[19]; - out_2387280456333129282[20] = state[20]; - out_2387280456333129282[21] = state[21]; +void f_fun(double *state, double dt, double *out_7848720022958012510) { + out_7848720022958012510[0] = dt*state[7] + state[0]; + out_7848720022958012510[1] = dt*state[8] + state[1]; + out_7848720022958012510[2] = dt*state[9] + state[2]; + out_7848720022958012510[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; + out_7848720022958012510[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; + out_7848720022958012510[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; + out_7848720022958012510[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; + out_7848720022958012510[7] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]) + state[7]; + out_7848720022958012510[8] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]) + state[8]; + out_7848720022958012510[9] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]) + state[9]; + out_7848720022958012510[10] = state[10]; + out_7848720022958012510[11] = state[11]; + out_7848720022958012510[12] = state[12]; + out_7848720022958012510[13] = state[13]; + out_7848720022958012510[14] = state[14]; + out_7848720022958012510[15] = state[15]; + out_7848720022958012510[16] = state[16]; + out_7848720022958012510[17] = state[17]; + out_7848720022958012510[18] = state[18]; + out_7848720022958012510[19] = state[19]; + out_7848720022958012510[20] = state[20]; + out_7848720022958012510[21] = state[21]; } -void F_fun(double *state, double dt, double *out_288898949053543158) { - out_288898949053543158[0] = 1; - out_288898949053543158[1] = 0; - out_288898949053543158[2] = 0; - out_288898949053543158[3] = 0; - out_288898949053543158[4] = 0; - out_288898949053543158[5] = 0; - out_288898949053543158[6] = dt; - out_288898949053543158[7] = 0; - out_288898949053543158[8] = 0; - out_288898949053543158[9] = 0; - out_288898949053543158[10] = 0; - out_288898949053543158[11] = 0; - out_288898949053543158[12] = 0; - out_288898949053543158[13] = 0; - out_288898949053543158[14] = 0; - out_288898949053543158[15] = 0; - out_288898949053543158[16] = 0; - out_288898949053543158[17] = 0; - out_288898949053543158[18] = 0; - out_288898949053543158[19] = 0; - out_288898949053543158[20] = 0; - out_288898949053543158[21] = 0; - out_288898949053543158[22] = 1; - out_288898949053543158[23] = 0; - out_288898949053543158[24] = 0; - out_288898949053543158[25] = 0; - out_288898949053543158[26] = 0; - out_288898949053543158[27] = 0; - out_288898949053543158[28] = dt; - out_288898949053543158[29] = 0; - out_288898949053543158[30] = 0; - out_288898949053543158[31] = 0; - out_288898949053543158[32] = 0; - out_288898949053543158[33] = 0; - out_288898949053543158[34] = 0; - out_288898949053543158[35] = 0; - out_288898949053543158[36] = 0; - out_288898949053543158[37] = 0; - out_288898949053543158[38] = 0; - out_288898949053543158[39] = 0; - out_288898949053543158[40] = 0; - out_288898949053543158[41] = 0; - out_288898949053543158[42] = 0; - out_288898949053543158[43] = 0; - out_288898949053543158[44] = 1; - out_288898949053543158[45] = 0; - out_288898949053543158[46] = 0; - out_288898949053543158[47] = 0; - out_288898949053543158[48] = 0; - out_288898949053543158[49] = 0; - out_288898949053543158[50] = dt; - out_288898949053543158[51] = 0; - out_288898949053543158[52] = 0; - out_288898949053543158[53] = 0; - out_288898949053543158[54] = 0; - out_288898949053543158[55] = 0; - out_288898949053543158[56] = 0; - out_288898949053543158[57] = 0; - out_288898949053543158[58] = 0; - out_288898949053543158[59] = 0; - out_288898949053543158[60] = 0; - out_288898949053543158[61] = 0; - out_288898949053543158[62] = 0; - out_288898949053543158[63] = 0; - out_288898949053543158[64] = 0; - out_288898949053543158[65] = 0; - out_288898949053543158[66] = 1; - out_288898949053543158[67] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[11] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); - out_288898949053543158[68] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[12] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[10] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[11]); - out_288898949053543158[69] = 0; - out_288898949053543158[70] = 0; - out_288898949053543158[71] = 0; - out_288898949053543158[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_288898949053543158[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_288898949053543158[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_288898949053543158[75] = 0; - out_288898949053543158[76] = 0; - out_288898949053543158[77] = 0; - out_288898949053543158[78] = 0; - out_288898949053543158[79] = 0; - out_288898949053543158[80] = 0; - out_288898949053543158[81] = 0; - out_288898949053543158[82] = 0; - out_288898949053543158[83] = 0; - out_288898949053543158[84] = 0; - out_288898949053543158[85] = 0; - out_288898949053543158[86] = 0; - out_288898949053543158[87] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[11] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); - out_288898949053543158[88] = 1; - out_288898949053543158[89] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[12] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[11] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[10]); - out_288898949053543158[90] = 0; - out_288898949053543158[91] = 0; - out_288898949053543158[92] = 0; - out_288898949053543158[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_288898949053543158[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_288898949053543158[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_288898949053543158[96] = 0; - out_288898949053543158[97] = 0; - out_288898949053543158[98] = 0; - out_288898949053543158[99] = 0; - out_288898949053543158[100] = 0; - out_288898949053543158[101] = 0; - out_288898949053543158[102] = 0; - out_288898949053543158[103] = 0; - out_288898949053543158[104] = 0; - out_288898949053543158[105] = 0; - out_288898949053543158[106] = 0; - out_288898949053543158[107] = 0; - out_288898949053543158[108] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[12] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[10] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[11]); - out_288898949053543158[109] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[12] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[11] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[10]); - out_288898949053543158[110] = 1; - out_288898949053543158[111] = 0; - out_288898949053543158[112] = 0; - out_288898949053543158[113] = 0; - out_288898949053543158[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_288898949053543158[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_288898949053543158[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_288898949053543158[117] = 0; - out_288898949053543158[118] = 0; - out_288898949053543158[119] = 0; - out_288898949053543158[120] = 0; - out_288898949053543158[121] = 0; - out_288898949053543158[122] = 0; - out_288898949053543158[123] = 0; - out_288898949053543158[124] = 0; - out_288898949053543158[125] = 0; - out_288898949053543158[126] = 0; - out_288898949053543158[127] = 0; - out_288898949053543158[128] = 0; - out_288898949053543158[129] = 0; - out_288898949053543158[130] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); - out_288898949053543158[131] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[18] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[16] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[17]); - out_288898949053543158[132] = 1; - out_288898949053543158[133] = 0; - out_288898949053543158[134] = 0; - out_288898949053543158[135] = 0; - out_288898949053543158[136] = 0; - out_288898949053543158[137] = 0; - out_288898949053543158[138] = 0; - out_288898949053543158[139] = 0; - out_288898949053543158[140] = 0; - out_288898949053543158[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_288898949053543158[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); - out_288898949053543158[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); - out_288898949053543158[144] = 0; - out_288898949053543158[145] = 0; - out_288898949053543158[146] = 0; - out_288898949053543158[147] = 0; - out_288898949053543158[148] = 0; - out_288898949053543158[149] = 0; - out_288898949053543158[150] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[17] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); - out_288898949053543158[151] = 0; - out_288898949053543158[152] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]); - out_288898949053543158[153] = 0; - out_288898949053543158[154] = 1; - out_288898949053543158[155] = 0; - out_288898949053543158[156] = 0; - out_288898949053543158[157] = 0; - out_288898949053543158[158] = 0; - out_288898949053543158[159] = 0; - out_288898949053543158[160] = 0; - out_288898949053543158[161] = 0; - out_288898949053543158[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); - out_288898949053543158[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_288898949053543158[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); - out_288898949053543158[165] = 0; - out_288898949053543158[166] = 0; - out_288898949053543158[167] = 0; - out_288898949053543158[168] = 0; - out_288898949053543158[169] = 0; - out_288898949053543158[170] = 0; - out_288898949053543158[171] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]); - out_288898949053543158[172] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[18] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[17] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[16]); - out_288898949053543158[173] = 0; - out_288898949053543158[174] = 0; - out_288898949053543158[175] = 0; - out_288898949053543158[176] = 1; - out_288898949053543158[177] = 0; - out_288898949053543158[178] = 0; - out_288898949053543158[179] = 0; - out_288898949053543158[180] = 0; - out_288898949053543158[181] = 0; - out_288898949053543158[182] = 0; - out_288898949053543158[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); - out_288898949053543158[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); - out_288898949053543158[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_288898949053543158[186] = 0; - out_288898949053543158[187] = 0; - out_288898949053543158[188] = 0; - out_288898949053543158[189] = 0; - out_288898949053543158[190] = 0; - out_288898949053543158[191] = 0; - out_288898949053543158[192] = 0; - out_288898949053543158[193] = 0; - out_288898949053543158[194] = 0; - out_288898949053543158[195] = 0; - out_288898949053543158[196] = 0; - out_288898949053543158[197] = 0; - out_288898949053543158[198] = 1; - out_288898949053543158[199] = 0; - out_288898949053543158[200] = 0; - out_288898949053543158[201] = 0; - out_288898949053543158[202] = 0; - out_288898949053543158[203] = 0; - out_288898949053543158[204] = 0; - out_288898949053543158[205] = 0; - out_288898949053543158[206] = 0; - out_288898949053543158[207] = 0; - out_288898949053543158[208] = 0; - out_288898949053543158[209] = 0; - out_288898949053543158[210] = 0; - out_288898949053543158[211] = 0; - out_288898949053543158[212] = 0; - out_288898949053543158[213] = 0; - out_288898949053543158[214] = 0; - out_288898949053543158[215] = 0; - out_288898949053543158[216] = 0; - out_288898949053543158[217] = 0; - out_288898949053543158[218] = 0; - out_288898949053543158[219] = 0; - out_288898949053543158[220] = 1; - out_288898949053543158[221] = 0; - out_288898949053543158[222] = 0; - out_288898949053543158[223] = 0; - out_288898949053543158[224] = 0; - out_288898949053543158[225] = 0; - out_288898949053543158[226] = 0; - out_288898949053543158[227] = 0; - out_288898949053543158[228] = 0; - out_288898949053543158[229] = 0; - out_288898949053543158[230] = 0; - out_288898949053543158[231] = 0; - out_288898949053543158[232] = 0; - out_288898949053543158[233] = 0; - out_288898949053543158[234] = 0; - out_288898949053543158[235] = 0; - out_288898949053543158[236] = 0; - out_288898949053543158[237] = 0; - out_288898949053543158[238] = 0; - out_288898949053543158[239] = 0; - out_288898949053543158[240] = 0; - out_288898949053543158[241] = 0; - out_288898949053543158[242] = 1; - out_288898949053543158[243] = 0; - out_288898949053543158[244] = 0; - out_288898949053543158[245] = 0; - out_288898949053543158[246] = 0; - out_288898949053543158[247] = 0; - out_288898949053543158[248] = 0; - out_288898949053543158[249] = 0; - out_288898949053543158[250] = 0; - out_288898949053543158[251] = 0; - out_288898949053543158[252] = 0; - out_288898949053543158[253] = 0; - out_288898949053543158[254] = 0; - out_288898949053543158[255] = 0; - out_288898949053543158[256] = 0; - out_288898949053543158[257] = 0; - out_288898949053543158[258] = 0; - out_288898949053543158[259] = 0; - out_288898949053543158[260] = 0; - out_288898949053543158[261] = 0; - out_288898949053543158[262] = 0; - out_288898949053543158[263] = 0; - out_288898949053543158[264] = 1; - out_288898949053543158[265] = 0; - out_288898949053543158[266] = 0; - out_288898949053543158[267] = 0; - out_288898949053543158[268] = 0; - out_288898949053543158[269] = 0; - out_288898949053543158[270] = 0; - out_288898949053543158[271] = 0; - out_288898949053543158[272] = 0; - out_288898949053543158[273] = 0; - out_288898949053543158[274] = 0; - out_288898949053543158[275] = 0; - out_288898949053543158[276] = 0; - out_288898949053543158[277] = 0; - out_288898949053543158[278] = 0; - out_288898949053543158[279] = 0; - out_288898949053543158[280] = 0; - out_288898949053543158[281] = 0; - out_288898949053543158[282] = 0; - out_288898949053543158[283] = 0; - out_288898949053543158[284] = 0; - out_288898949053543158[285] = 0; - out_288898949053543158[286] = 1; - out_288898949053543158[287] = 0; - out_288898949053543158[288] = 0; - out_288898949053543158[289] = 0; - out_288898949053543158[290] = 0; - out_288898949053543158[291] = 0; - out_288898949053543158[292] = 0; - out_288898949053543158[293] = 0; - out_288898949053543158[294] = 0; - out_288898949053543158[295] = 0; - out_288898949053543158[296] = 0; - out_288898949053543158[297] = 0; - out_288898949053543158[298] = 0; - out_288898949053543158[299] = 0; - out_288898949053543158[300] = 0; - out_288898949053543158[301] = 0; - out_288898949053543158[302] = 0; - out_288898949053543158[303] = 0; - out_288898949053543158[304] = 0; - out_288898949053543158[305] = 0; - out_288898949053543158[306] = 0; - out_288898949053543158[307] = 0; - out_288898949053543158[308] = 1; - out_288898949053543158[309] = 0; - out_288898949053543158[310] = 0; - out_288898949053543158[311] = 0; - out_288898949053543158[312] = 0; - out_288898949053543158[313] = 0; - out_288898949053543158[314] = 0; - out_288898949053543158[315] = 0; - out_288898949053543158[316] = 0; - out_288898949053543158[317] = 0; - out_288898949053543158[318] = 0; - out_288898949053543158[319] = 0; - out_288898949053543158[320] = 0; - out_288898949053543158[321] = 0; - out_288898949053543158[322] = 0; - out_288898949053543158[323] = 0; - out_288898949053543158[324] = 0; - out_288898949053543158[325] = 0; - out_288898949053543158[326] = 0; - out_288898949053543158[327] = 0; - out_288898949053543158[328] = 0; - out_288898949053543158[329] = 0; - out_288898949053543158[330] = 1; - out_288898949053543158[331] = 0; - out_288898949053543158[332] = 0; - out_288898949053543158[333] = 0; - out_288898949053543158[334] = 0; - out_288898949053543158[335] = 0; - out_288898949053543158[336] = 0; - out_288898949053543158[337] = 0; - out_288898949053543158[338] = 0; - out_288898949053543158[339] = 0; - out_288898949053543158[340] = 0; - out_288898949053543158[341] = 0; - out_288898949053543158[342] = 0; - out_288898949053543158[343] = 0; - out_288898949053543158[344] = 0; - out_288898949053543158[345] = 0; - out_288898949053543158[346] = 0; - out_288898949053543158[347] = 0; - out_288898949053543158[348] = 0; - out_288898949053543158[349] = 0; - out_288898949053543158[350] = 0; - out_288898949053543158[351] = 0; - out_288898949053543158[352] = 1; - out_288898949053543158[353] = 0; - out_288898949053543158[354] = 0; - out_288898949053543158[355] = 0; - out_288898949053543158[356] = 0; - out_288898949053543158[357] = 0; - out_288898949053543158[358] = 0; - out_288898949053543158[359] = 0; - out_288898949053543158[360] = 0; - out_288898949053543158[361] = 0; - out_288898949053543158[362] = 0; - out_288898949053543158[363] = 0; - out_288898949053543158[364] = 0; - out_288898949053543158[365] = 0; - out_288898949053543158[366] = 0; - out_288898949053543158[367] = 0; - out_288898949053543158[368] = 0; - out_288898949053543158[369] = 0; - out_288898949053543158[370] = 0; - out_288898949053543158[371] = 0; - out_288898949053543158[372] = 0; - out_288898949053543158[373] = 0; - out_288898949053543158[374] = 1; - out_288898949053543158[375] = 0; - out_288898949053543158[376] = 0; - out_288898949053543158[377] = 0; - out_288898949053543158[378] = 0; - out_288898949053543158[379] = 0; - out_288898949053543158[380] = 0; - out_288898949053543158[381] = 0; - out_288898949053543158[382] = 