sunnypilot v2026.003.000

version: sunnypilot v2026.003.000 (staging) date: 2026-09-18T23:38:18 master commit: a5f44653d7
2026-10-01 16:53:41 +08:00 · 2026-09-18 23:38:18 +00:00
37 changed files with 3086 additions and 3647 deletions
@@ -130,7 +130,6 @@ class CarHarness(EnumBase):
  hyundai_p = BaseCarHarness("Hyundai P connector")
  hyundai_q = BaseCarHarness("Hyundai Q connector")
  hyundai_r = BaseCarHarness("Hyundai R connector")
-  hyundai_s = BaseCarHarness("Hyundai S connector")
  custom = BaseCarHarness("Developer connector")
  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable], has_connector=False)
  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
@@ -200,7 +200,6 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG
    lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
-    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering

    # steering control
    can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, self.lkas_icon))
@@ -212,12 +211,7 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,

    # LFA and HDA icons
    if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
-      if ccnc_non_hda2:
-        can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.CP.openpilotLongitudinalControl, CC.enabled, CC.hudControl, CC.leftBlinker,
-                                                  CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5, CS.is_metric, CS.out, CS.main_cruise_enabled,
-                                                  self.lfa_icon))
-      else:
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))
+      can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, self.lfa_icon))

    # blinkers
    if lka_steering and self.CP.flags & HyundaiFlags.CANFD_ENABLE_BLINKERS:
@@ -226,12 +220,11 @@ class CarController(CarControllerBase, EsccCarController, LeadDataCarController,
    if self.CP.openpilotLongitudinalControl:
      if lka_steering:
        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-      elif not ccnc_non_hda2:
+      else:
        can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
      if self.frame % 2 == 0:
        can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                         set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning,
-                                                         CS.cruise_info if ccnc_non_hda2 else None))
+                                                         set_speed_in_units, hud_control, self.lead_data, CS.main_cruise_enabled, self.tuning))
        self.accel_last = accel
    else:
      # button presses
@@ -64,7 +64,6 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):
    self.buttons_counter = 0

    self.cruise_info = {}
-    self.msg_161, self.msg_162, self.msg_1b5 = {}, {}, {}

    # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
    self.cluster_speed = 0
@@ -259,11 +258,8 @@ class CarState(CarStateBase, EsccCarStateBase, MadsCarState, CarStateExt):

    # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
    left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
-    if self.CP.flags & HyundaiFlags.CCNC:
+    if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
      left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
-      if not self.CP.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
-        self.msg_161, self.msg_162, self.msg_1b5 = map(copy.copy, (cp_cam.vl["CCNC_0x161"], cp_cam.vl["CCNC_0x162"], cp_cam.vl["FR_CMR_03_50ms"]))
-        self.cruise_info = copy.copy((cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp).vl["SCC_CONTROL"])
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                      cp.vl["BLINKERS"][right_blinker_sig])
    if self.CP.enableBsm:
@@ -220,16 +220,6 @@ FW_VERSIONS = {
      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
    ],
  },
-  CAR.HYUNDAI_SONATA_2024: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
-      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
-    ],
-  },
  CAR.HYUNDAI_SONATA_LF: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00LF__ SCC F-CUP      1.00 1.00 96401-C2200         ',
@@ -580,16 +570,6 @@ FW_VERSIONS = {
      b'\xf1\x00OS9 LKAS AT USA LHD 1.00 1.00 95740-J9300 g21',
    ],
  },
-  CAR.HYUNDAI_KONA_2ND_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
-      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
-      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
-    ],
-  },
  CAR.KIA_CEED: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CD__ SCC F-CUP      1.00 1.00 99110-J7500         ',
@@ -625,17 +605,6 @@ FW_VERSIONS = {
      b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
    ],
  },
-  CAR.KIA_K4_2025: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
-      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
-      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.04 99210-GG100 251205',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
-      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG100         ',
-    ],
-  },
  CAR.KIA_K5_2021: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
@@ -668,14 +637,6 @@ FW_VERSIONS = {
      b'\xf1\x00DL ESC \t 102"\x08\x10 58910-L3800',
    ],
  },
-  CAR.KIA_K5_2025: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L2500 240117',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DL3_ RDR -----      1.00 1.01 99110-L2500         ',
-    ],
-  },
  CAR.KIA_K5_HEV_2020: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
@@ -762,7 +723,6 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
-      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
    ],
  },
  CAR.KIA_NIRO_EV: {
@@ -1021,18 +981,6 @@ FW_VERSIONS = {
      b'\xf1\x00OSH LKAS AT KOR LHD 1.00 1.01 95740-CM000 l31',
    ],
  },
-  CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.00 99211-BE001 241015',
-      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.01 99211-BE001 250117',
-      b'\xf1\x00SX2HMFC  AT EUR LHD 1.00 1.01 99211-BE001 250117',
-      b'\xf1\x00SX2HMFC  AT EUR RHD 1.00 1.04 99211-BE000 231010',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
-      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
-    ],
-  },
  CAR.HYUNDAI_SONATA_HYBRID: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00DNhe SCC F-CUP      1.00 1.02 99110-L5000         ',
@@ -1054,16 +1002,6 @@ FW_VERSIONS = {
      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
    ],
  },
-  CAR.HYUNDAI_SONATA_HEV_2024: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
-      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.02 99211-L1800 250613',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
-    ],
-  },
  CAR.KIA_SORENTO: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00UMP LKAS AT AUS RHD 1.00 1.00 96400-C6550 S30',
@@ -1131,17 +1069,6 @@ FW_VERSIONS = {
      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
    ],
  },
-  CAR.HYUNDAI_IONIQ_5_N: {
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NE1N RDR -----      1.00 1.00 99110-NI000         ',
-    ],
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.04 99211-NI000 231219',
-      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.00 99211-NI010 240712',
-      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.04 99211-NI000 231219',
-      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.00 99211-NI110 250404',
-    ],
-  },
  CAR.HYUNDAI_IONIQ_6: {
    (Ecu.fwdRadar, 0x7d0, None): [
      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
@@ -1180,38 +1107,6 @@ FW_VERSIONS = {
      b'\xf1\x00NX4__               1.01 1.02 99110-N9000         ',
    ],
  },
-  CAR.HYUNDAI_TUCSON_2025: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7030 C55',
-      b'\xf1\x00NX4 FR_CMR AT GEN LHD 1.00 1.00 99211-N7035 C5C',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
-      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
-    ],
-  },
-  CAR.HYUNDAI_TUCSON_HEV_2025: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7035 C5C',
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7060 C5B',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
-      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
-      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
-    ],
-  },
-  CAR.HYUNDAI_TUCSON_PHEV_2025: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
-    ],
-  },
  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
@@ -1223,14 +1118,6 @@ FW_VERSIONS = {
      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
    ],
  },
-  CAR.HYUNDAI_SANTA_CRUZ_2025: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00NX4__               1.00 1.00 99110K5500          ',
-    ],
-  },
  CAR.KIA_SPORTAGE_5TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
@@ -1303,16 +1190,6 @@ FW_VERSIONS = {
      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
    ],
  },
-  CAR.KIA_SORENTO_2024: {
-    (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
-      b'\xf1\x00MQ4 MFC  AT USA LHD 1.01 1.04 99210-R5500 231127',
-    ],
-    (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
-      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-R5500         ',
-    ],
-  },
  CAR.KIA_SORENTO_HEV_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.04 99210-P2000 200330',
@@ -1,6 +1,5 @@
 import numpy as np
 from opendbc.car import CanBusBase
-from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags
 from opendbc.sunnypilot.car.hyundai.lead_data_ext import CanFdLeadData
@@ -126,106 +125,8 @@ def create_lfahda_cluster(packer, CAN, enabled, lfa_icon):
  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