0; - out_288898949053543158[383] = 0; - out_288898949053543158[384] = 0; - out_288898949053543158[385] = 0; - out_288898949053543158[386] = 0; - out_288898949053543158[387] = 0; - out_288898949053543158[388] = 0; - out_288898949053543158[389] = 0; - out_288898949053543158[390] = 0; - out_288898949053543158[391] = 0; - out_288898949053543158[392] = 0; - out_288898949053543158[393] = 0; - out_288898949053543158[394] = 0; - out_288898949053543158[395] = 0; - out_288898949053543158[396] = 1; - out_288898949053543158[397] = 0; - out_288898949053543158[398] = 0; - out_288898949053543158[399] = 0; - out_288898949053543158[400] = 0; - out_288898949053543158[401] = 0; - out_288898949053543158[402] = 0; - out_288898949053543158[403] = 0; - out_288898949053543158[404] = 0; - out_288898949053543158[405] = 0; - out_288898949053543158[406] = 0; - out_288898949053543158[407] = 0; - out_288898949053543158[408] = 0; - out_288898949053543158[409] = 0; - out_288898949053543158[410] = 0; - out_288898949053543158[411] = 0; - out_288898949053543158[412] = 0; - out_288898949053543158[413] = 0; - out_288898949053543158[414] = 0; - out_288898949053543158[415] = 0; - out_288898949053543158[416] = 0; - out_288898949053543158[417] = 0; - out_288898949053543158[418] = 1; - out_288898949053543158[419] = 0; - out_288898949053543158[420] = 0; - out_288898949053543158[421] = 0; - out_288898949053543158[422] = 0; - out_288898949053543158[423] = 0; - out_288898949053543158[424] = 0; - out_288898949053543158[425] = 0; - out_288898949053543158[426] = 0; - out_288898949053543158[427] = 0; - out_288898949053543158[428] = 0; - out_288898949053543158[429] = 0; - out_288898949053543158[430] = 0; - out_288898949053543158[431] = 0; - out_288898949053543158[432] = 0; - out_288898949053543158[433] = 0; - out_288898949053543158[434] = 0; - out_288898949053543158[435] = 0; - out_288898949053543158[436] = 0; - out_288898949053543158[437] = 0; - out_288898949053543158[438] = 0; - out_288898949053543158[439] = 0; - out_288898949053543158[440] = 1; +void F_fun(double *state, double dt, double *out_350033378085274248) { + out_350033378085274248[0] = 1; + out_350033378085274248[1] = 0; + out_350033378085274248[2] = 0; + out_350033378085274248[3] = 0; + out_350033378085274248[4] = 0; + out_350033378085274248[5] = 0; + out_350033378085274248[6] = dt; + out_350033378085274248[7] = 0; + out_350033378085274248[8] = 0; + out_350033378085274248[9] = 0; + out_350033378085274248[10] = 0; + out_350033378085274248[11] = 0; + out_350033378085274248[12] = 0; + out_350033378085274248[13] = 0; + out_350033378085274248[14] = 0; + out_350033378085274248[15] = 0; + out_350033378085274248[16] = 0; + out_350033378085274248[17] = 0; + out_350033378085274248[18] = 0; + out_350033378085274248[19] = 0; + out_350033378085274248[20] = 0; + out_350033378085274248[21] = 0; + out_350033378085274248[22] = 1; + out_350033378085274248[23] = 0; + out_350033378085274248[24] = 0; + out_350033378085274248[25] = 0; + out_350033378085274248[26] = 0; + out_350033378085274248[27] = 0; + out_350033378085274248[28] = dt; + out_350033378085274248[29] = 0; + out_350033378085274248[30] = 0; + out_350033378085274248[31] = 0; + out_350033378085274248[32] = 0; + out_350033378085274248[33] = 0; + out_350033378085274248[34] = 0; + out_350033378085274248[35] = 0; + out_350033378085274248[36] = 0; + out_350033378085274248[37] = 0; + out_350033378085274248[38] = 0; + out_350033378085274248[39] = 0; + out_350033378085274248[40] = 0; + out_350033378085274248[41] = 0; + out_350033378085274248[42] = 0; + out_350033378085274248[43] = 0; + out_350033378085274248[44] = 1; + out_350033378085274248[45] = 0; + out_350033378085274248[46] = 0; + out_350033378085274248[47] = 0; + out_350033378085274248[48] = 0; + out_350033378085274248[49] = 0; + out_350033378085274248[50] = dt; + out_350033378085274248[51] = 0; + out_350033378085274248[52] = 0; + out_350033378085274248[53] = 0; + out_350033378085274248[54] = 0; + out_350033378085274248[55] = 0; + out_350033378085274248[56] = 0; + out_350033378085274248[57] = 0; + out_350033378085274248[58] = 0; + out_350033378085274248[59] = 0; + out_350033378085274248[60] = 0; + out_350033378085274248[61] = 0; + out_350033378085274248[62] = 0; + out_350033378085274248[63] = 0; + out_350033378085274248[64] = 0; + out_350033378085274248[65] = 0; + out_350033378085274248[66] = 1; + out_350033378085274248[67] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[11] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_350033378085274248[68] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[12] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[10] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[11]); + out_350033378085274248[69] = 0; + out_350033378085274248[70] = 0; + out_350033378085274248[71] = 0; + out_350033378085274248[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_350033378085274248[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_350033378085274248[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_350033378085274248[75] = 0; + out_350033378085274248[76] = 0; + out_350033378085274248[77] = 0; + out_350033378085274248[78] = 0; + out_350033378085274248[79] = 0; + out_350033378085274248[80] = 0; + out_350033378085274248[81] = 0; + out_350033378085274248[82] = 0; + out_350033378085274248[83] = 0; + out_350033378085274248[84] = 0; + out_350033378085274248[85] = 0; + out_350033378085274248[86] = 0; + out_350033378085274248[87] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[11] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_350033378085274248[88] = 1; + out_350033378085274248[89] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[12] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[11] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[10]); + out_350033378085274248[90] = 0; + out_350033378085274248[91] = 0; + out_350033378085274248[92] = 0; + out_350033378085274248[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_350033378085274248[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_350033378085274248[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_350033378085274248[96] = 0; + out_350033378085274248[97] = 0; + out_350033378085274248[98] = 0; + out_350033378085274248[99] = 0; + out_350033378085274248[100] = 0; + out_350033378085274248[101] = 0; + out_350033378085274248[102] = 0; + out_350033378085274248[103] = 0; + out_350033378085274248[104] = 0; + out_350033378085274248[105] = 0; + out_350033378085274248[106] = 0; + out_350033378085274248[107] = 0; + out_350033378085274248[108] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[12] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[10] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[11]); + out_350033378085274248[109] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[12] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[11] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[10]); + out_350033378085274248[110] = 1; + out_350033378085274248[111] = 0; + out_350033378085274248[112] = 0; + out_350033378085274248[113] = 0; + out_350033378085274248[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_350033378085274248[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_350033378085274248[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_350033378085274248[117] = 0; + out_350033378085274248[118] = 0; + out_350033378085274248[119] = 0; + out_350033378085274248[120] = 0; + out_350033378085274248[121] = 0; + out_350033378085274248[122] = 0; + out_350033378085274248[123] = 0; + out_350033378085274248[124] = 0; + out_350033378085274248[125] = 0; + out_350033378085274248[126] = 0; + out_350033378085274248[127] = 0; + out_350033378085274248[128] = 0; + out_350033378085274248[129] = 0; + out_350033378085274248[130] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_350033378085274248[131] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[18] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[16] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[17]); + out_350033378085274248[132] = 1; + out_350033378085274248[133] = 0; + out_350033378085274248[134] = 0; + out_350033378085274248[135] = 0; + out_350033378085274248[136] = 0; + out_350033378085274248[137] = 0; + out_350033378085274248[138] = 0; + out_350033378085274248[139] = 0; + out_350033378085274248[140] = 0; + out_350033378085274248[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_350033378085274248[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_350033378085274248[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_350033378085274248[144] = 0; + out_350033378085274248[145] = 0; + out_350033378085274248[146] = 0; + out_350033378085274248[147] = 0; + out_350033378085274248[148] = 0; + out_350033378085274248[149] = 0; + out_350033378085274248[150] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[17] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_350033378085274248[151] = 0; + out_350033378085274248[152] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]); + out_350033378085274248[153] = 0; + out_350033378085274248[154] = 1; + out_350033378085274248[155] = 0; + out_350033378085274248[156] = 0; + out_350033378085274248[157] = 0; + out_350033378085274248[158] = 0; + out_350033378085274248[159] = 0; + out_350033378085274248[160] = 0; + out_350033378085274248[161] = 0; + out_350033378085274248[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_350033378085274248[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_350033378085274248[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_350033378085274248[165] = 0; + out_350033378085274248[166] = 0; + out_350033378085274248[167] = 0; + out_350033378085274248[168] = 0; + out_350033378085274248[169] = 0; + out_350033378085274248[170] = 0; + out_350033378085274248[171] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]); + out_350033378085274248[172] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[18] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[17] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[16]); + out_350033378085274248[173] = 0; + out_350033378085274248[174] = 0; + out_350033378085274248[175] = 0; + out_350033378085274248[176] = 1; + out_350033378085274248[177] = 0; + out_350033378085274248[178] = 0; + out_350033378085274248[179] = 0; + out_350033378085274248[180] = 0; + out_350033378085274248[181] = 0; + out_350033378085274248[182] = 0; + out_350033378085274248[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_350033378085274248[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_350033378085274248[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_350033378085274248[186] = 0; + out_350033378085274248[187] = 0; + out_350033378085274248[188] = 0; + out_350033378085274248[189] = 0; + out_350033378085274248[190] = 0; + out_350033378085274248[191] = 0; + out_350033378085274248[192] = 0; + out_350033378085274248[193] = 0; + out_350033378085274248[194] = 0; + out_350033378085274248[195] = 0; + out_350033378085274248[196] = 0; + out_350033378085274248[197] = 0; + out_350033378085274248[198] = 1; + out_350033378085274248[199] = 0; + out_350033378085274248[200] = 0; + out_350033378085274248[201] = 0; + out_350033378085274248[202] = 0; + out_350033378085274248[203] = 0; + out_350033378085274248[204] = 0; + out_350033378085274248[205] = 0; + out_350033378085274248[206] = 0; + out_350033378085274248[207] = 0; + out_350033378085274248[208] = 0; + out_350033378085274248[209] = 0; + out_350033378085274248[210] = 0; + out_350033378085274248[211] = 0; + out_350033378085274248[212] = 0; + out_350033378085274248[213] = 0; + out_350033378085274248[214] = 0; + out_350033378085274248[215] = 0; + out_350033378085274248[216] = 0; + out_350033378085274248[217] = 0; + out_350033378085274248[218] = 0; + out_350033378085274248[219] = 0; + out_350033378085274248[220] = 1; + out_350033378085274248[221] = 0; + out_350033378085274248[222] = 0; + out_350033378085274248[223] = 0; + out_350033378085274248[224] = 0; + out_350033378085274248[225] = 0; + out_350033378085274248[226] = 0; + out_350033378085274248[227] = 0; + out_350033378085274248[228] = 0; + out_350033378085274248[229] = 0; + out_350033378085274248[230] = 0; + out_350033378085274248[231] = 0; + out_350033378085274248[232] = 0; + out_350033378085274248[233] = 0; + out_350033378085274248[234] = 0; + out_350033378085274248[235] = 0; + out_350033378085274248[236] = 0; + out_350033378085274248[237] = 0; + out_350033378085274248[238] = 0; + out_350033378085274248[239] = 0; + out_350033378085274248[240] = 0; + out_350033378085274248[241] = 0; + out_350033378085274248[242] = 1; + out_350033378085274248[243] = 0; + out_350033378085274248[244] = 0; + out_350033378085274248[245] = 0; + out_350033378085274248[246] = 0; + out_350033378085274248[247] = 0; + out_350033378085274248[248] = 0; + out_350033378085274248[249] = 0; + out_350033378085274248[250] = 0; + out_350033378085274248[251] = 0; + out_350033378085274248[252] = 0; + out_350033378085274248[253] = 0; + out_350033378085274248[254] = 0; + out_350033378085274248[255] = 0; + out_350033378085274248[256] = 0; + out_350033378085274248[257] = 0; + out_350033378085274248[258] = 0; + out_350033378085274248[259] = 0; + out_350033378085274248[260] = 0; + out_350033378085274248[261] = 0; + out_350033378085274248[262] = 0; + out_350033378085274248[263] = 0; + out_350033378085274248[264] = 1; + out_350033378085274248[265] = 0; + out_350033378085274248[266] = 0; + out_350033378085274248[267] = 0; + out_350033378085274248[268] = 0; + out_350033378085274248[269] = 0; + out_350033378085274248[270] = 0; + out_350033378085274248[271] = 0; + out_350033378085274248[272] = 0; + out_350033378085274248[273] = 0; + out_350033378085274248[274] = 0; + out_350033378085274248[275] = 0; + out_350033378085274248[276] = 0; + out_350033378085274248[277] = 0; + out_350033378085274248[278] = 0; + out_350033378085274248[279] = 0; + out_350033378085274248[280] = 0; + out_350033378085274248[281] = 0; + out_350033378085274248[282] = 0; + out_350033378085274248[283] = 0; + out_350033378085274248[284] = 0; + out_350033378085274248[285] = 0; + out_350033378085274248[286] = 1; + out_350033378085274248[287] = 0; + out_350033378085274248[288] = 0; + out_350033378085274248[289] = 0; + out_350033378085274248[290] = 0; + out_350033378085274248[291] = 0; + out_350033378085274248[292] = 0; + out_350033378085274248[293] = 0; + out_350033378085274248[294] = 0; + out_350033378085274248[295] = 0; + out_350033378085274248[296] = 0; + out_350033378085274248[297] = 0; + out_350033378085274248[298] = 0; + out_350033378085274248[299] = 0; + out_350033378085274248[300] = 0; + out_350033378085274248[301] = 0; + out_350033378085274248[302] = 0; + out_350033378085274248[303] = 0; + out_350033378085274248[304] = 0; + out_350033378085274248[305] = 0; + out_350033378085274248[306] = 0; + out_350033378085274248[307] = 0; + out_350033378085274248[308] = 1; + out_350033378085274248[309] = 0; + out_350033378085274248[310] = 0; + out_350033378085274248[311] = 0; + out_350033378085274248[312] = 0; + out_350033378085274248[313] = 0; + out_350033378085274248[314] = 0; + out_350033378085274248[315] = 0; + out_350033378085274248[316] = 0; + out_350033378085274248[317] = 0; + out_350033378085274248[318] = 0; + out_350033378085274248[319] = 0; + out_350033378085274248[320] = 0; + out_350033378085274248[321] = 0; + out_350033378085274248[322] = 0; + out_350033378085274248[323] = 0; + out_350033378085274248[324] = 0; + out_350033378085274248[325] = 0; + out_350033378085274248[326] = 0; + out_350033378085274248[327] = 0; + out_350033378085274248[328] = 0; + out_350033378085274248[329] = 0; + out_350033378085274248[330] = 1; + out_350033378085274248[331] = 0; + out_350033378085274248[332] = 0; + out_350033378085274248[333] = 0; + out_350033378085274248[334] = 0; + out_350033378085274248[335] = 0; + out_350033378085274248[336] = 0; + out_350033378085274248[337] = 0; + out_350033378085274248[338] = 0; + out_350033378085274248[339] = 0; + out_350033378085274248[340] = 0; + out_350033378085274248[341] = 0; + out_350033378085274248[342] = 0; + out_350033378085274248[343] = 0; + out_350033378085274248[344] = 0; + out_350033378085274248[345] = 0; + out_350033378085274248[346] = 0; + out_350033378085274248[347] = 0; + out_350033378085274248[348] = 0; + out_350033378085274248[349] = 0; + out_350033378085274248[350] = 0; + out_350033378085274248[351] = 0; + out_350033378085274248[352] = 1; + out_350033378085274248[353] = 0; + out_350033378085274248[354] = 0; + out_350033378085274248[355] = 0; + out_350033378085274248[356] = 0; + out_350033378085274248[357] = 0; + out_350033378085274248[358] = 0; + out_350033378085274248[359] = 0; + out_350033378085274248[360] = 0; + out_350033378085274248[361] = 0; + out_350033378085274248[362] = 0; + out_350033378085274248[363] = 0; + out_350033378085274248[364] = 0; + out_350033378085274248[365] = 0; + out_350033378085274248[366] = 0; + out_350033378085274248[367] = 