-def create_ccnc(packer, CAN, openpilot_longitudinal_control, enabled, hud, left_blinker, right_blinker, msg_161, msg_162, msg_1b5,
-                is_metric, out, main_cruise_enabled, lfa_icon):
-  for f in {"FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"}:
-    msg_162[f] = 0
-  if msg_161["ALERTS_2"] == 5:
-    msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
-  if msg_161["ALERTS_3"] == 17:
-    msg_161["ALERTS_3"] = 0
-  if msg_161["ALERTS_5"] in (2, 5):
-    msg_161["ALERTS_5"] = 0
-  if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (0, 3):
-    msg_161["SOUNDS_4"] = 0
-
-  LANE_CHANGE_SPEED_MIN = 8.9408  # 20 mph
-  any_blinker = left_blinker or right_blinker
-  curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
-
-  msg_161.update({
-    "DAW_ICON": 0,
-    "LKA_ICON": 0,
-    "LFA_ICON": 2 if lfa_icon else 0,
-    "CENTERLINE": 1 if lfa_icon else 0,
-    "LANELINE_CURVATURE": curvature[max(-15, min(int(out.steeringAngleDeg / 4.5), 15))] if lfa_icon and not any_blinker else 15,
-    "LANELINE_LEFT": (0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if any_blinker else 2),
-    "LANELINE_RIGHT": (0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if any_blinker else 2),
-    "LCA_LEFT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.leftBlindspot else 2 if any_blinker else 4),
-    "LCA_RIGHT_ICON": (0 if not lfa_icon or out.vEgo < LANE_CHANGE_SPEED_MIN else 1 if out.rightBlindspot else 2 if any_blinker else 4),
-    "LCA_LEFT_ARROW": 2 if left_blinker else 0,
-    "LCA_RIGHT_ARROW": 2 if right_blinker else 0,
-  })
-
-  if lfa_icon and any_blinker:
-    left_lane_raw, right_lane_raw = msg_1b5["Info_LftLnPosVal"], msg_1b5["Info_RtLnPosVal"]
-
-    scale_per_m = 15 / 1.7
-    left_lane = abs(int(round(15 + (left_lane_raw - 1.7) * scale_per_m)))
-    right_lane = abs(int(round(15 + (right_lane_raw - 1.7) * scale_per_m)))
-
-    if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
-      left_lane = 0
-    if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
-      right_lane = 0
-
-    if left_lane_raw == -2.0248375:
-      left_lane = 30 - right_lane
-    if right_lane_raw == 2.0248375:
-      right_lane = 30 - left_lane
-
-    if left_lane_raw == right_lane_raw == 0:
-      left_lane = right_lane = 15
-    elif left_lane_raw == 0:
-      left_lane = 30 - right_lane
-    elif right_lane_raw == 0:
-      right_lane = 30 - left_lane
-
-    total = left_lane + right_lane
-    if total == 0:
-      left_lane = right_lane = 15
-    else:
-      left_lane = round((left_lane / total) * 30)
-      right_lane = 30 - left_lane
-
-    msg_161["LANELINE_LEFT_POSITION"] = left_lane
-    msg_161["LANELINE_RIGHT_POSITION"] = right_lane
-
-  if hud.leftLaneDepart or hud.rightLaneDepart:
-    msg_162["VIBRATE"] = 1
-
-  if openpilot_longitudinal_control:
-    if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
-      msg_161["ALERTS_3"] = 0
-    if msg_161["ALERTS_5"] == 4:
-      msg_161["ALERTS_5"] = 0
-    if msg_161["SOUNDS_3"] == 5:
-      msg_161["SOUNDS_3"] = 0
-
-    msg_161.update({
-      "SETSPEED": 3 if enabled else 1,
-      "SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
-      "SETSPEED_SPEED": (
-        255 if not main_cruise_enabled else
-        (40 if is_metric else 25) if (s := round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))) > (145 if is_metric else 90) else s
-      ),
-      "DISTANCE": hud.leadDistanceBars,
-      "DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
-      "DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
-      "DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
-      "SLA_ICON": 0,
-      "NAV_ICON": 0,
-      "TARGET": 0,
-    })
-
-    msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
-    msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
-
-  return [packer.make_can_msg(msg, CAN.ECAN, data) for msg, data in [("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162)]]
-
-
 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
-                       lead_data: CanFdLeadData, main_cruise_enabled, tuning, cruise_info=None):
+                       lead_data: CanFdLeadData, main_cruise_enabled, tuning):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
@@ -253,8 +154,6 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
    "SET_ME_TMP_64": 0x64,
    "DISTANCE_SETTING": hud_control.leadDistanceBars,
  }
-  if cruise_info:
-    values.update({s: cruise_info[s] for s in ["ACC_ObjDist", "ACC_ObjRelSpd"]})

  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

@@ -85,8 +85,6 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ALT_BUTTONS.value
      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
-      if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEER_MSG:
-        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value

    else:
      # Shared configuration for non CAN-FD cars
@@ -22,11 +22,7 @@ NO_DATES_PLATFORMS = {
  # CAN FD
  CAR.KIA_SPORTAGE_5TH_GEN,
  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
-  CAR.HYUNDAI_SANTA_CRUZ_2025,
  CAR.HYUNDAI_TUCSON_4TH_GEN,
-  CAR.HYUNDAI_TUCSON_2025,
-  CAR.HYUNDAI_TUCSON_HEV_2025,
-  CAR.HYUNDAI_TUCSON_PHEV_2025,
  # CAN
  CAR.HYUNDAI_ELANTRA,
  CAR.HYUNDAI_ELANTRA_GT_I30,
@@ -68,7 +68,6 @@ class HyundaiSafetyFlags(IntFlag):
  CANFD_LKA_STEER_MSG_ALT = 128
  FCEV_GAS = 256
  ALT_LIMITS_2 = 512
-  CCNC = 1024


 # Hyundai/Kia/Genesis SCC (Smart Cruise Control) and steering architecture:
@@ -150,8 +149,6 @@ class HyundaiFlags(IntFlag):

  ALT_LIMITS_2 = 2 ** 26

-  CCNC = 2 ** 27
-

@dataclass
 class HyundaiCarDocs(CarDocs):
@@ -288,16 +285,6 @@ class CAR(Platforms):
    CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
  )
-  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CCNC,
-  )
-  HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_l]))],
-    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CCNC,
-  )
  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
@@ -309,13 +296,10 @@ class CAR(Platforms):
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                    car_parts=CarParts.common([CarHarness.hyundai_r])),
-      HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
-    ],
+    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
  )
  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
@@ -355,11 +339,6 @@ class CAR(Platforms):
    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
-  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
-    flags=HyundaiFlags.CCNC,
-  )
  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
@@ -395,11 +374,6 @@ class CAR(Platforms):
    HYUNDAI_SONATA.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
-  HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-26", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
-    flags=HyundaiFlags.CCNC,
-  )
  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
@@ -409,11 +383,6 @@ class CAR(Platforms):
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
-  HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
-    CarSpecs(mass=2205, wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
-    flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
-  )
  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
    [
        HyundaiCarDocs("Hyundai Ioniq 6 (without HDA II) 2023-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -431,31 +400,11 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
  )
-  HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CCNC,
-  )
-  HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CCNC,
-  )
-  HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
-    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.CCNC,
-  )
  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
  )
-  HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
-    CarSpecs(mass=1920, wheelbase=3, steerRatio=14.2),
-    flags=HyundaiFlags.CCNC,
-  )
  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
@@ -470,24 +419,11 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
  )
-  KIA_K4_2025 = HyundaiCanFDPlatformConfig(
-    [
-      HyundaiCarDocs("Kia K4 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_a])),
-      HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
-    ],
-    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
-    flags=HyundaiFlags.CCNC,
-  )
  KIA_K5_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
-  KIA_K5_2025 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Kia K5 (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_m]))],
-    CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
-    flags=HyundaiFlags.CCNC,
-  )
  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_K5_2021.specs,
@@ -598,11 +534,6 @@ class CAR(Platforms):
    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.CANFD_RADAR_SCC,
  )
-  KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
-    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
-    flags=HyundaiFlags.CCNC,
-  )
  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -29,9 +29,6 @@ non_tested_cars = [
  SUBARU.SUBARU_FORESTER_HYBRID,
  VOLKSWAGEN.PORSCHE_MACAN_MK1,
  HONDA.ACURA_TLX_2G,
-  HYUNDAI.KIA_SORENTO_2024,
-  HYUNDAI.HYUNDAI_IONIQ_5_N,
-  HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,

  # These had their DSUs unplugged, need new routes
  # TOYOTA.LEXUS_ES  # hybrid
@@ -169,7 +166,6 @@ routes = [
  CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL),  # LKA steering
  CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
  CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
-  CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
  CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
  CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
  CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
@@ -183,14 +179,11 @@ routes = [
  CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
  CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
  CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
-  CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
  CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
  CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
  CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
  CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
  CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
-  CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
-  CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
  CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
  CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
  CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
@@ -208,8 +201,6 @@ routes = [
  CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
  CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
  CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
-  CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
-  CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
  CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
  CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
  CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
@@ -223,9 +214,7 @@ routes = [
  CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # LKA steering
  CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # LFA steering
  CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
-  CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
  CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
-  CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
  CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
  CarTestRoute("74fbff45aa20fe9e/00000010--6f173d5799", HYUNDAI.KIA_K7_2017),
  CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
@@ -244,7 +233,6 @@ routes = [
  CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
  CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
  CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
-  CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
  CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
  CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),

@@ -105,13 +105,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "JEEP_CHEROKEE_5TH_GEN" = [1.5, 1.5, 0.15]
 "ACURA_MDX_4G" = [1.4, 1.4, 0.17]
 "ACURA_RDX_3G_MMR" = [1.5, 1.5, 0.16]
-"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
-"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
-"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
-"KIA_K5_2025" = [2.5, 2.5, 0.1]
-"KIA_K4_2025" = [2.5, 2.5, 0.1]
-"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
-"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.005]

 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]
@@ -45,11 +45,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GENESIS_G90" = "GENESIS_G70"
 "GENESIS_G80" = "GENESIS_G70"
 "GENESIS_G70_2020" = "HYUNDAI_SONATA"
-"HYUNDAI_SONATA_2024" = "HYUNDAI_SONATA"
-"HYUNDAI_SONATA_HEV_2024" = "HYUNDAI_SONATA_HYBRID"
-"HYUNDAI_TUCSON_2025" = "HYUNDAI_TUCSON_4TH_GEN"
-"HYUNDAI_TUCSON_HEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"
-"HYUNDAI_TUCSON_PHEV_2025" = "HYUNDAI_TUCSON_4TH_GEN"

 "HONDA_FREED" = "HONDA_ODYSSEY"
 "HONDA_CRV_EU" = "HONDA_CRV"
@@ -951,7 +951,7 @@ CM_ SG_ 1041 COUNTER_ALT "only increments on change";
 CM_ BO_ 1043 "Lamp signals do not seem universal on cars that use LKAS_ALT, but stalk signals do.";
 CM_ SG_ 1043 COUNTER_ALT "only increments on change";
 CM_ SG_ 1043 USE_ALT_LAMP "likely 1 on cars that use alt lamp signals";
-VAL_ 53 GEAR 0 "P" 4 "S" 5 "D" 6 "N" 7 "R";
+VAL_ 53 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 64 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 69 GEAR 0 "P" 5 "D" 6 "N" 7 "R";
 VAL_ 96 TRACTION_AND_STABILITY_CONTROL 0 "On" 5 "Limited" 1 "Off";
@@ -227,7 +227,6 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
 static safety_config hyundai_canfd_init(uint16_t param) {
  const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT = 128;
  const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
-  const uint16_t HYUNDAI_PARAM_CCNC = 1024;

  static const CanMsg HYUNDAI_CANFD_LKA_STEER_MSG_TX_MSGS[] = {
    HYUNDAI_CANFD_LKA_STEER_MSG_COMMON_TX_MSGS(0, 1)
@@ -272,21 +271,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
    {0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \

-#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
-    HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
-    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
-    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
-    {0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
-    {0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
-    {0x7C4, 2, 8, .check_relay = true}, /* 0x7C4 */ \
-    {0xEA, 2, 24, .check_relay = true}, /* MDPS */ \
-
  hyundai_common_init(param);

  gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
  hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
  hyundai_canfd_lka_steer_msg_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEER_MSG_ALT);
-  const bool hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);

  safety_config ret;
  if (hyundai_longitudinal) {
@@ -311,10 +300,6 @@ static safety_config hyundai_canfd_init(uint16_t param) {
        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(true)
      };

-      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
-        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
-      };
-
      if (hyundai_canfd_alt_buttons) {
        SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
      } else {
@@ -322,11 +307,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
      }

      if (hyundai_camera_scc) {
-        if (hyundai_ccnc) {
-          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
-        } else {
-          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
-        }
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
      } else {
        SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
      }
@@ -387,15 +368,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
      };