0; + out_350033378085274248[368] = 0; + out_350033378085274248[369] = 0; + out_350033378085274248[370] = 0; + out_350033378085274248[371] = 0; + out_350033378085274248[372] = 0; + out_350033378085274248[373] = 0; + out_350033378085274248[374] = 1; + out_350033378085274248[375] = 0; + out_350033378085274248[376] = 0; + out_350033378085274248[377] = 0; + out_350033378085274248[378] = 0; + out_350033378085274248[379] = 0; + out_350033378085274248[380] = 0; + out_350033378085274248[381] = 0; + out_350033378085274248[382] = 0; + out_350033378085274248[383] = 0; + out_350033378085274248[384] = 0; + out_350033378085274248[385] = 0; + out_350033378085274248[386] = 0; + out_350033378085274248[387] = 0; + out_350033378085274248[388] = 0; + out_350033378085274248[389] = 0; + out_350033378085274248[390] = 0; + out_350033378085274248[391] = 0; + out_350033378085274248[392] = 0; + out_350033378085274248[393] = 0; + out_350033378085274248[394] = 0; + out_350033378085274248[395] = 0; + out_350033378085274248[396] = 1; + out_350033378085274248[397] = 0; + out_350033378085274248[398] = 0; + out_350033378085274248[399] = 0; + out_350033378085274248[400] = 0; + out_350033378085274248[401] = 0; + out_350033378085274248[402] = 0; + out_350033378085274248[403] = 0; + out_350033378085274248[404] = 0; + out_350033378085274248[405] = 0; + out_350033378085274248[406] = 0; + out_350033378085274248[407] = 0; + out_350033378085274248[408] = 0; + out_350033378085274248[409] = 0; + out_350033378085274248[410] = 0; + out_350033378085274248[411] = 0; + out_350033378085274248[412] = 0; + out_350033378085274248[413] = 0; + out_350033378085274248[414] = 0; + out_350033378085274248[415] = 0; + out_350033378085274248[416] = 0; + out_350033378085274248[417] = 0; + out_350033378085274248[418] = 1; + out_350033378085274248[419] = 0; + out_350033378085274248[420] = 0; + out_350033378085274248[421] = 0; + out_350033378085274248[422] = 0; + out_350033378085274248[423] = 0; + out_350033378085274248[424] = 0; + out_350033378085274248[425] = 0; + out_350033378085274248[426] = 0; + out_350033378085274248[427] = 0; + out_350033378085274248[428] = 0; + out_350033378085274248[429] = 0; + out_350033378085274248[430] = 0; + out_350033378085274248[431] = 0; + out_350033378085274248[432] = 0; + out_350033378085274248[433] = 0; + out_350033378085274248[434] = 0; + out_350033378085274248[435] = 0; + out_350033378085274248[436] = 0; + out_350033378085274248[437] = 0; + out_350033378085274248[438] = 0; + out_350033378085274248[439] = 0; + out_350033378085274248[440] = 1; } -void h_4(double *state, double *unused, double *out_4123763787477834067) { - out_4123763787477834067[0] = state[10] + state[13]; - out_4123763787477834067[1] = state[11] + state[14]; - out_4123763787477834067[2] = state[12] + state[15]; +void h_4(double *state, double *unused, double *out_6806577712686989055) { + out_6806577712686989055[0] = state[10] + state[13]; + out_6806577712686989055[1] = state[11] + state[14]; + out_6806577712686989055[2] = state[12] + state[15]; } -void H_4(double *state, double *unused, double *out_1347067503067223419) { - out_1347067503067223419[0] = 0; - out_1347067503067223419[1] = 0; - out_1347067503067223419[2] = 0; - out_1347067503067223419[3] = 0; - out_1347067503067223419[4] = 0; - out_1347067503067223419[5] = 0; - out_1347067503067223419[6] = 0; - out_1347067503067223419[7] = 0; - out_1347067503067223419[8] = 0; - out_1347067503067223419[9] = 0; - out_1347067503067223419[10] = 1; - out_1347067503067223419[11] = 0; - out_1347067503067223419[12] = 0; - out_1347067503067223419[13] = 1; - out_1347067503067223419[14] = 0; - out_1347067503067223419[15] = 0; - out_1347067503067223419[16] = 0; - out_1347067503067223419[17] = 0; - out_1347067503067223419[18] = 0; - out_1347067503067223419[19] = 0; - out_1347067503067223419[20] = 0; - out_1347067503067223419[21] = 0; - out_1347067503067223419[22] = 0; - out_1347067503067223419[23] = 0; - out_1347067503067223419[24] = 0; - out_1347067503067223419[25] = 0; - out_1347067503067223419[26] = 0; - out_1347067503067223419[27] = 0; - out_1347067503067223419[28] = 0; - out_1347067503067223419[29] = 0; - out_1347067503067223419[30] = 0; - out_1347067503067223419[31] = 0; - out_1347067503067223419[32] = 0; - out_1347067503067223419[33] = 1; - out_1347067503067223419[34] = 0; - out_1347067503067223419[35] = 0; - out_1347067503067223419[36] = 1; - out_1347067503067223419[37] = 0; - out_1347067503067223419[38] = 0; - out_1347067503067223419[39] = 0; - out_1347067503067223419[40] = 0; - out_1347067503067223419[41] = 0; - out_1347067503067223419[42] = 0; - out_1347067503067223419[43] = 0; - out_1347067503067223419[44] = 0; - out_1347067503067223419[45] = 0; - out_1347067503067223419[46] = 0; - out_1347067503067223419[47] = 0; - out_1347067503067223419[48] = 0; - out_1347067503067223419[49] = 0; - out_1347067503067223419[50] = 0; - out_1347067503067223419[51] = 0; - out_1347067503067223419[52] = 0; - out_1347067503067223419[53] = 0; - out_1347067503067223419[54] = 0; - out_1347067503067223419[55] = 0; - out_1347067503067223419[56] = 1; - out_1347067503067223419[57] = 0; - out_1347067503067223419[58] = 0; - out_1347067503067223419[59] = 1; - out_1347067503067223419[60] = 0; - out_1347067503067223419[61] = 0; - out_1347067503067223419[62] = 0; - out_1347067503067223419[63] = 0; - out_1347067503067223419[64] = 0; - out_1347067503067223419[65] = 0; +void H_4(double *state, double *unused, double *out_5600576627277883540) { + out_5600576627277883540[0] = 0; + out_5600576627277883540[1] = 0; + out_5600576627277883540[2] = 0; + out_5600576627277883540[3] = 0; + out_5600576627277883540[4] = 0; + out_5600576627277883540[5] = 0; + out_5600576627277883540[6] = 0; + out_5600576627277883540[7] = 0; + out_5600576627277883540[8] = 0; + out_5600576627277883540[9] = 0; + out_5600576627277883540[10] = 1; + out_5600576627277883540[11] = 0; + out_5600576627277883540[12] = 0; + out_5600576627277883540[13] = 1; + out_5600576627277883540[14] = 0; + out_5600576627277883540[15] = 0; + out_5600576627277883540[16] = 0; + out_5600576627277883540[17] = 0; + out_5600576627277883540[18] = 0; + out_5600576627277883540[19] = 0; + out_5600576627277883540[20] = 0; + out_5600576627277883540[21] = 0; + out_5600576627277883540[22] = 0; + out_5600576627277883540[23] = 0; + out_5600576627277883540[24] = 0; + out_5600576627277883540[25] = 0; + out_5600576627277883540[26] = 0; + out_5600576627277883540[27] = 0; + out_5600576627277883540[28] = 0; + out_5600576627277883540[29] = 0; + out_5600576627277883540[30] = 0; + out_5600576627277883540[31] = 0; + out_5600576627277883540[32] = 0; + out_5600576627277883540[33] = 1; + out_5600576627277883540[34] = 0; + out_5600576627277883540[35] = 0; + out_5600576627277883540[36] = 1; + out_5600576627277883540[37] = 0; + out_5600576627277883540[38] = 0; + out_5600576627277883540[39] = 0; + out_5600576627277883540[40] = 0; + out_5600576627277883540[41] = 0; + out_5600576627277883540[42] = 0; + out_5600576627277883540[43] = 0; + out_5600576627277883540[44] = 0; + out_5600576627277883540[45] = 0; + out_5600576627277883540[46] = 0; + out_5600576627277883540[47] = 0; + out_5600576627277883540[48] = 0; + out_5600576627277883540[49] = 0; + out_5600576627277883540[50] = 0; + out_5600576627277883540[51] = 0; + out_5600576627277883540[52] = 0; + out_5600576627277883540[53] = 0; + out_5600576627277883540[54] = 0; + out_5600576627277883540[55] = 0; + out_5600576627277883540[56] = 1; + out_5600576627277883540[57] = 0; + out_5600576627277883540[58] = 0; + out_5600576627277883540[59] = 1; + out_5600576627277883540[60] = 0; + out_5600576627277883540[61] = 0; + out_5600576627277883540[62] = 0; + out_5600576627277883540[63] = 0; + out_5600576627277883540[64] = 0; + out_5600576627277883540[65] = 0; } -void h_9(double *state, double *unused, double *out_309747609063080236) { - out_309747609063080236[0] = state[10]; - out_309747609063080236[1] = state[11]; - out_309747609063080236[2] = state[12]; +void h_9(double *state, double *unused, double *out_8013092661027487392) { + out_8013092661027487392[0] = state[10]; + out_8013092661027487392[1] = state[11]; + out_8013092661027487392[2] = state[12]; } -void H_9(double *state, double *unused, double *out_2810100233287554064) { - out_2810100233287554064[0] = 0; - out_2810100233287554064[1] = 0; - out_2810100233287554064[2] = 0; - out_2810100233287554064[3] = 0; - out_2810100233287554064[4] = 0; - out_2810100233287554064[5] = 0; - out_2810100233287554064[6] = 0; - out_2810100233287554064[7] = 0; - out_2810100233287554064[8] = 0; - out_2810100233287554064[9] = 0; - out_2810100233287554064[10] = 1; - out_2810100233287554064[11] = 0; - out_2810100233287554064[12] = 0; - out_2810100233287554064[13] = 0; - out_2810100233287554064[14] = 0; - out_2810100233287554064[15] = 0; - out_2810100233287554064[16] = 0; - out_2810100233287554064[17] = 0; - out_2810100233287554064[18] = 0; - out_2810100233287554064[19] = 0; - out_2810100233287554064[20] = 0; - out_2810100233287554064[21] = 0; - out_2810100233287554064[22] = 0; - out_2810100233287554064[23] = 0; - out_2810100233287554064[24] = 0; - out_2810100233287554064[25] = 0; - out_2810100233287554064[26] = 0; - out_2810100233287554064[27] = 0; - out_2810100233287554064[28] = 0; - out_2810100233287554064[29] = 0; - out_2810100233287554064[30] = 0; - out_2810100233287554064[31] = 0; - out_2810100233287554064[32] = 0; - out_2810100233287554064[33] = 1; - out_2810100233287554064[34] = 0; - out_2810100233287554064[35] = 0; - out_2810100233287554064[36] = 0; - out_2810100233287554064[37] = 0; - out_2810100233287554064[38] = 0; - out_2810100233287554064[39] = 0; - out_2810100233287554064[40] = 0; - out_2810100233287554064[41] = 0; - out_2810100233287554064[42] = 0; - out_2810100233287554064[43] = 0; - out_2810100233287554064[44] = 0; - out_2810100233287554064[45] = 0; - out_2810100233287554064[46] = 0; - out_2810100233287554064[47] = 0; - out_2810100233287554064[48] = 0; - out_2810100233287554064[49] = 0; - out_2810100233287554064[50] = 0; - out_2810100233287554064[51] = 0; - out_2810100233287554064[52] = 0; - out_2810100233287554064[53] = 0; - out_2810100233287554064[54] = 0; - out_2810100233287554064[55] = 0; - out_2810100233287554064[56] = 1; - out_2810100233287554064[57] = 0; - out_2810100233287554064[58] = 0; - out_2810100233287554064[59] = 0; - out_2810100233287554064[60] = 0; - out_2810100233287554064[61] = 0; - out_2810100233287554064[62] = 0; - out_2810100233287554064[63] = 0; - out_2810100233287554064[64] = 0; - out_2810100233287554064[65] = 0; +void H_9(double *state, double *unused, double *out_5558948511167220606) { + out_5558948511167220606[0] = 0; + out_5558948511167220606[1] = 0; + out_5558948511167220606[2] = 0; + out_5558948511167220606[3] = 0; + out_5558948511167220606[4] = 0; + out_5558948511167220606[5] = 0; + out_5558948511167220606[6] = 0; + out_5558948511167220606[7] = 0; + out_5558948511167220606[8] = 0; + out_5558948511167220606[9] = 0; + out_5558948511167220606[10] = 1; + out_5558948511167220606[11] = 0; + out_5558948511167220606[12] = 0; + out_5558948511167220606[13] = 0; + out_5558948511167220606[14] = 0; + out_5558948511167220606[15] = 0; + out_5558948511167220606[16] = 0; + out_5558948511167220606[17] = 0; + out_5558948511167220606[18] = 0; + out_5558948511167220606[19] = 0; + out_5558948511167220606[20] = 0; + out_5558948511167220606[21] = 0; + out_5558948511167220606[22] = 0; + out_5558948511167220606[23] = 0; + out_5558948511167220606[24] = 0; + out_5558948511167220606[25] = 0; + out_5558948511167220606[26] = 0; + out_5558948511167220606[27] = 0; + out_5558948511167220606[28] = 0; + out_5558948511167220606[29] = 0; + out_5558948511167220606[30] = 0; + out_5558948511167220606[31] = 0; + out_5558948511167220606[32] = 0; + out_5558948511167220606[33] = 1; + out_5558948511167220606[34] = 0; + out_5558948511167220606[35] = 0; + out_5558948511167220606[36] = 0; + out_5558948511167220606[37] = 0; + out_5558948511167220606[38] = 0; + out_5558948511167220606[39] = 0; + out_5558948511167220606[40] = 0; + out_5558948511167220606[41] = 0; + out_5558948511167220606[42] = 0; + out_5558948511167220606[43] = 0; + out_5558948511167220606[44] = 0; + out_5558948511167220606[45] = 0; + out_5558948511167220606[46] = 0; + out_5558948511167220606[47] = 0; + out_5558948511167220606[48] = 0; + out_5558948511167220606[49] = 0; + out_5558948511167220606[50] = 0; + out_5558948511167220606[51] = 0; + out_5558948511167220606[52] = 0; + out_5558948511167220606[53] = 0; + out_5558948511167220606[54] = 0; + out_5558948511167220606[55] = 0; + out_5558948511167220606[56] = 1; + out_5558948511167220606[57] = 0; + out_5558948511167220606[58] = 0; + out_5558948511167220606[59] = 0; + out_5558948511167220606[60] = 0; + out_5558948511167220606[61] = 0; + out_5558948511167220606[62] = 0; + out_5558948511167220606[63] = 0; + out_5558948511167220606[64] = 0; + out_5558948511167220606[65] = 0; } -void h_10(double *state, double *unused, double *out_4520923907172893335) { - out_4520923907172893335[0] = 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0] + state[16] + state[19]; - out_4520923907172893335[1] = 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1] + state[17] + state[20]; - out_4520923907172893335[2] = 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[2] + state[18] + state[21]; +void h_10(double *state, double *unused, double *out_3244487682903101191) { + out_3244487682903101191[0] = 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0] + state[16] + state[19]; + out_3244487682903101191[1] = 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1] + state[17] + state[20]; + out_3244487682903101191[2] = 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[2] + state[18] + state[21]; } -void H_10(double *state, double *unused, double *out_9067229632294002227) { - out_9067229632294002227[0] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*pow(state[0], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); - out_9067229632294002227[1] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; - out_9067229632294002227[2] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[2]; - out_9067229632294002227[3] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; - out_9067229632294002227[4] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; - out_9067229632294002227[5] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; - out_9067229632294002227[6] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; - out_9067229632294002227[7] = 0; - out_9067229632294002227[8] = 0; - out_9067229632294002227[9] = 0; - out_9067229632294002227[10] = 0; - out_9067229632294002227[11] = 0; - out_9067229632294002227[12] = 0; - out_9067229632294002227[13] = 0; - out_9067229632294002227[14] = 0; - out_9067229632294002227[15] = 0; - out_9067229632294002227[16] = 1; - out_9067229632294002227[17] = 0; - out_9067229632294002227[18] = 0; - out_9067229632294002227[19] = 1; - out_9067229632294002227[20] = 0; - out_9067229632294002227[21] = 0; - out_9067229632294002227[22] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; - out_9067229632294002227[23] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*pow(state[1], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); - out_9067229632294002227[24] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1]*state[2]; - out_9067229632294002227[25] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; - out_9067229632294002227[26] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; - out_9067229632294002227[27] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; - out_9067229632294002227[28] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; - out_9067229632294002227[29] = 0; - out_9067229632294002227[30] = 0; - out_9067229632294002227[31] = 0; - out_9067229632294002227[32] = 0; - out_9067229632294002227[33] = 0; - out_9067229632294002227[34] = 0; - out_9067229632294002227[35] = 0; - out_9067229632294002227[36] = 0; - out_9067229632294002227[37] = 0; - out_9067229632294002227[38] = 0; - out_9067229632294002227[39] = 1; - out_9067229632294002227[40] = 0; - out_9067229632294002227[41] = 0; - out_9067229632294002227[42] = 1; - out_9067229632294002227[43] = 0; - out_9067229632294002227[44] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[0]*state[2]; - out_9067229632294002227[45] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[1]*state[2]; - out_9067229632294002227[46] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*pow(state[2], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); - out_9067229632294002227[47] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; - out_9067229632294002227[48] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; - out_9067229632294002227[49] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; - out_9067229632294002227[50] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; - out_9067229632294002227[51] = 0; - out_9067229632294002227[52] = 0; - out_9067229632294002227[53] = 0; - out_9067229632294002227[54] = 