-      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
-        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
-      };
-
-      if (hyundai_ccnc) {
-        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
-      } else {
-        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
-      }
+      SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);

      if (hyundai_canfd_alt_buttons) {
        SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
@@ -1019,8 +1019,6 @@ class SafetyTest(SafetyTestBase):
              continue
            if attr.startswith('TestHyundaiCanfd') and current_test.startswith('TestHyundaiCanfd'):
              continue
-            if attr == 'TestElm327' and current_test.startswith(('TestHyundaiCanfdLFASteeringCCNC', 'TestHyundaiCanfdLFASteeringLongCCNC')):
-              tx = list(filter(lambda m: m[0] != 0x7C4, tx))
            if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong'}):
              continue
            base_tests = {'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC', 'TestHyundaiSafetyFCEVLong',
@@ -21,8 +21,6 @@ ALL_GAS_EV_HYBRID_COMBOS = [
  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
 ]

-CAMERA_SCC_COMBOS = ALL_GAS_EV_HYBRID_COMBOS[3:]
-

 class TestHyundaiCanfdBase(HyundaiButtonBase, common.CarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest):

@@ -310,48 +308,5 @@ class TestHyundaiCanfdLFASteeringLongAltButtons(TestHyundaiCanfdLFASteeringLongB
    pass