0; - out_9067229632294002227[55] = 0; - out_9067229632294002227[56] = 0; - out_9067229632294002227[57] = 0; - out_9067229632294002227[58] = 0; - out_9067229632294002227[59] = 0; - out_9067229632294002227[60] = 0; - out_9067229632294002227[61] = 0; - out_9067229632294002227[62] = 1; - out_9067229632294002227[63] = 0; - out_9067229632294002227[64] = 0; - out_9067229632294002227[65] = 1; +void H_10(double *state, double *unused, double *out_8030959225542197370) { + out_8030959225542197370[0] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*pow(state[0], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_8030959225542197370[1] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_8030959225542197370[2] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[2]; + out_8030959225542197370[3] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_8030959225542197370[4] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_8030959225542197370[5] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_8030959225542197370[6] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_8030959225542197370[7] = 0; + out_8030959225542197370[8] = 0; + out_8030959225542197370[9] = 0; + out_8030959225542197370[10] = 0; + out_8030959225542197370[11] = 0; + out_8030959225542197370[12] = 0; + out_8030959225542197370[13] = 0; + out_8030959225542197370[14] = 0; + out_8030959225542197370[15] = 0; + out_8030959225542197370[16] = 1; + out_8030959225542197370[17] = 0; + out_8030959225542197370[18] = 0; + out_8030959225542197370[19] = 1; + out_8030959225542197370[20] = 0; + out_8030959225542197370[21] = 0; + out_8030959225542197370[22] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_8030959225542197370[23] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*pow(state[1], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_8030959225542197370[24] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1]*state[2]; + out_8030959225542197370[25] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_8030959225542197370[26] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_8030959225542197370[27] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_8030959225542197370[28] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_8030959225542197370[29] = 0; + out_8030959225542197370[30] = 0; + out_8030959225542197370[31] = 0; + out_8030959225542197370[32] = 0; + out_8030959225542197370[33] = 0; + out_8030959225542197370[34] = 0; + out_8030959225542197370[35] = 0; + out_8030959225542197370[36] = 0; + out_8030959225542197370[37] = 0; + out_8030959225542197370[38] = 0; + out_8030959225542197370[39] = 1; + out_8030959225542197370[40] = 0; + out_8030959225542197370[41] = 0; + out_8030959225542197370[42] = 1; + out_8030959225542197370[43] = 0; + out_8030959225542197370[44] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[0]*state[2]; + out_8030959225542197370[45] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[1]*state[2]; + out_8030959225542197370[46] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*pow(state[2], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_8030959225542197370[47] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_8030959225542197370[48] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_8030959225542197370[49] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_8030959225542197370[50] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_8030959225542197370[51] = 0; + out_8030959225542197370[52] = 0; + out_8030959225542197370[53] = 0; + out_8030959225542197370[54] = 0; + out_8030959225542197370[55] = 0; + out_8030959225542197370[56] = 0; + out_8030959225542197370[57] = 0; + out_8030959225542197370[58] = 0; + out_8030959225542197370[59] = 0; + out_8030959225542197370[60] = 0; + out_8030959225542197370[61] = 0; + out_8030959225542197370[62] = 1; + out_8030959225542197370[63] = 0; + out_8030959225542197370[64] = 0; + out_8030959225542197370[65] = 1; } -void h_12(double *state, double *unused, double *out_4532453151220973685) { - out_4532453151220973685[0] = state[0]; - out_4532453151220973685[1] = state[1]; - out_4532453151220973685[2] = state[2]; +void h_12(double *state, double *unused, double *out_2391008662114364333) { + out_2391008662114364333[0] = state[0]; + out_2391008662114364333[1] = state[1]; + out_2391008662114364333[2] = state[2]; } -void H_12(double *state, double *unused, double *out_1968166528114817086) { - out_1968166528114817086[0] = 1; - out_1968166528114817086[1] = 0; - out_1968166528114817086[2] = 0; - out_1968166528114817086[3] = 0; - out_1968166528114817086[4] = 0; - out_1968166528114817086[5] = 0; - out_1968166528114817086[6] = 0; - out_1968166528114817086[7] = 0; - out_1968166528114817086[8] = 0; - out_1968166528114817086[9] = 0; - out_1968166528114817086[10] = 0; - out_1968166528114817086[11] = 0; - out_1968166528114817086[12] = 0; - out_1968166528114817086[13] = 0; - out_1968166528114817086[14] = 0; - out_1968166528114817086[15] = 0; - out_1968166528114817086[16] = 0; - out_1968166528114817086[17] = 0; - out_1968166528114817086[18] = 0; - out_1968166528114817086[19] = 0; - out_1968166528114817086[20] = 0; - out_1968166528114817086[21] = 0; - out_1968166528114817086[22] = 0; - out_1968166528114817086[23] = 1; - out_1968166528114817086[24] = 0; - out_1968166528114817086[25] = 0; - out_1968166528114817086[26] = 0; - out_1968166528114817086[27] = 0; - out_1968166528114817086[28] = 0; - out_1968166528114817086[29] = 0; - out_1968166528114817086[30] = 0; - out_1968166528114817086[31] = 0; - out_1968166528114817086[32] = 0; - out_1968166528114817086[33] = 0; - out_1968166528114817086[34] = 0; - out_1968166528114817086[35] = 0; - out_1968166528114817086[36] = 0; - out_1968166528114817086[37] = 0; - out_1968166528114817086[38] = 0; - out_1968166528114817086[39] = 0; - out_1968166528114817086[40] = 0; - out_1968166528114817086[41] = 0; - out_1968166528114817086[42] = 0; - out_1968166528114817086[43] = 0; - out_1968166528114817086[44] = 0; - out_1968166528114817086[45] = 0; - out_1968166528114817086[46] = 1; - out_1968166528114817086[47] = 0; - out_1968166528114817086[48] = 0; - out_1968166528114817086[49] = 0; - out_1968166528114817086[50] = 0; - out_1968166528114817086[51] = 0; - out_1968166528114817086[52] = 0; - out_1968166528114817086[53] = 0; - out_1968166528114817086[54] = 0; - out_1968166528114817086[55] = 0; - out_1968166528114817086[56] = 0; - out_1968166528114817086[57] = 0; - out_1968166528114817086[58] = 0; - out_1968166528114817086[59] = 0; - out_1968166528114817086[60] = 0; - out_1968166528114817086[61] = 0; - out_1968166528114817086[62] = 0; - out_1968166528114817086[63] = 0; - out_1968166528114817086[64] = 0; - out_1968166528114817086[65] = 0; +void H_12(double *state, double *unused, double *out_7826711038399706281) { + out_7826711038399706281[0] = 1; + out_7826711038399706281[1] = 0; + out_7826711038399706281[2] = 0; + out_7826711038399706281[3] = 0; + out_7826711038399706281[4] = 0; + out_7826711038399706281[5] = 0; + out_7826711038399706281[6] = 0; + out_7826711038399706281[7] = 0; + out_7826711038399706281[8] = 0; + out_7826711038399706281[9] = 0; + out_7826711038399706281[10] = 0; + out_7826711038399706281[11] = 0; + out_7826711038399706281[12] = 0; + out_7826711038399706281[13] = 0; + out_7826711038399706281[14] = 0; + out_7826711038399706281[15] = 0; + out_7826711038399706281[16] = 0; + out_7826711038399706281[17] = 0; + out_7826711038399706281[18] = 0; + out_7826711038399706281[19] = 0; + out_7826711038399706281[20] = 0; + out_7826711038399706281[21] = 0; + out_7826711038399706281[22] = 0; + out_7826711038399706281[23] = 1; + out_7826711038399706281[24] = 0; + out_7826711038399706281[25] = 0; + out_7826711038399706281[26] = 0; + out_7826711038399706281[27] = 0; + out_7826711038399706281[28] = 0; + out_7826711038399706281[29] = 0; + out_7826711038399706281[30] = 0; + out_7826711038399706281[31] = 0; + out_7826711038399706281[32] = 0; + out_7826711038399706281[33] = 0; + out_7826711038399706281[34] = 0; + out_7826711038399706281[35] = 0; + out_7826711038399706281[36] = 0; + out_7826711038399706281[37] = 0; + out_7826711038399706281[38] = 0; + out_7826711038399706281[39] = 0; + out_7826711038399706281[40] = 0; + out_7826711038399706281[41] = 0; + out_7826711038399706281[42] = 0; + out_7826711038399706281[43] = 0; + out_7826711038399706281[44] = 0; + out_7826711038399706281[45] = 0; + out_7826711038399706281[46] = 1; + out_7826711038399706281[47] = 0; + out_7826711038399706281[48] = 0; + out_7826711038399706281[49] = 0; + out_7826711038399706281[50] = 0; + out_7826711038399706281[51] = 0; + out_7826711038399706281[52] = 0; + out_7826711038399706281[53] = 0; + out_7826711038399706281[54] = 0; + out_7826711038399706281[55] = 0; + out_7826711038399706281[56] = 0; + out_7826711038399706281[57] = 0; + out_7826711038399706281[58] = 0; + out_7826711038399706281[59] = 0; + out_7826711038399706281[60] = 0; + out_7826711038399706281[61] = 0; + out_7826711038399706281[62] = 0; + out_7826711038399706281[63] = 0; + out_7826711038399706281[64] = 0; + out_7826711038399706281[65] = 0; } -void h_35(double *state, double *unused, double *out_6869040696842091009) { - out_6869040696842091009[0] = state[7]; - out_6869040696842091009[1] = state[8]; - out_6869040696842091009[2] = state[9]; +void h_35(double *state, double *unused, double *out_7297975473935584261) { + out_7297975473935584261[0] = state[7]; + out_7297975473935584261[1] = state[8]; + out_7297975473935584261[2] = state[9]; } -void H_35(double *state, double *unused, double *out_4713729560439830795) { - out_4713729560439830795[0] = 0; - out_4713729560439830795[1] = 0; - out_4713729560439830795[2] = 0; - out_4713729560439830795[3] = 0; - out_4713729560439830795[4] = 0; - out_4713729560439830795[5] = 0; - out_4713729560439830795[6] = 0; - out_4713729560439830795[7] = 1; - out_4713729560439830795[8] = 0; - out_4713729560439830795[9] = 0; - out_4713729560439830795[10] = 0; - out_4713729560439830795[11] = 0; - out_4713729560439830795[12] = 0; - out_4713729560439830795[13] = 0; - out_4713729560439830795[14] = 0; - out_4713729560439830795[15] = 0; - out_4713729560439830795[16] = 0; - out_4713729560439830795[17] = 0; - out_4713729560439830795[18] = 0; - out_4713729560439830795[19] = 0; - out_4713729560439830795[20] = 0; - out_4713729560439830795[21] = 0; - out_4713729560439830795[22] = 0; - out_4713729560439830795[23] = 0; - out_4713729560439830795[24] = 0; - out_4713729560439830795[25] = 0; - out_4713729560439830795[26] = 0; - out_4713729560439830795[27] = 0; - out_4713729560439830795[28] = 0; - out_4713729560439830795[29] = 0; - out_4713729560439830795[30] = 1; - out_4713729560439830795[31] = 0; - out_4713729560439830795[32] = 0; - out_4713729560439830795[33] = 0; - out_4713729560439830795[34] = 0; - out_4713729560439830795[35] = 0; - out_4713729560439830795[36] = 0; - out_4713729560439830795[37] = 0; - out_4713729560439830795[38] = 0; - out_4713729560439830795[39] = 0; - out_4713729560439830795[40] = 0; - out_4713729560439830795[41] = 0; - out_4713729560439830795[42] = 0; - out_4713729560439830795[43] = 0; - out_4713729560439830795[44] = 0; - out_4713729560439830795[45] = 0; - out_4713729560439830795[46] = 0; - out_4713729560439830795[47] = 0; - out_4713729560439830795[48] = 0; - out_4713729560439830795[49] = 0; - out_4713729560439830795[50] = 0; - out_4713729560439830795[51] = 0; - out_4713729560439830795[52] = 0; - out_4713729560439830795[53] = 1; - out_4713729560439830795[54] = 0; - out_4713729560439830795[55] = 0; - out_4713729560439830795[56] = 0; - out_4713729560439830795[57] = 0; - out_4713729560439830795[58] = 0; - out_4713729560439830795[59] = 0; - out_4713729560439830795[60] = 0; - out_4713729560439830795[61] = 0; - out_4713729560439830795[62] = 0; - out_4713729560439830795[63] = 0; - out_4713729560439830795[64] = 0; - out_4713729560439830795[65] = 0; +void H_35(double *state, double *unused, double *out_8967238684650490916) { + out_8967238684650490916[0] = 0; + out_8967238684650490916[1] = 0; + out_8967238684650490916[2] = 0; + out_8967238684650490916[3] = 0; + out_8967238684650490916[4] = 0; + out_8967238684650490916[5] = 0; + out_8967238684650490916[6] = 0; + out_8967238684650490916[7] = 1; + out_8967238684650490916[8] = 0; + out_8967238684650490916[9] = 0; + out_8967238684650490916[10] = 0; + out_8967238684650490916[11] = 0; + out_8967238684650490916[12] = 0; + out_8967238684650490916[13] = 0; + out_8967238684650490916[14] = 0; + out_8967238684650490916[15] = 0; + out_8967238684650490916[16] = 0; + out_8967238684650490916[17] = 0; + out_8967238684650490916[18] = 0; + out_8967238684650490916[19] = 0; + out_8967238684650490916[20] = 0; + out_8967238684650490916[21] = 0; + out_8967238684650490916[22] = 0; + out_8967238684650490916[23] = 0; + out_8967238684650490916[24] = 0; + out_8967238684650490916[25] = 0; + out_8967238684650490916[26] = 0; + out_8967238684650490916[27] = 0; + out_8967238684650490916[28] = 0; + out_8967238684650490916[29] = 0; + out_8967238684650490916[30] = 1; + out_8967238684650490916[31] = 0; + out_8967238684650490916[32] = 0; + out_8967238684650490916[33] = 0; + out_8967238684650490916[34] = 0; + out_8967238684650490916[35] = 0; + out_8967238684650490916[36] = 0; + out_8967238684650490916[37] = 0; + out_8967238684650490916[38] = 0; + out_8967238684650490916[39] = 0; + out_8967238684650490916[40] = 0; + out_8967238684650490916[41] = 0; + out_8967238684650490916[42] = 0; + out_8967238684650490916[43] = 0; + out_8967238684650490916[44] = 0; + out_8967238684650490916[45] = 0; + out_8967238684650490916[46] = 0; + out_8967238684650490916[47] = 0; + out_8967238684650490916[48] = 0; + out_8967238684650490916[49] = 0; + out_8967238684650490916[50] = 0; + out_8967238684650490916[51] = 0; + out_8967238684650490916[52] = 0; + out_8967238684650490916[53] = 1; + out_8967238684650490916[54] = 0; + out_8967238684650490916[55] = 0; + out_8967238684650490916[56] = 0; + out_8967238684650490916[57] = 0; + out_8967238684650490916[58] = 0; + out_8967238684650490916[59] = 0; + out_8967238684650490916[60] = 0; + out_8967238684650490916[61] = 0; + out_8967238684650490916[62] = 0; + out_8967238684650490916[63] = 0; + out_8967238684650490916[64] = 0; + out_8967238684650490916[65] = 0; } -void h_32(double *state, double *unused, double *out_3827151762527483138) { - out_3827151762527483138[0] = state[3]; - out_3827151762527483138[1] = state[4]; - out_3827151762527483138[2] = state[5]; - out_3827151762527483138[3] = state[6]; +void h_32(double *state, double *unused, double *out_5218610459212142195) { + out_5218610459212142195[0] = state[3]; + out_5218610459212142195[1] = state[4]; + out_5218610459212142195[2] = state[5]; + out_5218610459212142195[3] = state[6]; } -void H_32(double *state, double *unused, double *out_7931710141062108263) { - out_7931710141062108263[0] = 0; - out_7931710141062108263[1] = 0; - out_7931710141062108263[2] = 0; - out_7931710141062108263[3] = 1; - out_7931710141062108263[4] = 0; - out_7931710141062108263[5] = 0; - out_7931710141062108263[6] = 0; - out_7931710141062108263[7] = 0; - out_7931710141062108263[8] = 0; - out_7931710141062108263[9] = 0; - out_7931710141062108263[10] = 0; - out_7931710141062108263[11] = 0; - out_7931710141062108263[12] = 0; - out_7931710141062108263[13] = 0; - out_7931710141062108263[14] = 0; - out_7931710141062108263[15] = 0; - out_7931710141062108263[16] = 0; - out_7931710141062108263[17] = 0; - out_7931710141062108263[18] = 0; - out_7931710141062108263[19] = 0; - out_7931710141062108263[20] = 0; - out_7931710141062108263[21] = 0; - out_7931710141062108263[22] = 0; - out_7931710141062108263[23] = 0; - out_7931710141062108263[24] = 0; - out_7931710141062108263[25] = 0; - out_7931710141062108263[26] = 1; - out_7931710141062108263[27] = 0; - out_7931710141062108263[28] = 0; - out_7931710141062108263[29] = 0; - out_7931710141062108263[30] = 0; - out_7931710141062108263[31] = 0; - out_7931710141062108263[32] = 0; - out_7931710141062108263[33] = 0; - out_7931710141062108263[34] = 0; - out_7931710141062108263[35] = 0; - out_7931710141062108263[36] = 0; - out_7931710141062108263[37] = 0; - out_7931710141062108263[38] = 0; - out_7931710141062108263[39] = 0; - out_7931710141062108263[40] = 0; - out_7931710141062108263[41] = 0; - out_7931710141062108263[42] = 0; - out_7931710141062108263[43] = 0; - out_7931710141062108263[44] = 0; - out_7931710141062108263[45] = 0; - out_7931710141062108263[46] = 0; - out_7931710141062108263[47] = 0; - out_7931710141062108263[48] = 0; - out_7931710141062108263[49] = 1; - out_7931710141062108263[50] = 0; - out_7931710141062108263[51] = 0; - out_7931710141062108263[52] = 0; - out_7931710141062108263[53] = 0; - out_7931710141062108263[54] = 0; - out_7931710141062108263[55] = 0; - out_7931710141062108263[56] = 0; - out_7931710141062108263[57] = 0; - out_7931710141062108263[58] = 0; - out_7931710141062108263[59] = 0; - out_7931710141062108263[60] = 0; - out_7931710141062108263[61] = 0; - out_7931710141062108263[62] = 0; - out_7931710141062108263[63] = 0; - out_7931710141062108263[64] = 0; - out_7931710141062108263[65] = 0; - out_7931710141062108263[66] = 0; - out_7931710141062108263[67] = 0; - out_7931710141062108263[68] = 0; - out_7931710141062108263[69] = 0; - out_7931710141062108263[70] = 0; - out_7931710141062108263[71] = 0; - out_7931710141062108263[72] = 1; - out_7931710141062108263[73] = 0; - out_7931710141062108263[74] = 0; - out_7931710141062108263[75] = 0; - out_7931710141062108263[76] = 0; - out_7931710141062108263[77] = 0; - out_7931710141062108263[78] = 0; - out_7931710141062108263[79] = 0; - out_7931710141062108263[80] = 0; - out_7931710141062108263[81] = 0; - out_7931710141062108263[82] = 0; - out_7931710141062108263[83] = 0; - out_7931710141062108263[84] = 0; - out_7931710141062108263[85] = 0; - out_7931710141062108263[86] = 0; - out_7931710141062108263[87] = 0; +void H_32(double *state, double *unused, double *out_9098403469591231385) { + out_9098403469591231385[0] = 0; + out_9098403469591231385[1] = 0; + out_9098403469591231385[2] = 0; + out_9098403469591231385[3] = 1; + out_9098403469591231385[4] = 0; + out_9098403469591231385[5] = 0; + out_9098403469591231385[6] = 0; + out_9098403469591231385[7] = 0; + out_9098403469591231385[8] = 0; + out_9098403469591231385[9] = 0; + out_9098403469591231385[10] = 0; + out_9098403469591231385[11] = 0; + out_9098403469591231385[12] = 0; + out_9098403469591231385[13] = 0; + out_9098403469591231385[14] = 0; + out_9098403469591231385[15] = 0; + out_9098403469591231385[16] = 0; + out_9098403469591231385[17] = 0; + out_9098403469591231385[18] = 0; + out_9098403469591231385[19] = 0; + out_9098403469591231385[20] = 0; + out_9098403469591231385[21] = 0; + out_9098403469591231385[22] = 0; + out_9098403469591231385[23] = 0; + out_9098403469591231385[24] = 0; + out_9098403469591231385[25] = 0; + out_9098403469591231385[26] = 1; + out_9098403469591231385[27] = 0; + out_9098403469591231385[28] = 0; + out_9098403469591231385[29] = 0; + out_9098403469591231385[30] = 0; + out_9098403469591231385[31] = 0; + out_9098403469591231385[32] = 0; + out_9098403469591231385[33] = 0; + out_9098403469591231385[34] = 0; + out_9098403469591231385[35] = 0; + out_9098403469591231385[36] = 0; + out_9098403469591231385[37] = 0; + out_9098403469591231385[38] = 0; + out_9098403469591231385[39] = 0; + out_9098403469591231385[40] = 0; + out_9098403469591231385[41] = 0; + out_9098403469591231385[42] = 0; + out_9098403469591231385[43] = 0; + out_9098403469591231385[44] = 0; + out_9098403469591231385[45] = 0; + out_9098403469591231385[46] = 0; + out_9098403469591231385[47] = 0; + out_9098403469591231385[48] = 0; + out_9098403469591231385[49] = 1; + out_9098403469591231385[50] = 0; + out_9098403469591231385[51] = 0; + out_9098403469591231385[52] = 0; + out_9098403469591231385[53] = 0; + out_9098403469591231385[54] = 0; + out_9098403469591231385[55] = 0; + out_9098403469591231385[56] = 0; + out_9098403469591231385[57] = 0; + out_9098403469591231385[58] = 0; + out_9098403469591231385[59] = 0; + out_9098403469591231385[60] = 0; + out_9098403469591231385[61] = 0; + out_9098403469591231385[62] = 0; + out_9098403469591231385[63] = 0; + out_9098403469591231385[64] = 0; + out_9098403469591231385[65] = 0; + out_9098403469591231385[66] = 0; + out_9098403469591231385[67] = 0; + out_9098403469591231385[68] = 0; + out_9098403469591231385[69] = 0; + out_9098403469591231385[70] = 0; + out_9098403469591231385[71] = 0; + out_9098403469591231385[72] = 1; + out_9098403469591231385[73] = 0; + out_9098403469591231385[74] = 0; + out_9098403469591231385[75] = 0; + out_9098403469591231385[76] = 0; + out_9098403469591231385[77] = 0; + out_9098403469591231385[78] = 0; + out_9098403469591231385[79] = 0; + out_9098403469591231385[80] = 0; + out_9098403469591231385[81] = 0; + out_9098403469591231385[82] = 0; + out_9098403469591231385[83] = 0; + out_9098403469591231385[84] = 0; + out_9098403469591231385[85] = 0; + out_9098403469591231385[86] = 0; + out_9098403469591231385[87] = 0; } -void h_13(double *state, double *unused, double *out_6559362347018312854) { - out_6559362347018312854[0] = (-2*state[3]*state[5] + 2*state[4]*state[6])*state[9] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[8] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[7]; - out_6559362347018312854[1] = (2*state[3]*state[4] + 2*state[5]*state[6])*state[9] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[7] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[8]; - out_6559362347018312854[2] = (-2*state[3]*state[4] + 2*state[5]*state[6])*state[8] + (2*state[3]*state[5] + 2*state[4]*state[6])*state[7] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[9]; +void h_13(double *state, double *unused, double *out_7462688905416857194) { + out_7462688905416857194[0] = (-2*state[3]*state[5] + 2*state[4]*state[6])*state[9] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[8] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[7]; + out_7462688905416857194[1] = (2*state[3]*state[4] + 2*state[5]*state[6])*state[9] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[7] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[8]; + out_7462688905416857194[2] = (-2*state[3]*state[4] + 2*state[5]*state[6])*state[8] + (2*state[3]*state[5] + 2*state[4]*state[6])*state[7] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[9]; } -void H_13(double *state, double *unused, double *out_5140151606010235324) { - out_5140151606010235324[0] = 0; - out_5140151606010235324[1] = 0; - out_5140151606010235324[2] = 0; - out_5140151606010235324[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_5140151606010235324[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_5140151606010235324[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; - out_5140151606010235324[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_5140151606010235324[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); - out_5140151606010235324[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; - out_5140151606010235324[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; - out_5140151606010235324[10] = 0; - out_5140151606010235324[11] = 0; - out_5140151606010235324[12] = 0; - out_5140151606010235324[13] = 0; - out_5140151606010235324[14] = 0; - out_5140151606010235324[15] = 0; - out_5140151606010235324[16] = 0; - out_5140151606010235324[17] = 0; - out_5140151606010235324[18] = 0; - out_5140151606010235324[19] = 0; - out_5140151606010235324[20] = 0; - out_5140151606010235324[21] = 0; - out_5140151606010235324[22] = 0; - out_5140151606010235324[23] = 0; - out_5140151606010235324[24] = 0; - out_5140151606010235324[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; - out_5140151606010235324[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_5140151606010235324[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_5140151606010235324[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; - out_5140151606010235324[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; - out_5140151606010235324[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); - out_5140151606010235324[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; - out_5140151606010235324[32] = 0; - out_5140151606010235324[33] = 0; - out_5140151606010235324[34] = 0; - out_5140151606010235324[35] = 0; - out_5140151606010235324[36] = 0; - out_5140151606010235324[37] = 0; - out_5140151606010235324[38] = 0; - out_5140151606010235324[39] = 0; - out_5140151606010235324[40] = 0; - out_5140151606010235324[41] = 0; - out_5140151606010235324[42] = 0; - out_5140151606010235324[43] = 0; - out_5140151606010235324[44] = 0; - out_5140151606010235324[45] = 0; - out_5140151606010235324[46] = 0; - out_5140151606010235324[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; - out_5140151606010235324[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; - out_5140151606010235324[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; - out_5140151606010235324[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; - out_5140151606010235324[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; - out_5140151606010235324[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; - out_5140151606010235324[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); - out_5140151606010235324[54] = 0; - out_5140151606010235324[55] = 0; - out_5140151606010235324[56] = 0; - out_5140151606010235324[57] = 0; - out_5140151606010235324[58] = 0; - out_5140151606010235324[59] = 0; - out_5140151606010235324[60] = 0; - out_5140151606010235324[61] = 0; - out_5140151606010235324[62] = 0; - out_5140151606010235324[63] = 0; - out_5140151606010235324[64] = 0; - out_5140151606010235324[65] = 0; +void H_13(double *state, double *unused, double *out_6584715849578254444) { + out_6584715849578254444[0] = 0; + out_6584715849578254444[1] = 0; + out_6584715849578254444[2] = 0; + out_6584715849578254444[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_6584715849578254444[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_6584715849578254444[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; + out_6584715849578254444[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_6584715849578254444[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); + out_6584715849578254444[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; + out_6584715849578254444[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; + out_6584715849578254444[10] = 0; + out_6584715849578254444[11] = 0; + out_6584715849578254444[12] = 0; + out_6584715849578254444[13] = 0; + out_6584715849578254444[14] = 0; + out_6584715849578254444[15] = 0; + out_6584715849578254444[16] = 0; + out_6584715849578254444[17] = 0; + out_6584715849578254444[18] = 0; + out_6584715849578254444[19] = 0; + out_6584715849578254444[20] = 0; + out_6584715849578254444[21] = 0; + out_6584715849578254444[22] = 0; + out_6584715849578254444[23] = 0; + out_6584715849578254444[24] = 0; + out_6584715849578254444[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_6584715849578254444[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_6584715849578254444[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_6584715849578254444[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; + out_6584715849578254444[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; + out_6584715849578254444[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); + out_6584715849578254444[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; + out_6584715849578254444[32] = 0; + out_6584715849578254444[33] = 0; + out_6584715849578254444[34] = 0; + out_6584715849578254444[35] = 0; + out_6584715849578254444[36] = 0; + out_6584715849578254444[37] = 0; + out_6584715849578254444[38] = 0; + out_6584715849578254444[39] = 0; + out_6584715849578254444[40] = 0; + out_6584715849578254444[41] = 0; + out_6584715849578254444[42] = 0; + out_6584715849578254444[43] = 0; + out_6584715849578254444[44] = 0; + out_6584715849578254444[45] = 0; + out_6584715849578254444[46] = 0; + out_6584715849578254444[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_6584715849578254444[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; + out_6584715849578254444[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_6584715849578254444[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_6584715849578254444[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; + out_6584715849578254444[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; + out_6584715849578254444[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); + out_6584715849578254444[54] = 0; + out_6584715849578254444[55] = 0; + out_6584715849578254444[56] = 0; + out_6584715849578254444[57] = 0; + out_6584715849578254444[58] = 0; + out_6584715849578254444[59] = 0; + out_6584715849578254444[60] = 0; + out_6584715849578254444[61] = 0; + out_6584715849578254444[62] = 0; + out_6584715849578254444[63] = 0; + out_6584715849578254444[64] = 0; + out_6584715849578254444[65] = 0; } -void h_14(double *state, double *unused, double *out_309747609063080236) { - out_309747609063080236[0] = state[10]; - out_309747609063080236[1] = state[11]; - out_309747609063080236[2] = state[12]; +void h_14(double *state, double *unused, double *out_8013092661027487392) { + out_8013092661027487392[0] = state[10]; + out_8013092661027487392[1] = state[11]; + out_8013092661027487392[2] = state[12]; } -void H_14(double *state, double *unused, double *out_2810100233287554064) { - out_2810100233287554064[0] = 0; - out_2810100233287554064[1] = 0; - out_2810100233287554064[2] = 0; - out_2810100233287554064[3] = 0; - out_2810100233287554064[4] = 0; - out_2810100233287554064[5] = 0; - out_2810100233287554064[6] = 0; - out_2810100233287554064[7] = 0; - out_2810100233287554064[8] = 0; - out_2810100233287554064[9] = 0; - out_2810100233287554064[10] = 1; - out_2810100233287554064[11] = 0; - out_2810100233287554064[12] = 0; - out_2810100233287554064[13] = 0; - out_2810100233287554064[14] = 0; - out_2810100233287554064[15] = 0; - out_2810100233287554064[16] = 0; - out_2810100233287554064[17] = 0; - out_2810100233287554064[18] = 0; - out_2810100233287554064[19] = 0; - out_2810100233287554064[20] = 0; - out_2810100233287554064[21] = 0; - out_2810100233287554064[22] = 0; - out_2810100233287554064[23] = 0; - out_2810100233287554064[24] = 0; - out_2810100233287554064[25] = 0; - out_2810100233287554064[26] = 0; - out_2810100233287554064[27] = 0; - out_2810100233287554064[28] = 0; - out_2810100233287554064[29] = 0; - out_2810100233287554064[30] = 0; - out_2810100233287554064[31] = 0; - out_2810100233287554064[32] = 0; - out_2810100233287554064[33] = 1; - out_2810100233287554064[34] = 0; - out_2810100233287554064[35] = 0; - out_2810100233287554064[36] = 0; - out_2810100233287554064[37] = 0; - out_2810100233287554064[38] = 0; - out_2810100233287554064[39] = 0; - out_2810100233287554064[40] = 0; - out_2810100233287554064[41] = 0; - out_2810100233287554064[42] = 0; - out_2810100233287554064[43] = 0; - out_2810100233287554064[44] = 0; - out_2810100233287554064[45] = 0; - out_2810100233287554064[46] = 0; - out_2810100233287554064[47] = 0; - out_2810100233287554064[48] = 0; - out_2810100233287554064[49] = 0; - out_2810100233287554064[50] = 0; - out_2810100233287554064[51] = 0; - out_2810100233287554064[52] = 0; - out_2810100233287554064[53] = 0; - out_2810100233287554064[54] = 0; - out_2810100233287554064[55] = 0; - out_2810100233287554064[56] = 1; - out_2810100233287554064[57] = 0; - out_2810100233287554064[58] = 0; - out_2810100233287554064[59] = 0; - out_2810100233287554064[60] = 0; - out_2810100233287554064[61] = 0; - out_2810100233287554064[62] = 0; - out_2810100233287554064[63] = 0; - out_2810100233287554064[64] = 0; - out_2810100233287554064[65] = 0; +void H_14(double *state, double *unused, double *out_5558948511167220606) { + out_5558948511167220606[0] = 0; + out_5558948511167220606[1] = 0; + out_5558948511167220606[2] = 0; + out_5558948511167220606[3] = 0; + out_5558948511167220606[4] = 0; + out_5558948511167220606[5] = 0; + out_5558948511167220606[6] = 0; + out_5558948511167220606[7] = 0; + out_5558948511167220606[8] = 0; + out_5558948511167220606[9] = 0; + out_5558948511167220606[10] = 1; + out_5558948511167220606[11] = 0; + out_5558948511167220606[12] = 0; + out_5558948511167220606[13] = 0; + out_5558948511167220606[14] = 0; + out_5558948511167220606[15] = 0; + out_5558948511167220606[16] = 0; + out_5558948511167220606[17] = 0; + out_5558948511167220606[18] = 0; + out_5558948511167220606[19] = 0; + out_5558948511167220606[20] = 0; + out_5558948511167220606[21] = 0; + out_5558948511167220606[22] = 0; + out_5558948511167220606[23] = 0; + out_5558948511167220606[24] = 0; + out_5558948511167220606[25] = 0; + out_5558948511167220606[26] = 0; + out_5558948511167220606[27] = 0; + out_5558948511167220606[28] = 0; + out_5558948511167220606[29] = 0; + out_5558948511167220606[30] = 0; + out_5558948511167220606[31] = 0; + out_5558948511167220606[32] = 0; + out_5558948511167220606[33] = 1; + out_5558948511167220606[34] = 0; + out_5558948511167220606[35] = 0; + out_5558948511167220606[36] = 0; + out_5558948511167220606[37] = 0; + out_5558948511167220606[38] = 0; + out_5558948511167220606[39] = 0; + out_5558948511167220606[40] = 0; + out_5558948511167220606[41] = 0; + out_5558948511167220606[42] = 0; + out_5558948511167220606[43] = 0; + out_5558948511167220606[44] = 0; + out_5558948511167220606[45] = 0; + out_5558948511167220606[46] = 0; + out_5558948511167220606[47] = 0; + out_5558948511167220606[48] = 0; + out_5558948511167220606[49] = 0; + out_5558948511167220606[50] = 0; + out_5558948511167220606[51] = 0; + out_5558948511167220606[52] = 0; + out_5558948511167220606[53] = 0; + out_5558948511167220606[54] = 0; + out_5558948511167220606[55] = 0; + out_5558948511167220606[56] = 1; + out_5558948511167220606[57] = 0; + out_5558948511167220606[58] = 0; + out_5558948511167220606[59] = 0; + out_5558948511167220606[60] = 0; + out_5558948511167220606[61] = 0; + out_5558948511167220606[62] = 0; + out_5558948511167220606[63] = 0; + out_5558948511167220606[64] = 