-class HyundaiCanfdCCNCTest:
-
-  CCNC_SAFETY_PARAM = HyundaiSafetyFlags.CCNC
-
-  @classmethod
-  def setUpClass(cls):
-    if cls.__name__ in (
-      "TestHyundaiCanfdLFASteeringCCNC",
-      "TestHyundaiCanfdLFASteeringLongCCNC",
-    ):
-      cls.safety = None
-      raise unittest.SkipTest
-
-  def setUp(self):
-    self.packer = CANPackerSafety("hyundai_canfd_generated")
-    self.safety = libsafety_py.libsafety
-    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, self.CCNC_SAFETY_PARAM | self.SAFETY_PARAM)
-    self.safety.init_tests()
-
-  def test_ccnc_tx_msgs(self):
-    for msg, bus in (("CCNC_0x161", 0), ("CCNC_0x162", 0), ("MDPS", 2)):
-      self.assertTrue(self._tx(self.packer.make_can_msg_safety(msg, bus, {})))
-    self.assertTrue(self._tx(common.make_msg(2, 0x7C4)))
-
-
-@parameterized_class(CAMERA_SCC_COMBOS)
-class TestHyundaiCanfdLFASteeringCCNC(HyundaiCanfdCCNCTest, TestHyundaiCanfdLFASteeringBase):
-
-  TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2]]
-  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162), 2: (0x7C4, 0xEA)}
-  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162], 0: [0x7C4, 0xEA]}
-
-
-@parameterized_class(CAMERA_SCC_COMBOS)
-class TestHyundaiCanfdLFASteeringLongCCNC(HyundaiCanfdCCNCTest, TestHyundaiCanfdLFASteeringLongBase):
-
-  CCNC_SAFETY_PARAM = HyundaiSafetyFlags.CCNC | HyundaiSafetyFlags.LONG
-
-  TX_MSGS = [[0x12A, 0], [0x1E0, 0], [0x1CF, 2], [0x7C4, 2], [0x1A0, 0]]
-  RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1E0, 0x161, 0x162, 0x1A0), 2: (0x7C4, 0xEA)}
-  FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0, 0x161, 0x162, 0x1A0], 0: [0x7C4, 0xEA]}
-
-
 if __name__ == "__main__":
  unittest.main()
@@ -1620,16 +1620,6 @@
    ],
    "package": "Highway Driving Assist"
  },
-  "Hyundai Ioniq 5 N (with HDA II) 2024": {
-    "platform": "HYUNDAI_IONIQ_5_N",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Ioniq 5 N (with HDA II)",
-    "year": [
-      "2024"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Ioniq 6 (with HDA II) 2023-24": {
    "platform": "HYUNDAI_IONIQ_6",
    "make": "Hyundai",
@@ -1739,17 +1729,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Hyundai Kona (without HDA II) 2024-25": {
-    "platform": "HYUNDAI_KONA_2ND_GEN",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Kona (without HDA II)",
-    "year": [
-      "2024",
-      "2025"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Kona Electric 2018-21": {
    "platform": "HYUNDAI_KONA_EV",
    "make": "Hyundai",
@@ -1784,16 +1763,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Hyundai Kona Electric (without HDA II) 2024": {
-    "platform": "HYUNDAI_KONA_EV_2ND_GEN",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Kona Electric (without HDA II)",
-    "year": [
-      "2024"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Kona Electric Non-SCC 2019": {
    "platform": "HYUNDAI_KONA_EV_NON_SCC",
    "make": "Hyundai",
@@ -1814,18 +1783,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Hyundai Kona Hybrid (without HDA II) 2024-26": {
-    "platform": "HYUNDAI_KONA_HEV_2ND_GEN",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Kona Hybrid (without HDA II)",
-    "year": [
-      "2024",
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Kona Non-SCC 2019": {
    "platform": "HYUNDAI_KONA_NON_SCC",
    "make": "Hyundai",
@@ -1870,16 +1827,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Hyundai Santa Cruz (without HDA II) 2025": {
-    "platform": "HYUNDAI_SANTA_CRUZ_2025",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Santa Cruz (without HDA II)",
-    "year": [
-      "2025"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Santa Fe 2019-20": {
    "platform": "HYUNDAI_SANTA_FE",
    "make": "Hyundai",
@@ -1949,18 +1896,6 @@
    ],
    "package": "All"
  },
-  "Hyundai Sonata (without HDA II) 2024-26": {
-    "platform": "HYUNDAI_SONATA_2024",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Sonata (without HDA II)",
-    "year": [
-      "2024",
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Sonata Hybrid 2020-23": {
    "platform": "HYUNDAI_SONATA_HYBRID",
    "make": "Hyundai",
@@ -1974,18 +1909,6 @@
    ],
    "package": "All"
  },
-  "Hyundai Sonata Hybrid (without HDA II) 2024-26": {
-    "platform": "HYUNDAI_SONATA_HEV_2024",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Sonata Hybrid (without HDA II)",
-    "year": [
-      "2024",
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Staria 2023": {
    "platform": "HYUNDAI_STARIA_4TH_GEN",
    "make": "Hyundai",
@@ -2027,17 +1950,6 @@
    ],
    "package": "All"
  },
-  "Hyundai Tucson (without HDA II) 2025-26": {
-    "platform": "HYUNDAI_TUCSON_2025",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Tucson (without HDA II)",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Tucson Diesel 2019": {
    "platform": "HYUNDAI_TUCSON",
    "make": "Hyundai",
@@ -2060,17 +1972,6 @@
    ],
    "package": "All"
  },
-  "Hyundai Tucson Hybrid (without HDA II) 2025-26": {
-    "platform": "HYUNDAI_TUCSON_HEV_2025",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Tucson Hybrid (without HDA II)",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Tucson Plug-in Hybrid 2024": {
    "platform": "HYUNDAI_TUCSON_4TH_GEN",
    "make": "Hyundai",
@@ -2081,16 +1982,6 @@
    ],
    "package": "All"
  },
-  "Hyundai Tucson Plug-in Hybrid (without HDA II) 2025": {
-    "platform": "HYUNDAI_TUCSON_PHEV_2025",
-    "make": "Hyundai",
-    "brand": "hyundai",
-    "model": "Tucson Plug-in Hybrid (without HDA II)",
-    "year": [
-      "2025"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Hyundai Veloster 2019-20": {
    "platform": "HYUNDAI_VELOSTER",
    "make": "Hyundai",
@@ -2239,27 +2130,6 @@
    ],
    "package": "No Smart Cruise Control (Non-SCC)"
  },
-  "Kia K4 (with HDA II) 2025": {
-    "platform": "KIA_K4_2025",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "K4 (with HDA II)",
-    "year": [
-      "2025"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
-  "Kia K4 (without HDA II) 2025-26": {
-    "platform": "KIA_K4_2025",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "K4 (without HDA II)",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Kia K5 2021-24": {
    "platform": "KIA_K5_2021",
    "make": "Kia",
@@ -2273,17 +2143,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Kia K5 (without HDA II) 2025-26": {
-    "platform": "KIA_K5_2025",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "K5 (without HDA II)",
-    "year": [
-      "2025",
-      "2026"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Kia K5 Hybrid 2020-22": {
    "platform": "KIA_K5_HEV_2020",
    "make": "Kia",
@@ -2534,17 +2393,6 @@
    ],
    "package": "Smart Cruise Control (SCC)"
  },
-  "Kia Sorento (without HDA II) 2024-25": {
-    "platform": "KIA_SORENTO_2024",
-    "make": "Kia",
-    "brand": "hyundai",
-    "model": "Sorento (without HDA II)",
-    "year": [
-      "2024",
-      "2025"
-    ],
-    "package": "Smart Cruise Control (SCC)"
-  },
  "Kia Sorento Hybrid 2021-23": {
    "platform": "KIA_SORENTO_HEV_4TH_GEN",
    "make": "Kia",
@@ -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_5070392900769873758) {
-   out_5070392900769873758[0] = delta_x[0] + nom_x[0];
-   out_5070392900769873758[1] = delta_x[1] + nom_x[1];
-   out_5070392900769873758[2] = delta_x[2] + nom_x[2];
-   out_5070392900769873758[3] = delta_x[3] + nom_x[3];
-   out_5070392900769873758[4] = delta_x[4] + nom_x[4];
-   out_5070392900769873758[5] = delta_x[5] + nom_x[5];
-   out_5070392900769873758[6] = delta_x[6] + nom_x[6];