0; + out_5558948511167220606[65] = 0; } -void h_33(double *state, double *unused, double *out_5499250580730826846) { - out_5499250580730826846[0] = state[16]; - out_5499250580730826846[1] = state[17]; - out_5499250580730826846[2] = state[18]; +void h_33(double *state, double *unused, double *out_298940871667614646) { + out_298940871667614646[0] = state[16]; + out_298940871667614646[1] = state[17]; + out_298940871667614646[2] = state[18]; } -void H_33(double *state, double *unused, double *out_7864286565078688399) { - out_7864286565078688399[0] = 0; - out_7864286565078688399[1] = 0; - out_7864286565078688399[2] = 0; - out_7864286565078688399[3] = 0; - out_7864286565078688399[4] = 0; - out_7864286565078688399[5] = 0; - out_7864286565078688399[6] = 0; - out_7864286565078688399[7] = 0; - out_7864286565078688399[8] = 0; - out_7864286565078688399[9] = 0; - out_7864286565078688399[10] = 0; - out_7864286565078688399[11] = 0; - out_7864286565078688399[12] = 0; - out_7864286565078688399[13] = 0; - out_7864286565078688399[14] = 0; - out_7864286565078688399[15] = 0; - out_7864286565078688399[16] = 1; - out_7864286565078688399[17] = 0; - out_7864286565078688399[18] = 0; - out_7864286565078688399[19] = 0; - out_7864286565078688399[20] = 0; - out_7864286565078688399[21] = 0; - out_7864286565078688399[22] = 0; - out_7864286565078688399[23] = 0; - out_7864286565078688399[24] = 0; - out_7864286565078688399[25] = 0; - out_7864286565078688399[26] = 0; - out_7864286565078688399[27] = 0; - out_7864286565078688399[28] = 0; - out_7864286565078688399[29] = 0; - out_7864286565078688399[30] = 0; - out_7864286565078688399[31] = 0; - out_7864286565078688399[32] = 0; - out_7864286565078688399[33] = 0; - out_7864286565078688399[34] = 0; - out_7864286565078688399[35] = 0; - out_7864286565078688399[36] = 0; - out_7864286565078688399[37] = 0; - out_7864286565078688399[38] = 0; - out_7864286565078688399[39] = 1; - out_7864286565078688399[40] = 0; - out_7864286565078688399[41] = 0; - out_7864286565078688399[42] = 0; - out_7864286565078688399[43] = 0; - out_7864286565078688399[44] = 0; - out_7864286565078688399[45] = 0; - out_7864286565078688399[46] = 0; - out_7864286565078688399[47] = 0; - out_7864286565078688399[48] = 0; - out_7864286565078688399[49] = 0; - out_7864286565078688399[50] = 0; - out_7864286565078688399[51] = 0; - out_7864286565078688399[52] = 0; - out_7864286565078688399[53] = 0; - out_7864286565078688399[54] = 0; - out_7864286565078688399[55] = 0; - out_7864286565078688399[56] = 0; - out_7864286565078688399[57] = 0; - out_7864286565078688399[58] = 0; - out_7864286565078688399[59] = 0; - out_7864286565078688399[60] = 0; - out_7864286565078688399[61] = 0; - out_7864286565078688399[62] = 1; - out_7864286565078688399[63] = 0; - out_7864286565078688399[64] = 0; - out_7864286565078688399[65] = 0; +void H_33(double *state, double *unused, double *out_6328948384420203096) { + out_6328948384420203096[0] = 0; + out_6328948384420203096[1] = 0; + out_6328948384420203096[2] = 0; + out_6328948384420203096[3] = 0; + out_6328948384420203096[4] = 0; + out_6328948384420203096[5] = 0; + out_6328948384420203096[6] = 0; + out_6328948384420203096[7] = 0; + out_6328948384420203096[8] = 0; + out_6328948384420203096[9] = 0; + out_6328948384420203096[10] = 0; + out_6328948384420203096[11] = 0; + out_6328948384420203096[12] = 0; + out_6328948384420203096[13] = 0; + out_6328948384420203096[14] = 0; + out_6328948384420203096[15] = 0; + out_6328948384420203096[16] = 1; + out_6328948384420203096[17] = 0; + out_6328948384420203096[18] = 0; + out_6328948384420203096[19] = 0; + out_6328948384420203096[20] = 0; + out_6328948384420203096[21] = 0; + out_6328948384420203096[22] = 0; + out_6328948384420203096[23] = 0; + out_6328948384420203096[24] = 0; + out_6328948384420203096[25] = 0; + out_6328948384420203096[26] = 0; + out_6328948384420203096[27] = 0; + out_6328948384420203096[28] = 0; + out_6328948384420203096[29] = 0; + out_6328948384420203096[30] = 0; + out_6328948384420203096[31] = 0; + out_6328948384420203096[32] = 0; + out_6328948384420203096[33] = 0; + out_6328948384420203096[34] = 0; + out_6328948384420203096[35] = 0; + out_6328948384420203096[36] = 0; + out_6328948384420203096[37] = 0; + out_6328948384420203096[38] = 0; + out_6328948384420203096[39] = 1; + out_6328948384420203096[40] = 0; + out_6328948384420203096[41] = 0; + out_6328948384420203096[42] = 0; + out_6328948384420203096[43] = 0; + out_6328948384420203096[44] = 0; + out_6328948384420203096[45] = 0; + out_6328948384420203096[46] = 0; + out_6328948384420203096[47] = 0; + out_6328948384420203096[48] = 0; + out_6328948384420203096[49] = 0; + out_6328948384420203096[50] = 0; + out_6328948384420203096[51] = 0; + out_6328948384420203096[52] = 0; + out_6328948384420203096[53] = 0; + out_6328948384420203096[54] = 0; + out_6328948384420203096[55] = 0; + out_6328948384420203096[56] = 0; + out_6328948384420203096[57] = 0; + out_6328948384420203096[58] = 0; + out_6328948384420203096[59] = 0; + out_6328948384420203096[60] = 0; + out_6328948384420203096[61] = 0; + out_6328948384420203096[62] = 1; + out_6328948384420203096[63] = 0; + out_6328948384420203096[64] = 0; + out_6328948384420203096[65] = 0; } #include #include @@ -1855,77 +1855,77 @@ void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, doub void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { update<3, 3, 0>(in_x, in_P, h_33, H_33, NULL, in_z, in_R, in_ea, MAHA_THRESH_33); } -void live_H(double *in_vec, double *out_5293441557815059236) { - H(in_vec, out_5293441557815059236); +void live_H(double *in_vec, double *out_8945704586164018613) { + H(in_vec, out_8945704586164018613); } -void live_err_fun(double *nom_x, double *delta_x, double *out_1546401775213992318) { - err_fun(nom_x, delta_x, out_1546401775213992318); +void live_err_fun(double *nom_x, double *delta_x, double *out_8370097340763738192) { + err_fun(nom_x, delta_x, out_8370097340763738192); } -void live_inv_err_fun(double *nom_x, double *true_x, double *out_2887183460710572165) { - inv_err_fun(nom_x, true_x, out_2887183460710572165); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_1561714653313430456) { + inv_err_fun(nom_x, true_x, out_1561714653313430456); } -void live_H_mod_fun(double *state, double *out_346680257265563192) { - H_mod_fun(state, out_346680257265563192); +void live_H_mod_fun(double *state, double *out_619228651928883812) { + H_mod_fun(state, out_619228651928883812); } -void live_f_fun(double *state, double dt, double *out_2387280456333129282) { - f_fun(state, dt, out_2387280456333129282); +void live_f_fun(double *state, double dt, double *out_7848720022958012510) { + f_fun(state, dt, out_7848720022958012510); } -void live_F_fun(double *state, double dt, double *out_288898949053543158) { - F_fun(state, dt, out_288898949053543158); +void live_F_fun(double *state, double dt, double *out_350033378085274248) { + F_fun(state, dt, out_350033378085274248); } -void live_h_4(double *state, double *unused, double *out_4123763787477834067) { - h_4(state, unused, out_4123763787477834067); +void live_h_4(double *state, double *unused, double *out_6806577712686989055) { + h_4(state, unused, out_6806577712686989055); } -void live_H_4(double *state, double *unused, double *out_1347067503067223419) { - H_4(state, unused, out_1347067503067223419); +void live_H_4(double *state, double *unused, double *out_5600576627277883540) { + H_4(state, unused, out_5600576627277883540); } -void live_h_9(double *state, double *unused, double *out_309747609063080236) { - h_9(state, unused, out_309747609063080236); +void live_h_9(double *state, double *unused, double *out_8013092661027487392) { + h_9(state, unused, out_8013092661027487392); } -void live_H_9(double *state, double *unused, double *out_2810100233287554064) { - H_9(state, unused, out_2810100233287554064); +void live_H_9(double *state, double *unused, double *out_5558948511167220606) { + H_9(state, unused, out_5558948511167220606); } -void live_h_10(double *state, double *unused, double *out_4520923907172893335) { - h_10(state, unused, out_4520923907172893335); +void live_h_10(double *state, double *unused, double *out_3244487682903101191) { + h_10(state, unused, out_3244487682903101191); } -void live_H_10(double *state, double *unused, double *out_9067229632294002227) { - H_10(state, unused, out_9067229632294002227); +void live_H_10(double *state, double *unused, double *out_8030959225542197370) { + H_10(state, unused, out_8030959225542197370); } -void live_h_12(double *state, double *unused, double *out_4532453151220973685) { - h_12(state, unused, out_4532453151220973685); +void live_h_12(double *state, double *unused, double *out_2391008662114364333) { + h_12(state, unused, out_2391008662114364333); } -void live_H_12(double *state, double *unused, double *out_1968166528114817086) { - H_12(state, unused, out_1968166528114817086); +void live_H_12(double *state, double *unused, double *out_7826711038399706281) { + H_12(state, unused, out_7826711038399706281); } -void live_h_35(double *state, double *unused, double *out_6869040696842091009) { - h_35(state, unused, out_6869040696842091009); +void live_h_35(double *state, double *unused, double *out_7297975473935584261) { + h_35(state, unused, out_7297975473935584261); } -void live_H_35(double *state, double *unused, double *out_4713729560439830795) { - H_35(state, unused, out_4713729560439830795); +void live_H_35(double *state, double *unused, double *out_8967238684650490916) { + H_35(state, unused, out_8967238684650490916); } -void live_h_32(double *state, double *unused, double *out_3827151762527483138) { - h_32(state, unused, out_3827151762527483138); +void live_h_32(double *state, double *unused, double *out_5218610459212142195) { + h_32(state, unused, out_5218610459212142195); } -void live_H_32(double *state, double *unused, double *out_7931710141062108263) { - H_32(state, unused, out_7931710141062108263); +void live_H_32(double *state, double *unused, double *out_9098403469591231385) { + H_32(state, unused, out_9098403469591231385); } -void live_h_13(double *state, double *unused, double *out_6559362347018312854) { - h_13(state, unused, out_6559362347018312854); +void live_h_13(double *state, double *unused, double *out_7462688905416857194) { + h_13(state, unused, out_7462688905416857194); } -void live_H_13(double *state, double *unused, double *out_5140151606010235324) { - H_13(state, unused, out_5140151606010235324); +void live_H_13(double *state, double *unused, double *out_6584715849578254444) { + H_13(state, unused, out_6584715849578254444); } -void live_h_14(double *state, double *unused, double *out_309747609063080236) { - h_14(state, unused, out_309747609063080236); +void live_h_14(double *state, double *unused, double *out_8013092661027487392) { + h_14(state, unused, out_8013092661027487392); } -void live_H_14(double *state, double *unused, double *out_2810100233287554064) { - H_14(state, unused, out_2810100233287554064); +void live_H_14(double *state, double *unused, double *out_5558948511167220606) { + H_14(state, unused, out_5558948511167220606); } -void live_h_33(double *state, double *unused, double *out_5499250580730826846) { - h_33(state, unused, out_5499250580730826846); +void live_h_33(double *state, double *unused, double *out_298940871667614646) { + h_33(state, unused, out_298940871667614646); } -void live_H_33(double *state, double *unused, double *out_7864286565078688399) { - H_33(state, unused, out_7864286565078688399); +void live_H_33(double *state, double *unused, double *out_6328948384420203096) { + H_33(state, unused, out_6328948384420203096); } void live_predict(double *in_x, double *in_P, double *in_Q, double dt) { predict(in_x, in_P, in_Q, dt); diff --git a/selfdrive/locationd/models/generated/live.h b/selfdrive/locationd/models/generated/live.h index dcd9e7a6..3df956ce 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_5293441557815059236); -void live_err_fun(double *nom_x, double *delta_x, double *out_1546401775213992318); -void live_inv_err_fun(double *nom_x, double *true_x, double *out_2887183460710572165); -void live_H_mod_fun(double *state, double *out_346680257265563192); -void live_f_fun(double *state, double dt, double *out_2387280456333129282); -void live_F_fun(double *state, double dt, double *out_288898949053543158); -void live_h_4(double *state, double *unused, double *out_4123763787477834067); -void live_H_4(double *state, double *unused, double *out_1347067503067223419); -void live_h_9(double *state, double *unused, double *out_309747609063080236); -void live_H_9(double *state, double *unused, double *out_2810100233287554064); -void live_h_10(double *state, double *unused, double *out_4520923907172893335); -void live_H_10(double *state, double *unused, double *out_9067229632294002227); -void live_h_12(double *state, double *unused, double *out_4532453151220973685); -void live_H_12(double *state, double *unused, double *out_1968166528114817086); -void live_h_35(double *state, double *unused, double *out_6869040696842091009); -void live_H_35(double *state, double *unused, double *out_4713729560439830795); -void live_h_32(double *state, double *unused, double *out_3827151762527483138); -void live_H_32(double *state, double *unused, double *out_7931710141062108263); -void live_h_13(double *state, double *unused, double *out_6559362347018312854); -void live_H_13(double *state, double *unused, double *out_5140151606010235324); -void live_h_14(double *state, double *unused, double *out_309747609063080236); -void live_H_14(double *state, double *unused, double *out_2810100233287554064); -void live_h_33(double *state, double *unused, double *out_5499250580730826846); -void live_H_33(double *state, double *unused, double *out_7864286565078688399); +void live_H(double *in_vec, double *out_8945704586164018613); +void live_err_fun(double *nom_x, double *delta_x, double *out_8370097340763738192); +void live_inv_err_fun(double *nom_x, double *true_x, double *out_1561714653313430456); +void live_H_mod_fun(double *state, double *out_619228651928883812); +void live_f_fun(double *state, double dt, double *out_7848720022958012510); +void live_F_fun(double *state, double dt, double *out_350033378085274248); +void live_h_4(double *state, double *unused, double *out_6806577712686989055); +void live_H_4(double *state, double *unused, double *out_5600576627277883540); +void live_h_9(double *state, double *unused, double *out_8013092661027487392); +void live_H_9(double *state, double *unused, double *out_5558948511167220606); +void live_h_10(double *state, double *unused, double *out_3244487682903101191); +void live_H_10(double *state, double *unused, double *out_8030959225542197370); +void live_h_12(double *state, double *unused, double *out_2391008662114364333); +void live_H_12(double *state, double *unused, double *out_7826711038399706281); +void live_h_35(double *state, double *unused, double *out_7297975473935584261); +void live_H_35(double *state, double *unused, double *out_8967238684650490916); +void live_h_32(double *state, double *unused, double *out_5218610459212142195); +void live_H_32(double *state, double *unused, double *out_9098403469591231385); +void live_h_13(double *state, double *unused, double *out_7462688905416857194); +void live_H_13(double *state, double *unused, double *out_6584715849578254444); +void live_h_14(double *state, double *unused, double *out_8013092661027487392); +void live_H_14(double *state, double *unused, double *out_5558948511167220606); +void live_h_33(double *state, double *unused, double *out_298940871667614646); +void live_H_33(double *state, double *unused, double *out_6328948384420203096); void live_predict(double *in_x, double *in_P, double *in_Q, double dt); } \ No newline at end of file diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 593a76fb..05a3575c 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -83,7 +83,8 @@ def manager_init() -> None: ("DisengageOnAccelerator", "0"), ("GsmMetered", "1"), ("HasAcceptedTerms", "0"), - ("LanguageSetting", "main_en"), + ("LanguageSetting", "main_zh-CHS"), #main_en + ("IsMetric", "1"), # null ("OpenpilotEnabledToggle", "1"), ("UpdaterAvailableBranches", ""), ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), @@ -101,7 +102,7 @@ def manager_init() -> None: ("AlwaysOnLateral", "1"), ("AlwaysOnLateralMain", "0"), ("BlindSpotPath", "1"), - ("CameraView", "1"), + ("CameraView", "0"), ("CarMake", ""), ("CarModel", ""), ("CECurves", "1"), @@ -114,7 +115,7 @@ def manager_init() -> None: ("CESpeed", "0"), ("CESpeedLead", "0"), ("CEStopLights", "1"), - ("CEStopLightsLead", "0"), + ("CEStopLightsLead", "1"), ("Compass", "0"), ("ConditionalExperimental", "1"), ("CrosstrekTorque", "1"), @@ -136,6 +137,7 @@ def manager_init() -> None: ("DisengageVolume", "100"), ("DragonPilotTune", "0"), ("DriverCamera", "0"), + ("DriverPrivacyProtection", "0"), ("DriveStats", "1"), ("DynamicPathWidth", "0"), ("EngageVolume", "100"), @@ -171,8 +173,8 @@ def manager_init() -> None: ("HolidayThemes", "1"), ("LaneChangeTime", "0"), ("LaneDetection", "1"), - ("LaneDetectionWidth", "60"), - ("LaneLinesWidth", "4"), + ("LaneDetectionWidth", "19"), #60 feet -> 1.9 meters + ("LaneLinesWidth", "10"), #4 inches -> 10 cm ("LateralTune", "1"), ("LeadDepartingAlert", "0"), ("LeadInfo", "0"), @@ -197,14 +199,16 @@ def manager_init() -> None: ("NudgelessLaneChange", "1"), ("NumericalTemp", "0"), ("OfflineMode", "0"), - ("Offset1", "5"), - ("Offset2", "5"), - ("Offset3", "5"), - ("Offset4", "10"), + ("Offset1", "8"), #5mph -> 8kph + ("Offset2", "8"), #5mph -> 8kph + ("Offset3", "8"), #5mph -> 8kph + ("Offset4", "16"), #10mph -> 16kph ("OneLaneChange", "1"), ("PathEdgeWidth", "20"), - ("PathWidth", "61"), - ("PauseLateralOnSignal", "0"), + ("PathWidth", "20"), #61 feet -> 2.0 meters + ("MinSteerSpeedStandard", "30"), #kph + ("MinSteerSpeedEngage", "20"), #kph + ("PauseLateralOnSignal", "0"), #kph ("PedalsOnUI", "1"), ("PersonalitiesViaScreen", "1"), ("PersonalitiesViaWheel", "1"), @@ -219,7 +223,7 @@ def manager_init() -> None: ("RelaxedJerk", "1.0"), ("ReverseCruise", "0"), ("ReverseCruiseUI", "1"), - ("RoadEdgesWidth", "2"), + ("RoadEdgesWidth", "5"), #2 inches -> 5 cm ("RoadNameUI", "1"), ("RotatingWheel", "1"), ("ScreenBrightness", "101"), @@ -258,6 +262,7 @@ def manager_init() -> None: ("SteerRatio", "0"), ("StockTune", "0"), ("StoppingDistance", "0"), + ("TrafficMode", "0"), ("TurnAggressiveness", "100"), ("TurnDesires", "0"), ("UnlimitedLength", "1"), @@ -269,7 +274,15 @@ def manager_init() -> None: ("WarningSoftVolume", "100"), ("WarningImmediateVolume", "100"), ("WheelIcon", "3"), - ("WheelSpeed", "0") + ("WheelSpeed", "0"), + ("DashSpeedRatio1", "1.065"), + ("DashSpeedRatio2", "1.055"), + ("DashSpeedRatio3", "1.045"), + ("SetSpeedRatio1", "1.065"), + ("SetSpeedRatio2", "1.055"), + ("SetSpeedRatio3", "1.045"), + ("SpeedDecimal", "0"), + ("CalibrationCircle", "1"), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) @@ -393,6 +406,24 @@ def manager_thread() -> None: if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')): os.remove(os.path.join(sentry.CRASHES_DIR, 'error.txt')) + # Store the previous drive's data + keys = ["FrogPilotKilometers", "FrogPilotMinutes"] + for key in keys: + current_value = params.get_float(key) + value_to_add = params_memory.get_float(key) + new_value = current_value + value_to_add + + params.put_float(key, new_value) + params_storage.put_float(key, new_value) + params_memory.remove(key) + + # Only count the drive if it lasted longer than 5 minutes + if key == "FrogPilotMinutes" and value_to_add >= 5: + new_frogpilot_drives = params.get_int("FrogPilotDrives") + 1 + + params.put_int("FrogPilotDrives", new_frogpilot_drives) + params_storage.put_int("FrogPilotDrives", new_frogpilot_drives) + # update onroad params, which drives boardd's safety setter thread if started != started_prev: write_onroad_params(started, params) @@ -413,7 +444,7 @@ def manager_thread() -> None: # Exit main loop when uninstall/shutdown/reboot is needed shutdown = False - for param in ("DoUninstall", "DoShutdown", "DoReboot"): + for param in ("DoUninstall", "DoShutdown", "DoReboot", "DoSoftReboot"): if params.get_bool(param): shutdown = True params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}") @@ -489,6 +520,9 @@ def main() -> None: if params.get_bool("DoUninstall"): cloudlog.warning("uninstalling") HARDWARE.uninstall() + elif params.get_bool("DoSoftReboot"): + cloudlog.warning("softreboot") + HARDWARE.soft_reboot() elif params.get_bool("DoReboot"): cloudlog.warning("reboot") HARDWARE.reboot() diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 1fd5bbe5..76049981 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -10,6 +10,9 @@ WEBCAM = os.getenv("USE_WEBCAM") is not None def driverview(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool: return started or params.get_bool("IsDriverViewEnabled") +def drivermonitor(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool: + return not params.get_bool("DriverPrivacyProtection") and (started or params.get_bool("IsDriverViewEnabled")) + def notcar(started: bool, params: Params, params_memory: Params, CP: car.CarParams) -> bool: return started and CP.notCar @@ -64,7 +67,7 @@ procs = [ PythonProcess("micd", "system.micd", iscar), PythonProcess("timed", "system.timed", always_run, enabled=not PC), - PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(not PC or WEBCAM)), + PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", drivermonitor, enabled=(not PC or WEBCAM)), NativeProcess("encoderd", "system/loggerd", ["./encoderd"], allow_logging), NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar), NativeProcess("loggerd", "system/loggerd", ["./loggerd"], allow_logging), @@ -80,7 +83,7 @@ procs = [ PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), - PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), + PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", drivermonitor, enabled=(not PC or WEBCAM)), PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd", only_onroad), PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), @@ -102,8 +105,8 @@ procs = [ # FrogPilot processes PythonProcess("fleet_manager", "selfdrive.frogpilot.fleetmanager.fleet_manager", always_run), - PythonProcess("frogpilot_process", "selfdrive.frogpilot.functions.frogpilot_process", always_run), + # PythonProcess("frogpilot_process", "selfdrive.frogpilot.functions.frogpilot_process", always_run), PythonProcess("mapd", "selfdrive.frogpilot.functions.mapd", osm), ] -managed_processes = {p.name: p for p in procs} +managed_processes = {p.name: p for p in procs} \ No newline at end of file diff --git a/selfdrive/modeld/libthneed.so b/selfdrive/modeld/libthneed.so index 235eb7d3..e56203a6 100755 Binary files a/selfdrive/modeld/libthneed.so and b/selfdrive/modeld/libthneed.so differ diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so index 8f9fdebc..13a3fa03 100755 Binary files a/selfdrive/modeld/models/commonmodel_pyx.so and b/selfdrive/modeld/models/commonmodel_pyx.so differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/modeld/models/supercombo.thneed index d3af3f5b..e7b4a655 100644 Binary files a/selfdrive/modeld/models/supercombo.thneed and b/selfdrive/modeld/models/supercombo.thneed differ diff --git a/selfdrive/modeld/runners/snpemodel_pyx.so b/selfdrive/modeld/runners/snpemodel_pyx.so index f6313d22..01ccd197 100755 Binary files a/selfdrive/modeld/runners/snpemodel_pyx.so and b/selfdrive/modeld/runners/snpemodel_pyx.so differ diff --git a/selfdrive/navd/libmaprender.so b/selfdrive/navd/libmaprender.so index 9e3f535e..4c8a8715 100644 Binary files a/selfdrive/navd/libmaprender.so and b/selfdrive/navd/libmaprender.so differ diff --git a/selfdrive/navd/mapsd b/selfdrive/navd/mapsd index 854e92b7..c81e3b9c 100755 Binary files a/selfdrive/navd/mapsd and b/selfdrive/navd/mapsd differ diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index ebd0a3e1..1a5fd94f 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -327,9 +327,10 @@ def thermald_thread(end_event, hw_queue) -> None: # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there if TICI: if not os.path.isfile("/persist/comma/living-in-the-moment"): - if not Path("/data/media").is_mount(): - set_offroad_alert_if_changed("Offroad_StorageMissing", True) - else: + # if not Path("/data/media").is_mount(): + # set_offroad_alert_if_changed("Offroad_StorageMissing", True) + # else: + if Path("/data/media").is_mount(): # check for bad NVMe try: with open("/sys/block/nvme0n1/device/model") as f: diff --git a/selfdrive/ui/_spinner b/selfdrive/ui/_spinner index 9a3a91da..ef18941e 100755 Binary files a/selfdrive/ui/_spinner and b/selfdrive/ui/_spinner differ diff --git a/selfdrive/ui/_text b/selfdrive/ui/_text index 866f158a..7982c9cd 100755 Binary files a/selfdrive/ui/_text and b/selfdrive/ui/_text differ diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py index e3622785..796c9cb3 100644 --- a/selfdrive/ui/soundd.py +++ b/selfdrive/ui/soundd.py @@ -193,7 +193,6 @@ class Soundd: AudibleAlert.fart: MAX_VOLUME, AudibleAlert.firefox: MAX_VOLUME, AudibleAlert.noice: MAX_VOLUME, - AudibleAlert.uwu: MAX_VOLUME, } self.alert_volume_control = self.params.get_bool("AlertVolumeControl") @@ -221,7 +220,7 @@ class Soundd: } holiday_themes = custom_theme and self.params.get_bool("HolidayThemes") - current_holiday_theme = self.params_memory.get_int("CurrentHolidayTheme") if holiday_themes else 0 + current_holiday_theme = self.params.get_int("CurrentHolidayTheme") if holiday_themes else 0 holiday_theme_configuration = { 1: "april_fools", diff --git a/selfdrive/ui/translations/main_ar.qm b/selfdrive/ui/translations/main_ar.qm index 145ccff7..ad18a676 100644 Binary files a/selfdrive/ui/translations/main_ar.qm and b/selfdrive/ui/translations/main_ar.qm differ diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index eb9a7f24..eb6a580c 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -15,10 +15,6 @@ Reboot and Update إعادة التشغيل والتحديث - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review مراجعة - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -477,10 +362,6 @@ Manage at connect.comma.ai الإدارة في connect.comma.ai - - Manage at %1 - - MapWindow @@ -683,7 +564,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -734,10 +615,6 @@ ft قدم - - FrogPilot - - Reset @@ -784,7 +661,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -802,26 +679,6 @@ This may take up to a minute. Software البرنامج - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -1003,10 +860,6 @@ This may take up to a minute. 5G 5G - - MEMORY - - SoftwarePanel @@ -1028,7 +881,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة. + يتم تحميل التحديثات فقط عندما تكون السيارة متوقفة. Current Version @@ -1082,50 +935,6 @@ This may take up to a minute. up to date, last checked %1 أحدث نسخة، آخر تحقق %1 - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - عرض - SshControl @@ -1388,14 +1197,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi سيتم سحب بيانات التدريب دورياً عندما يكون جهازك متصل بشبكة واي فاي - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_de.qm b/selfdrive/ui/translations/main_de.qm index f09c931c..a205ba32 100644 Binary files a/selfdrive/ui/translations/main_de.qm and b/selfdrive/ui/translations/main_de.qm differ diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 9946993a..6d814b96 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -15,10 +15,6 @@ Reboot and Update Aktualisieren und neu starten - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review Überprüfen - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -473,10 +358,6 @@ Manage at connect.comma.ai - - Manage at %1 - - MapWindow @@ -678,7 +559,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -717,10 +598,6 @@ ft fuß - - FrogPilot - - Reset @@ -766,7 +643,7 @@ This may take up to a minute. SettingsWindow × - x + x Device @@ -784,26 +661,6 @@ This may take up to a minute. Software Software - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -986,10 +843,6 @@ This may take up to a minute. 5G 5G - - MEMORY - - SoftwarePanel @@ -1012,7 +865,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - Updates werden nur heruntergeladen, wenn das Auto aus ist. + Updates werden nur heruntergeladen, wenn das Auto aus ist. Current Version @@ -1066,50 +919,6 @@ This may take up to a minute. never - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - ANSEHEN - SshControl @@ -1374,14 +1183,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_fr.qm b/selfdrive/ui/translations/main_fr.qm index 065a72df..670260cd 100644 Binary files a/selfdrive/ui/translations/main_fr.qm and b/selfdrive/ui/translations/main_fr.qm differ diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 531b8a97..cd96c466 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -15,10 +15,6 @@ Reboot and Update Redémarrer et mettre à jour - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Disengage to Power Off Désengager pour éteindre - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -473,10 +358,6 @@ Manage at connect.comma.ai Gérer sur connect.comma.ai - - Manage at %1 - - MapWindow @@ -679,7 +560,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -718,10 +599,6 @@ ft ft - - FrogPilot - - Reset @@ -768,7 +645,7 @@ Cela peut prendre jusqu'à une minute. SettingsWindow × - × + × Device @@ -786,26 +663,6 @@ Cela peut prendre jusqu'à une minute. Software Logiciel - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -987,16 +844,12 @@ Cela peut prendre jusqu'à une minute. 5G 5G - - MEMORY - - SoftwarePanel Updates are only downloaded while the car is off. - Les MàJ sont téléchargées uniquement si la voiture est éteinte. + Les MàJ sont téléchargées uniquement si la voiture est éteinte. Current Version @@ -1066,50 +919,6 @@ Cela peut prendre jusqu'à une minute. up to date, last checked %1 à jour, dernière vérification %1 - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - VOIR - SshControl @@ -1372,14 +1181,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi Les données d'entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm index 50c53e83..a1d99067 100644 Binary files a/selfdrive/ui/translations/main_ja.qm and b/selfdrive/ui/translations/main_ja.qm differ diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 65fabe9a..d07c7d52 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -15,10 +15,6 @@ Reboot and Update 再起動してアップデート - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review 確認 - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -472,10 +357,6 @@ Manage at connect.comma.ai - - Manage at %1 - - MapWindow @@ -677,7 +558,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -713,10 +594,6 @@ ft ﾌｨｰﾄ - - FrogPilot - - Reset @@ -762,7 +639,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -780,26 +657,6 @@ This may take up to a minute. Software ｿﾌﾄｳｪｱ - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -981,16 +838,12 @@ This may take up to a minute. 5G 5G - - MEMORY - - SoftwarePanel Updates are only downloaded while the car is off. - 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 + 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 Current Version @@ -1060,50 +913,6 @@ This may take up to a minute. never - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - 見る - SshControl @@ -1366,14 +1175,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm index f51916c4..de265c02 100644 Binary files a/selfdrive/ui/translations/main_ko.qm and b/selfdrive/ui/translations/main_ko.qm differ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index a1b178a7..a9039783 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -15,10 +15,6 @@ Reboot and Update 업데이트 및 재부팅 - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review 다시보기 - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -472,10 +357,6 @@ Manage at connect.comma.ai connect.comma.ai에서 관리하세요 - - Manage at %1 - - MapWindow @@ -678,7 +559,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -714,10 +595,6 @@ ft ft - - FrogPilot - - Reset @@ -764,7 +641,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -782,26 +659,6 @@ This may take up to a minute. Software 소프트웨어 - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -983,16 +840,12 @@ This may take up to a minute. 5G 5G - - MEMORY - - SoftwarePanel Updates are only downloaded while the car is off. - 업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다. + 업데이트는 차량 시동이 꺼졌을 때 다운로드됩니다. Current Version @@ -1062,50 +915,6 @@ This may take up to a minute. never 업데이트 안함 - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - 보기 - SshControl @@ -1368,14 +1177,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi 기기가 Wi-Fi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다 - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_pt-BR.qm b/selfdrive/ui/translations/main_pt-BR.qm index 7dde67a0..2de2a56d 100644 Binary files a/selfdrive/ui/translations/main_pt-BR.qm and b/selfdrive/ui/translations/main_pt-BR.qm differ diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index d45133a8..fce5a8a8 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -15,10 +15,6 @@ Reboot and Update Reiniciar e Atualizar - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review Revisar - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -473,10 +358,6 @@ Manage at connect.comma.ai Gerencie em connect.comma.ai - - Manage at %1 - - MapWindow @@ -679,7 +560,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -718,10 +599,6 @@ ft pés - - FrogPilot - - Reset @@ -768,7 +645,7 @@ Isso pode levar até um minuto. SettingsWindow × - × + × Device @@ -786,26 +663,6 @@ Isso pode levar até um minuto. Software Software - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -987,16 +844,12 @@ Isso pode levar até um minuto. 