-   out_5070392900769873758[7] = delta_x[7] + nom_x[7];
-   out_5070392900769873758[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_2496243277963511837) {
+   out_2496243277963511837[0] = delta_x[0] + nom_x[0];
+   out_2496243277963511837[1] = delta_x[1] + nom_x[1];
+   out_2496243277963511837[2] = delta_x[2] + nom_x[2];
+   out_2496243277963511837[3] = delta_x[3] + nom_x[3];
+   out_2496243277963511837[4] = delta_x[4] + nom_x[4];
+   out_2496243277963511837[5] = delta_x[5] + nom_x[5];
+   out_2496243277963511837[6] = delta_x[6] + nom_x[6];
+   out_2496243277963511837[7] = delta_x[7] + nom_x[7];
+   out_2496243277963511837[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051) {
-   out_3742760733154016051[0] = -nom_x[0] + true_x[0];
-   out_3742760733154016051[1] = -nom_x[1] + true_x[1];
-   out_3742760733154016051[2] = -nom_x[2] + true_x[2];
-   out_3742760733154016051[3] = -nom_x[3] + true_x[3];
-   out_3742760733154016051[4] = -nom_x[4] + true_x[4];
-   out_3742760733154016051[5] = -nom_x[5] + true_x[5];
-   out_3742760733154016051[6] = -nom_x[6] + true_x[6];
-   out_3742760733154016051[7] = -nom_x[7] + true_x[7];
-   out_3742760733154016051[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_8723072931307095264) {
+   out_8723072931307095264[0] = -nom_x[0] + true_x[0];
+   out_8723072931307095264[1] = -nom_x[1] + true_x[1];
+   out_8723072931307095264[2] = -nom_x[2] + true_x[2];
+   out_8723072931307095264[3] = -nom_x[3] + true_x[3];
+   out_8723072931307095264[4] = -nom_x[4] + true_x[4];
+   out_8723072931307095264[5] = -nom_x[5] + true_x[5];
+   out_8723072931307095264[6] = -nom_x[6] + true_x[6];
+   out_8723072931307095264[7] = -nom_x[7] + true_x[7];
+   out_8723072931307095264[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_5758456641177717920) {
-   out_5758456641177717920[0] = 1.0;
-   out_5758456641177717920[1] = 0.0;
-   out_5758456641177717920[2] = 0.0;
-   out_5758456641177717920[3] = 0.0;
-   out_5758456641177717920[4] = 0.0;
-   out_5758456641177717920[5] = 0.0;
-   out_5758456641177717920[6] = 0.0;
-   out_5758456641177717920[7] = 0.0;
-   out_5758456641177717920[8] = 0.0;
-   out_5758456641177717920[9] = 0.0;
-   out_5758456641177717920[10] = 1.0;
-   out_5758456641177717920[11] = 0.0;
-   out_5758456641177717920[12] = 0.0;
-   out_5758456641177717920[13] = 0.0;
-   out_5758456641177717920[14] = 0.0;
-   out_5758456641177717920[15] = 0.0;
-   out_5758456641177717920[16] = 0.0;
-   out_5758456641177717920[17] = 0.0;
-   out_5758456641177717920[18] = 0.0;
-   out_5758456641177717920[19] = 0.0;
-   out_5758456641177717920[20] = 1.0;
-   out_5758456641177717920[21] = 0.0;
-   out_5758456641177717920[22] = 0.0;
-   out_5758456641177717920[23] = 0.0;
-   out_5758456641177717920[24] = 0.0;
-   out_5758456641177717920[25] = 0.0;
-   out_5758456641177717920[26] = 0.0;
-   out_5758456641177717920[27] = 0.0;
-   out_5758456641177717920[28] = 0.0;
-   out_5758456641177717920[29] = 0.0;
-   out_5758456641177717920[30] = 1.0;
-   out_5758456641177717920[31] = 0.0;
-   out_5758456641177717920[32] = 0.0;
-   out_5758456641177717920[33] = 0.0;
-   out_5758456641177717920[34] = 0.0;
-   out_5758456641177717920[35] = 0.0;
-   out_5758456641177717920[36] = 0.0;
-   out_5758456641177717920[37] = 0.0;
-   out_5758456641177717920[38] = 0.0;
-   out_5758456641177717920[39] = 0.0;
-   out_5758456641177717920[40] = 1.0;
-   out_5758456641177717920[41] = 0.0;
-   out_5758456641177717920[42] = 0.0;
-   out_5758456641177717920[43] = 0.0;
-   out_5758456641177717920[44] = 0.0;
-   out_5758456641177717920[45] = 0.0;
-   out_5758456641177717920[46] = 0.0;
-   out_5758456641177717920[47] = 0.0;
-   out_5758456641177717920[48] = 0.0;
-   out_5758456641177717920[49] = 0.0;
-   out_5758456641177717920[50] = 1.0;
-   out_5758456641177717920[51] = 0.0;
-   out_5758456641177717920[52] = 0.0;
-   out_5758456641177717920[53] = 0.0;
-   out_5758456641177717920[54] = 0.0;
-   out_5758456641177717920[55] = 0.0;
-   out_5758456641177717920[56] = 0.0;
-   out_5758456641177717920[57] = 0.0;
-   out_5758456641177717920[58] = 0.0;
-   out_5758456641177717920[59] = 0.0;
-   out_5758456641177717920[60] = 1.0;
-   out_5758456641177717920[61] = 0.0;
-   out_5758456641177717920[62] = 0.0;
-   out_5758456641177717920[63] = 0.0;
-   out_5758456641177717920[64] = 0.0;
-   out_5758456641177717920[65] = 0.0;
-   out_5758456641177717920[66] = 0.0;
-   out_5758456641177717920[67] = 0.0;
-   out_5758456641177717920[68] = 0.0;
-   out_5758456641177717920[69] = 0.0;
-   out_5758456641177717920[70] = 1.0;
-   out_5758456641177717920[71] = 0.0;
-   out_5758456641177717920[72] = 0.0;
-   out_5758456641177717920[73] = 0.0;
-   out_5758456641177717920[74] = 0.0;
-   out_5758456641177717920[75] = 0.0;
-   out_5758456641177717920[76] = 0.0;
-   out_5758456641177717920[77] = 0.0;
-   out_5758456641177717920[78] = 0.0;
-   out_5758456641177717920[79] = 0.0;
-   out_5758456641177717920[80] = 1.0;
+void H_mod_fun(double *state, double *out_2432465619939465173) {
+   out_2432465619939465173[0] = 1.0;
+   out_2432465619939465173[1] = 0.0;
+   out_2432465619939465173[2] = 0.0;
+   out_2432465619939465173[3] = 0.0;
+   out_2432465619939465173[4] = 0.0;
+   out_2432465619939465173[5] = 0.0;
+   out_2432465619939465173[6] = 0.0;
+   out_2432465619939465173[7] = 0.0;
+   out_2432465619939465173[8] = 0.0;
+   out_2432465619939465173[9] = 0.0;
+   out_2432465619939465173[10] = 1.0;
+   out_2432465619939465173[11] = 0.0;
+   out_2432465619939465173[12] = 0.0;
+   out_2432465619939465173[13] = 0.0;
+   out_2432465619939465173[14] = 0.0;
+   out_2432465619939465173[15] = 0.0;
+   out_2432465619939465173[16] = 0.0;
+   out_2432465619939465173[17] = 0.0;
+   out_2432465619939465173[18] = 0.0;
+   out_2432465619939465173[19] = 0.0;
+   out_2432465619939465173[20] = 1.0;
+   out_2432465619939465173[21] = 0.0;
+   out_2432465619939465173[22] = 0.0;
+   out_2432465619939465173[23] = 0.0;
+   out_2432465619939465173[24] = 0.0;
+   out_2432465619939465173[25] = 0.0;
+   out_2432465619939465173[26] = 0.0;
+   out_2432465619939465173[27] = 0.0;
+   out_2432465619939465173[28] = 0.0;
+   out_2432465619939465173[29] = 0.0;
+   out_2432465619939465173[30] = 1.0;
+   out_2432465619939465173[31] = 0.0;
+   out_2432465619939465173[32] = 0.0;
+   out_2432465619939465173[33] = 0.0;
+   out_2432465619939465173[34] = 0.0;
+   out_2432465619939465173[35] = 0.0;
+   out_2432465619939465173[36] = 0.0;
+   out_2432465619939465173[37] = 0.0;
+   out_2432465619939465173[38] = 0.0;
+   out_2432465619939465173[39] = 0.0;
+   out_2432465619939465173[40] = 1.0;
+   out_2432465619939465173[41] = 0.0;
+   out_2432465619939465173[42] = 0.0;
+   out_2432465619939465173[43] = 0.0;
+   out_2432465619939465173[44] = 0.0;
+   out_2432465619939465173[45] = 0.0;
+   out_2432465619939465173[46] = 0.0;
+   out_2432465619939465173[47] = 0.0;
+   out_2432465619939465173[48] = 0.0;
+   out_2432465619939465173[49] = 0.0;
+   out_2432465619939465173[50] = 1.0;
+   out_2432465619939465173[51] = 0.0;
+   out_2432465619939465173[52] = 0.0;
+   out_2432465619939465173[53] = 0.0;
+   out_2432465619939465173[54] = 0.0;
+   out_2432465619939465173[55] = 0.0;
+   out_2432465619939465173[56] = 0.0;
+   out_2432465619939465173[57] = 0.0;
+   out_2432465619939465173[58] = 0.0;
+   out_2432465619939465173[59] = 0.0;
+   out_2432465619939465173[60] = 1.0;
+   out_2432465619939465173[61] = 0.0;
+   out_2432465619939465173[62] = 0.0;
+   out_2432465619939465173[63] = 0.0;
+   out_2432465619939465173[64] = 0.0;
+   out_2432465619939465173[65] = 0.0;
+   out_2432465619939465173[66] = 0.0;
+   out_2432465619939465173[67] = 0.0;
+   out_2432465619939465173[68] = 0.0;
+   out_2432465619939465173[69] = 0.0;
+   out_2432465619939465173[70] = 1.0;
+   out_2432465619939465173[71] = 0.0;
+   out_2432465619939465173[72] = 0.0;
+   out_2432465619939465173[73] = 0.0;
+   out_2432465619939465173[74] = 0.0;
+   out_2432465619939465173[75] = 0.0;
+   out_2432465619939465173[76] = 0.0;
+   out_2432465619939465173[77] = 0.0;
+   out_2432465619939465173[78] = 0.0;
+   out_2432465619939465173[79] = 0.0;
+   out_2432465619939465173[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_730595102125265078) {
-   out_730595102125265078[0] = state[0];
-   out_730595102125265078[1] = state[1];
-   out_730595102125265078[2] = state[2];
-   out_730595102125265078[3] = state[3];
-   out_730595102125265078[4] = state[4];
-   out_730595102125265078[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_730595102125265078[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_730595102125265078[7] = state[7];
-   out_730595102125265078[8] = state[8];
+void f_fun(double *state, double dt, double *out_433459712136092591) {
+   out_433459712136092591[0] = state[0];
+   out_433459712136092591[1] = state[1];
+   out_433459712136092591[2] = state[2];
+   out_433459712136092591[3] = state[3];
+   out_433459712136092591[4] = state[4];
+   out_433459712136092591[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_433459712136092591[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_433459712136092591[7] = state[7];
+   out_433459712136092591[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_7198115545780111359) {
-   out_7198115545780111359[0] = 1;
-   out_7198115545780111359[1] = 0;
-   out_7198115545780111359[2] = 0;
-   out_7198115545780111359[3] = 0;
-   out_7198115545780111359[4] = 0;
-   out_7198115545780111359[5] = 0;
-   out_7198115545780111359[6] = 0;
-   out_7198115545780111359[7] = 0;
-   out_7198115545780111359[8] = 0;
-   out_7198115545780111359[9] = 0;
-   out_7198115545780111359[10] = 1;
-   out_7198115545780111359[11] = 0;
-   out_7198115545780111359[12] = 0;
-   out_7198115545780111359[13] = 0;
-   out_7198115545780111359[14] = 0;
-   out_7198115545780111359[15] = 0;
-   out_7198115545780111359[16] = 0;
-   out_7198115545780111359[17] = 0;
-   out_7198115545780111359[18] = 0;
-   out_7198115545780111359[19] = 0;
-   out_7198115545780111359[20] = 1;
-   out_7198115545780111359[21] = 0;
-   out_7198115545780111359[22] = 0;
-   out_7198115545780111359[23] = 0;
-   out_7198115545780111359[24] = 0;
-   out_7198115545780111359[25] = 0;
-   out_7198115545780111359[26] = 0;
-   out_7198115545780111359[27] = 0;
-   out_7198115545780111359[28] = 0;
-   out_7198115545780111359[29] = 0;
-   out_7198115545780111359[30] = 1;
-   out_7198115545780111359[31] = 0;
-   out_7198115545780111359[32] = 0;
-   out_7198115545780111359[33] = 0;
-   out_7198115545780111359[34] = 0;
-   out_7198115545780111359[35] = 0;
-   out_7198115545780111359[36] = 0;
-   out_7198115545780111359[37] = 0;
-   out_7198115545780111359[38] = 0;
-   out_7198115545780111359[39] = 0;
-   out_7198115545780111359[40] = 1;
-   out_7198115545780111359[41] = 0;
-   out_7198115545780111359[42] = 0;
-   out_7198115545780111359[43] = 0;
-   out_7198115545780111359[44] = 0;
-   out_7198115545780111359[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_7198115545780111359[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_7198115545780111359[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7198115545780111359[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7198115545780111359[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_7198115545780111359[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_7198115545780111359[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_7198115545780111359[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_7198115545780111359[53] = -9.8100000000000005*dt;
-   out_7198115545780111359[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_7198115545780111359[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_7198115545780111359[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7198115545780111359[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7198115545780111359[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_7198115545780111359[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_7198115545780111359[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_7198115545780111359[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_7198115545780111359[62] = 0;
-   out_7198115545780111359[63] = 0;
-   out_7198115545780111359[64] = 0;
-   out_7198115545780111359[65] = 0;
-   out_7198115545780111359[66] = 0;
-   out_7198115545780111359[67] = 0;
-   out_7198115545780111359[68] = 0;
-   out_7198115545780111359[69] = 0;
-   out_7198115545780111359[70] = 1;
-   out_7198115545780111359[71] = 0;
-   out_7198115545780111359[72] = 0;
-   out_7198115545780111359[73] = 0;
-   out_7198115545780111359[74] = 0;
-   out_7198115545780111359[75] = 0;
-   out_7198115545780111359[76] = 0;
-   out_7198115545780111359[77] = 0;
-   out_7198115545780111359[78] = 0;
-   out_7198115545780111359[79] = 0;
-   out_7198115545780111359[80] = 1;
+void F_fun(double *state, double dt, double *out_2989085374181927005) {
+   out_2989085374181927005[0] = 1;
+   out_2989085374181927005[1] = 0;
+   out_2989085374181927005[2] = 0;
+   out_2989085374181927005[3] = 0;
+   out_2989085374181927005[4] = 0;
+   out_2989085374181927005[5] = 0;
+   out_2989085374181927005[6] = 0;
+   out_2989085374181927005[7] = 0;
+   out_2989085374181927005[8] = 0;
+   out_2989085374181927005[9] = 0;
+   out_2989085374181927005[10] = 1;
+   out_2989085374181927005[11] = 0;
+   out_2989085374181927005[12] = 0;
+   out_2989085374181927005[13] = 0;
+   out_2989085374181927005[14] = 0;
+   out_2989085374181927005[15] = 0;
+   out_2989085374181927005[16] = 0;
+   out_2989085374181927005[17] = 0;
+   out_2989085374181927005[18] = 0;
+   out_2989085374181927005[19] = 0;
+   out_2989085374181927005[20] = 1;
+   out_2989085374181927005[21] = 0;
+   out_2989085374181927005[22] = 0;
+   out_2989085374181927005[23] = 0;
+   out_2989085374181927005[24] = 0;
+   out_2989085374181927005[25] = 0;
+   out_2989085374181927005[26] = 0;
+   out_2989085374181927005[27] = 0;
+   out_2989085374181927005[28] = 0;
+   out_2989085374181927005[29] = 0;
+   out_2989085374181927005[30] = 1;
+   out_2989085374181927005[31] = 0;
+   out_2989085374181927005[32] = 0;
+   out_2989085374181927005[33] = 0;
+   out_2989085374181927005[34] = 0;
+   out_2989085374181927005[35] = 0;
+   out_2989085374181927005[36] = 0;
+   out_2989085374181927005[37] = 0;
+   out_2989085374181927005[38] = 0;
+   out_2989085374181927005[39] = 0;
+   out_2989085374181927005[40] = 1;
+   out_2989085374181927005[41] = 0;
+   out_2989085374181927005[42] = 0;
+   out_2989085374181927005[43] = 0;
+   out_2989085374181927005[44] = 0;
+   out_2989085374181927005[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_2989085374181927005[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2989085374181927005[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2989085374181927005[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2989085374181927005[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_2989085374181927005[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2989085374181927005[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2989085374181927005[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2989085374181927005[53] = -9.8100000000000005*dt;