5G 5G - - MEMORY - - SoftwarePanel Updates are only downloaded while the car is off. - Atualizações baixadas durante o motor desligado. + Atualizações baixadas durante o motor desligado. Current Version @@ -1066,50 +919,6 @@ Isso pode levar até um minuto. never nunca - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - VER - SshControl @@ -1372,14 +1181,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_th.qm b/selfdrive/ui/translations/main_th.qm index 29a4ad26..686317a2 100644 Binary files a/selfdrive/ui/translations/main_th.qm and b/selfdrive/ui/translations/main_th.qm differ diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 8cd55f38..f4d097b2 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -15,10 +15,6 @@ Reboot and Update รีบูตและอัปเดต - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review ทบทวน - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -472,10 +357,6 @@ Manage at connect.comma.ai จัดการได้ที่ connect.comma.ai - - Manage at %1 - - MapWindow @@ -678,7 +559,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -714,10 +595,6 @@ ft ฟุต - - FrogPilot - - Reset @@ -764,7 +641,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -782,26 +659,6 @@ This may take up to a minute. Software ซอฟต์แวร์ - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -983,10 +840,6 @@ This may take up to a minute. 5G 5G - - MEMORY - - SoftwarePanel @@ -1008,7 +861,7 @@ This may take up to a minute. Updates are only downloaded while the car is off. - ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น + ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น Current Version @@ -1062,50 +915,6 @@ This may take up to a minute. up to date, last checked %1 ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1 - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - ดู - SshControl @@ -1368,14 +1177,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_tr.qm b/selfdrive/ui/translations/main_tr.qm index b3629ee7..eb607295 100644 Binary files a/selfdrive/ui/translations/main_tr.qm and b/selfdrive/ui/translations/main_tr.qm differ diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 2c957e0e..ec6f71f5 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -15,10 +15,6 @@ Reboot and Update Güncelle ve Yeniden başlat - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -472,10 +357,6 @@ Manage at connect.comma.ai - - Manage at %1 - - MapWindow @@ -677,7 +558,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -713,10 +594,6 @@ ft ft - - FrogPilot - - Reset @@ -762,7 +639,7 @@ This may take up to a minute. SettingsWindow × - x + x Device @@ -780,26 +657,6 @@ This may take up to a minute. Software Yazılım - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -981,10 +838,6 @@ This may take up to a minute. 5G 5G - - MEMORY - - SoftwarePanel @@ -1004,6 +857,10 @@ This may take up to a minute. CHECK KONTROL ET + + Updates are only downloaded while the car is off. + + Current Version @@ -1056,50 +913,6 @@ This may take up to a minute. up to date, last checked %1 - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - BAK - SshControl @@ -1362,14 +1175,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm index 23551458..500eb8a7 100644 Binary files a/selfdrive/ui/translations/main_zh-CHS.qm and b/selfdrive/ui/translations/main_zh-CHS.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 3fd0f7be..1b84edff 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -17,7 +17,7 @@ Disable Internet Check - + 禁用网络检查 @@ -72,11 +72,11 @@ Hidden Network - + 隐藏的无线网络 CONNECT - CONNECT + 连接 Enter SSID @@ -124,6 +124,41 @@ Cancel 取消 + + Reboot Later + 稍后重启 + + + Yes + 是 + + + No + 否 + + + + FrogPilotConfirmationDialog + + Ok + 好的 + + + Cancel + 取消 + + + Reboot Later + 稍后重启 + + + Yes + 是 + + + No + 否 + DeclinePage @@ -229,6 +264,82 @@ VIEW 查看 + + Error Log + 错误日志 + + + Manually + 手动 + + + Daily + 每天 + + + Weekly + 每周 + + + Delete Driving Data + 删除行车视频数据 + + + Delete Toggle Storage Data + 删除用户配置参数 + + + Delete Screen Recordings + 删除屏幕录像数据 + + + DELETE + 删除 + + + FrogPilot Backups + FrogPilot系统备份 + + + Toggle Backups + 配置参数备份 + + + Delete + 删除 + + + Backup + 备份 + + + Restore + 还原 + + + Delete Data + 删除视频文件及配置 + + + Screen Recordings + 录屏 + + + Driving Data + 行车 + + + Deep Storage Toggles + 配置 + + + Flash Panda + 刷写Panda固件 + + + FLASH + 刷写 + Change Language 切换语言 @@ -297,14 +408,6 @@ Review 预览 - - Delete Driving Data - - - - DELETE - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. @@ -313,14 +416,6 @@ Are you sure you want to permanently delete all of your driving footage and data? - - Delete - - - - Delete Toggle Storage Data - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. @@ -329,46 +424,6 @@ Are you sure you want to permanently delete all of your long term toggle settings storage? - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - Are you sure you want to flash the Panda? @@ -377,24 +432,36 @@ Flash + + Soft Reboot + 软重启 + + + Are you sure you want to soft reboot? + + + + Disengage to Soft Reboot + + DriveStats Drives - + 行程 Hours - + 小时 ALL TIME - + 全部行驶统计 PAST WEEK - + 上周行驶小计 FROGPILOT @@ -402,11 +469,11 @@ KM - + 公里 Miles - + 英里 @@ -427,6 +494,521 @@ 轻松模式运行 + + FrogPilotControlsPanel + + Adjustable Personalities + 跟车距离切换方式 + + + Always on Lateral + 持续车道居中 + + + Conditional Experimental Mode + 特定场景下的试验模式 + + + Custom Driving Personalities + 调整跟车距离参数 + + + Device Shutdown Timer + 自动关机计时 + + + Experimental Mode Via + 试验模式切换方式 + + + Experimental Mode Activation + 试验模式切换方式 + + + Fire the Babysitter + 附加选项管理 + + + Reboot required to take effect. + 该设置将在重启之后生效 + + + Reboot Now + 立即重启 + + + Disable All Logging + 停用所有日志 + + + Mute Overheated System Alert + 停用过热警报 + + + Offline Mode + 启用离线模式 + + + Lateral Tuning + 横向控制参数 + + + Steer Ratio + 转向比 + + + Steer Ratio (Default: %1) + 转向比 (默认: %1) + + + Min Steer Enable Speed + 横向控制启用车速 + + + Longitudinal Tuning + 纵向控制参数 + + + Model Selector + 驾驶模型选择 + + + Calibration Circle + 模型校准次数 + + + Map Turn Speed Control + 地图控制过弯速度 + + + Nudgeless Lane Change + 打灯自动变道 + + + Enable lane changes without manual steering input. + 打开转向灯时，自动执行变道动作，无需手动操作。 + + + Lane Change Timer + 变道延时 + + + Instant + 立即 + + + Lane Detection + 车道监测 + + + Lane Detection Threshold + 车道宽度 + + + One Lane Change Per Signal + 仅变更一条车道 + + + Quality of Life + 改善驾驶体验 + + + Standard Min Steer Speed + 标准居中启用车速 + + + Engaged Min Steer Speed + 自适应巡航居中车速 + + + Pause Lateral On Turn Signal Below + 低于设定车速，打灯暂停居中 + + + Speed Limit Controller + 自动限速控制 + + + Use Turn Desires + 转向期望估算 + + + Vision Turn Speed Controller + 视觉控制过弯速度 + + + Distance Button + 跟车距离按键 + + + Screen + 触屏调整 + + + Enable On Cruise Main + 使用巡航按键 + + + Hide AOL Status Bar + 隐藏AOL状态显示 + + + Disable Logging + 禁用行车日志记录 + + + Disable Uploads + 禁用行驶数据上传 + + + Bypass Thermal Safety Limits + 忽略设备高温警报 + + + LKAS Button + 车道辅助按键 + + + MANAGE + 设置 + + + SELECT + 选择 + + + + FrogPilotNavigationPanel + + Manage Primeless Navigation Settings + 导航设置管理 + + + Maps Scheduler + 地图检查周期 + + + Offline Maps Size + 离线地图大小 + + + Select Offline Maps + 选择离线地图 + + + Download Offline Maps + 下载离线地图 + + + MANAGE + 设置 + + + Back + 返回 + + + DOWNLOAD + 下载 + + + Cancel Download + 取消下载 + + + SELECT + 选择 + + + CANCEL + 取消 + + + Manually + 手动 + + + Monthly + 每月 + + + Weekly + 每周 + + + + FrogPilotParamManageControl + + MANAGE + 设置 + + + + FrogPilotVehiclesPanel + + Select Make + 选择汽车品牌 + + + Select Model + 选择车辆型号 + + + Disable Automatic Fingerprint Detection + 禁用自动指纹监测 + + + GM SDGM CSLC + 巡航限速控制CSLC + + + SELECT + 选择 + + + + FrogPilotVisualsPanel + + Custom Themes + 主题设置 + + + Holiday Themes + 节日主题 + + + Color Theme + 色彩方案 + + + Icon Pack + 图标方案 + + + Turn Signals + 转向信号 + + + Sound Pack + 提示音效 + + + Alert Volume Control + 提示音量设置 + + + Camera View + 镜头视角 + + + Auto + 自动 + + + Standard + 标准 + + + Wide + 广角 + + + Driver + 驾驶员 + + + Compass + 指南针 + + + Custom Alerts + 自定义提示类型 + + + Green Light Alert + 绿灯信号提醒 + + + Lead Departing Alert + 前车起步提醒 + + + Loud Blindspot Alert + 盲区增强音量 + + + Speed Limit Changed Alert + 限速变化提醒 + + + Custom Onroad UI + 行车界面信息 + + + Driver Camera On Reverse + 倒挡启用驾驶员视角 + + + Driver Privacy Protection + 驾驶员隐私保护 + + + Model UI + 道路模型界面 + + + Numerical Temperature Gauge + 显示温度数值 + + + Fahrenheit + 华氏度 + + + Quality of Life + 改善驾驶体验 + + + Random Events + 随机事件提示 + + + Screen Management + 屏幕设置选项 + + + Hide UI Elements + 隐藏行车图例 + + + Alerts + 提醒 + + + Max Map Icon + 地图 + + + Max Speed + 定速 + + + Screen Brightness + 屏幕亮度设置 + + + Screen Brightness (Onroad) + 行车亮度设置 + + + Screen Recorder + 显示录屏按钮 + + + Screen Recorder + 显示录屏按钮 + + + Screen Timeout + 熄屏时长设置 + + + Screen Timeout (Onroad) + 行车熄屏时长 + + + Standby Mode + 自动点亮屏幕 + + + Steering Wheel Icon + 方向盘图标 + + + Rotating + 跟随旋转 + + + Acceleration Path + 车辆行驶路线 + + + Adjacent Paths + 相邻车道路线 + + + Blind Spot Path + 盲区监测路线 + + + FPS Counter + 刷新速率FPS + + + Lead Info and Logics + 前车分析信息 + + + Pedals Being Pressed + 油门刹车踏板状态 + + + Road Name + 当前道路名称 + + + Dynamic Path Width + 动态行驶路线宽度 + + + Path Width + 行驶路线宽度 + + + Path Edges + 路线边缘比例 + + + Lane Lines + 车道分割线宽度 + + + Road Edges + 车道边缘宽度 + + + 'Unlimited' Road UI Length + 延伸道路界面 + + + Use Wheel Speed + 使用轮上车速 + + + Dash Speed Ratio L + 仪表低速系数 + + + Dash Speed Ratio M + 仪表中速系数 + + + Dash Speed Ratio H + 仪表高速系数 + + + Set Speed Ratio L + 巡航低速系数 + + + Set Speed Ratio M + 巡航中速系数 + + + Set Speed Ratio H + 巡航高速系数 + + InputDialog @@ -678,7 +1260,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -764,43 +1346,43 @@ This may take up to a minute. SettingsWindow × - × + × Device - 设备 + 设备信息 Network - 网络 + 网络设置 Toggles - 设定 + 基础设定 Software - 软件 - - - ← Back - + 软件更新 Controls - + 驾驶控制 Navigation - + 导航地图 Vehicles - + 车型选择 Visuals - + 界面图例 + + + ← Back + ← 返回 @@ -923,6 +1505,14 @@ This may take up to a minute. TEMP 设备温度 + + LEFT + 可用空间 + + + USED + 已用空间 + HIGH 过热 @@ -985,19 +1575,27 @@ This may take up to a minute. MEMORY - + 内存占用 SoftwarePanel Updates are only downloaded while the car is off. - 车辆熄火时才能下载升级文件。 + 车辆熄火时才能下载升级文件。 Current Version 当前版本 + + Update Scheduler + 检查更新周期 + + + Update Time + 自动更新时间 + Download 下载 @@ -1042,6 +1640,18 @@ This may take up to a minute. Uninstall 卸载 + + GitHub Checkout + GitHub代码签出 + + + CHECKOUT + 签出 + + + Checkout + 签出 + failed to check for update 检查更新失败 @@ -1062,25 +1672,17 @@ This may take up to a minute. never 从未更新 - - Updates are only downloaded while the car is off or in park. - - Manually - + 手动 Daily - + 每天 Weekly - - - - Update Scheduler - + 每周 Choose the frequency to automatically update FrogPilot. @@ -1090,17 +1692,13 @@ This feature will handle the download, installation, and device reboot for a sea Weekly updates start at midnight every Sunday. - - Update Time - - Select a time to automatically update Error Log - + 错误日志 VIEW diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm index 6db3b36b..01986bf2 100644 Binary files a/selfdrive/ui/translations/main_zh-CHT.qm and b/selfdrive/ui/translations/main_zh-CHT.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 56c447b1..e8c8854d 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -15,10 +15,6 @@ Reboot and Update 重啟並更新 - - Disable Internet Check - - AdvancedNetworking @@ -297,117 +293,6 @@ Review 回顧 - - Delete Driving Data - - - - DELETE - - - - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your driving footage and data? - - - - Delete - - - - Delete Toggle Storage Data - - - - This button provides a swift and secure way to permanently delete all long term stored toggle settings. Ideal for maintaining privacy or freeing up space. - - - - Are you sure you want to permanently delete all of your long term toggle settings storage? - - - - Backup - - - - Restore - - - - Name your backup - - - - Select a backup to delete - - - - Are you sure you want to delete this backup? - - - - Select a restore point - - - - Are you sure you want to restore this version of FrogPilot? - - - - Are you sure you want to restore this toggle backup? - - - - Flash Panda - - - - FLASH - - - - Are you sure you want to flash the Panda? - - - - Flash - - - - - DriveStats - - Drives - - - - Hours - - - - ALL TIME - - - - PAST WEEK - - - - FROGPILOT - - - - KM - - - - Miles - - DriverViewWindow @@ -472,10 +357,6 @@ Manage at connect.comma.ai 請在 connect.comma.ai 上管理 - - Manage at %1 - - MapWindow @@ -678,7 +559,7 @@ openpilot - openpilot + openpilot %n minute(s) ago @@ -714,10 +595,6 @@ ft ft - - FrogPilot - - Reset @@ -764,7 +641,7 @@ This may take up to a minute. SettingsWindow × - × + × Device @@ -782,26 +659,6 @@ This may take up to a minute. Software 軟體 - - ← Back - - - - Controls - - - - Navigation - - - - Vehicles - - - - Visuals - - Setup @@ -983,16 +840,12 @@ This may take up to a minute. 5G 5G - - MEMORY - - SoftwarePanel Updates are only downloaded while the car is off. - 系統更新只會在熄火時下載。 + 系統更新只會在熄火時下載。 Current Version @@ -1062,50 +915,6 @@ This may take up to a minute. never 從未更新 - - Updates are only downloaded while the car is off or in park. - - - - Manually - - - - Daily - - - - Weekly - - - - Update Scheduler - - - - Choose the frequency to automatically update FrogPilot. - -This feature will handle the download, installation, and device reboot for a seamless 'Set and Forget' update experience. - -Weekly updates start at midnight every Sunday. - - - - Update Time - - - - Select a time to automatically update - - - - Error Log - - - - VIEW - 觀看 - SshControl @@ -1368,14 +1177,6 @@ Weekly updates start at midnight every Sunday. Training data will be pulled periodically while your device is on Wi-Fi 訓練數據將定期經過 Wi-Fi 上傳 - - Uploading disabled - - - - Training data wont be pulled periodically until you disable the 'Disable Uploading' toggle - - WifiUI diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui index 594a23d5..3e9af8f3 100755 Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ diff --git a/system/camerad/camerad b/system/camerad/camerad index a051f1cb..54e441af 100755 Binary files a/system/camerad/camerad and b/system/camerad/camerad differ diff --git a/system/hardware/base.h b/system/hardware/base.h index dc2282a9..6fe65f83 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -26,6 +26,7 @@ public: } static void reboot() {} + static void soft_reboot() {} static void poweroff() {} static void set_brightness(int percent) {} static void set_display_power(bool on) {} diff --git a/system/hardware/base.py b/system/hardware/base.py index 7434bb61..527518a9 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -30,6 +30,10 @@ class HardwareBase(ABC): def reboot(self, reason=None): pass + @abstractmethod + def soft_reboot(self): + pass + @abstractmethod def uninstall(self): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 719e272a..704d65aa 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -19,6 +19,9 @@ class Pc(HardwareBase): def reboot(self, reason=None): print("REBOOT!") + + def soft_reboot(self): + print("SOFT REBOOT!") def uninstall(self): print("uninstall") diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index e553a665..2d3cc72c 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -50,6 +50,13 @@ public: } static void reboot() { std::system("sudo reboot"); } + static void soft_reboot() { + std::system("echo 894000.i2c | sudo tee /sys/bus/platform/drivers/i2c_geni/unbind"); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + std::system("echo 894000.i2c | sudo tee /sys/bus/platform/drivers/i2c_geni/bind"); + std::this_thread::sleep_for(std::chrono::milliseconds(500)); + std::system("sudo systemctl restart comma"); + } static void poweroff() { std::system("sudo poweroff"); } static void set_brightness(int percent) { std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness"); diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 5bb1032b..ae3f0869 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -134,6 +134,14 @@ class Tici(HardwareBase): def reboot(self, reason=None): subprocess.check_output(["sudo", "reboot"]) + def soft_reboot(self): + # Reload the touchscreen driver to reset touch_count and avoid triggering a system reset prompt + sudo_write("894000.i2c", "/sys/bus/platform/drivers/i2c_geni/unbind") + time.sleep(0.5) + sudo_write("894000.i2c", "/sys/bus/platform/drivers/i2c_geni/bind") + time.sleep(0.5) + os.system("sudo systemctl restart comma") + def uninstall(self): Path("/data/__system_reset__").touch() os.sync() diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog index b463f67f..49ef25d5 100755 Binary files a/system/loggerd/bootlog and b/system/loggerd/bootlog differ diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd index d5e84d09..ebc75dd6 100755 Binary files a/system/loggerd/encoderd and b/system/loggerd/encoderd differ diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd index 49925a38..4e11a836 100755 Binary files a/system/loggerd/loggerd and b/system/loggerd/loggerd differ diff --git a/system/proclogd/proclogd b/system/proclogd/proclogd index b6bcd1aa..f4bba6c1 100755 Binary files a/system/proclogd/proclogd and b/system/proclogd/proclogd differ diff --git a/system/sensord/sensord b/system/sensord/sensord index c4cc21c3..c9b11fa7 100755 Binary files a/system/sensord/sensord and b/system/sensord/sensord differ diff --git a/system/ubloxd/ubloxd b/system/ubloxd/ubloxd index f2d3c936..c377e238 100755 Binary files a/system/ubloxd/ubloxd and b/system/ubloxd/ubloxd differ