+   out_2989085374181927005[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_2989085374181927005[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2989085374181927005[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2989085374181927005[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2989085374181927005[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_2989085374181927005[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2989085374181927005[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_2989085374181927005[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2989085374181927005[62] = 0;
+   out_2989085374181927005[63] = 0;
+   out_2989085374181927005[64] = 0;
+   out_2989085374181927005[65] = 0;
+   out_2989085374181927005[66] = 0;
+   out_2989085374181927005[67] = 0;
+   out_2989085374181927005[68] = 0;
+   out_2989085374181927005[69] = 0;
+   out_2989085374181927005[70] = 1;
+   out_2989085374181927005[71] = 0;
+   out_2989085374181927005[72] = 0;
+   out_2989085374181927005[73] = 0;
+   out_2989085374181927005[74] = 0;
+   out_2989085374181927005[75] = 0;
+   out_2989085374181927005[76] = 0;
+   out_2989085374181927005[77] = 0;
+   out_2989085374181927005[78] = 0;
+   out_2989085374181927005[79] = 0;
+   out_2989085374181927005[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_5441109048213736058) {
-   out_5441109048213736058[0] = state[6];
+void h_25(double *state, double *unused, double *out_7779026555707581006) {
+   out_7779026555707581006[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_4766949399557973891) {
-   out_4766949399557973891[0] = 0;
-   out_4766949399557973891[1] = 0;
-   out_4766949399557973891[2] = 0;
-   out_4766949399557973891[3] = 0;
-   out_4766949399557973891[4] = 0;
-   out_4766949399557973891[5] = 0;
-   out_4766949399557973891[6] = 1;
-   out_4766949399557973891[7] = 0;
-   out_4766949399557973891[8] = 0;
+void H_25(double *state, double *unused, double *out_7597270765006040550) {
+   out_7597270765006040550[0] = 0;
+   out_7597270765006040550[1] = 0;
+   out_7597270765006040550[2] = 0;
+   out_7597270765006040550[3] = 0;
+   out_7597270765006040550[4] = 0;
+   out_7597270765006040550[5] = 0;
+   out_7597270765006040550[6] = 1;
+   out_7597270765006040550[7] = 0;
+   out_7597270765006040550[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_2797667639827089179) {
-   out_2797667639827089179[0] = state[4];
-   out_2797667639827089179[1] = state[5];
+void h_24(double *state, double *unused, double *out_1363944844356195076) {
+   out_1363944844356195076[0] = state[4];
+   out_1363944844356195076[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_4461115786511221334) {
-   out_4461115786511221334[0] = 0;
-   out_4461115786511221334[1] = 0;
-   out_4461115786511221334[2] = 0;
-   out_4461115786511221334[3] = 0;
-   out_4461115786511221334[4] = 1;
-   out_4461115786511221334[5] = 0;
-   out_4461115786511221334[6] = 0;
-   out_4461115786511221334[7] = 0;
-   out_4461115786511221334[8] = 0;
-   out_4461115786511221334[9] = 0;
-   out_4461115786511221334[10] = 0;
-   out_4461115786511221334[11] = 0;
-   out_4461115786511221334[12] = 0;
-   out_4461115786511221334[13] = 0;
-   out_4461115786511221334[14] = 1;
-   out_4461115786511221334[15] = 0;
-   out_4461115786511221334[16] = 0;
-   out_4461115786511221334[17] = 0;
+void H_24(double *state, double *unused, double *out_4648440628852349640) {
+   out_4648440628852349640[0] = 0;
+   out_4648440628852349640[1] = 0;
+   out_4648440628852349640[2] = 0;
+   out_4648440628852349640[3] = 0;
+   out_4648440628852349640[4] = 1;
+   out_4648440628852349640[5] = 0;
+   out_4648440628852349640[6] = 0;
+   out_4648440628852349640[7] = 0;
+   out_4648440628852349640[8] = 0;
+   out_4648440628852349640[9] = 0;
+   out_4648440628852349640[10] = 0;
+   out_4648440628852349640[11] = 0;
+   out_4648440628852349640[12] = 0;
+   out_4648440628852349640[13] = 0;
+   out_4648440628852349640[14] = 1;
+   out_4648440628852349640[15] = 0;
+   out_4648440628852349640[16] = 0;
+   out_4648440628852349640[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_1188271489450022901) {
-   out_1188271489450022901[0] = state[4];
+void h_30(double *state, double *unused, double *out_7936213224058710151) {
+   out_7936213224058710151[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_9152098344023969527) {
-   out_9152098344023969527[0] = 0;
-   out_9152098344023969527[1] = 0;
-   out_9152098344023969527[2] = 0;
-   out_9152098344023969527[3] = 0;
-   out_9152098344023969527[4] = 1;
-   out_9152098344023969527[5] = 0;
-   out_9152098344023969527[6] = 0;
-   out_9152098344023969527[7] = 0;
-   out_9152098344023969527[8] = 0;
+void H_30(double *state, double *unused, double *out_7726609712149280620) {
+   out_7726609712149280620[0] = 0;
+   out_7726609712149280620[1] = 0;
+   out_7726609712149280620[2] = 0;
+   out_7726609712149280620[3] = 0;
+   out_7726609712149280620[4] = 1;
+   out_7726609712149280620[5] = 0;
+   out_7726609712149280620[6] = 0;
+   out_7726609712149280620[7] = 0;
+   out_7726609712149280620[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_6530138725336053464) {
-   out_6530138725336053464[0] = state[7];
+void h_26(double *state, double *unused, double *out_1537171706644861005) {
+   out_1537171706644861005[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_8508452718432030115) {
-   out_8508452718432030115[0] = 0;
-   out_8508452718432030115[1] = 0;
-   out_8508452718432030115[2] = 0;
-   out_8508452718432030115[3] = 0;
-   out_8508452718432030115[4] = 0;
-   out_8508452718432030115[5] = 0;
-   out_8508452718432030115[6] = 0;
-   out_8508452718432030115[7] = 1;
-   out_8508452718432030115[8] = 0;
+void H_26(double *state, double *unused, double *out_6940416700895728646) {
+   out_6940416700895728646[0] = 0;
+   out_6940416700895728646[1] = 0;
+   out_6940416700895728646[2] = 0;
+   out_6940416700895728646[3] = 0;
+   out_6940416700895728646[4] = 0;
+   out_6940416700895728646[5] = 0;
+   out_6940416700895728646[6] = 0;
+   out_6940416700895728646[7] = 1;
+   out_6940416700895728646[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_8003961757834969913) {
-   out_8003961757834969913[0] = state[3];
+void h_27(double *state, double *unused, double *out_3232574083573269797) {
+   out_3232574083573269797[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_6977335032223544616) {
-   out_6977335032223544616[0] = 0;
-   out_6977335032223544616[1] = 0;
-   out_6977335032223544616[2] = 0;
-   out_6977335032223544616[3] = 1;
-   out_6977335032223544616[4] = 0;
-   out_6977335032223544616[5] = 0;
-   out_6977335032223544616[6] = 0;
-   out_6977335032223544616[7] = 0;
-   out_6977335032223544616[8] = 0;
+void H_27(double *state, double *unused, double *out_8545371049759846085) {
+   out_8545371049759846085[0] = 0;
+   out_8545371049759846085[1] = 0;
+   out_8545371049759846085[2] = 0;
+   out_8545371049759846085[3] = 1;
+   out_8545371049759846085[4] = 0;
+   out_8545371049759846085[5] = 0;
+   out_8545371049759846085[6] = 0;
+   out_8545371049759846085[7] = 0;
+   out_8545371049759846085[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_1416133831358674750) {
-   out_1416133831358674750[0] = state[1];
+void h_29(double *state, double *unused, double *out_3538261142777081139) {
+   out_3538261142777081139[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_8784414385371189905) {
-   out_8784414385371189905[0] = 0;
-   out_8784414385371189905[1] = 1;
-   out_8784414385371189905[2] = 0;
-   out_8784414385371189905[3] = 0;
-   out_8784414385371189905[4] = 0;
-   out_8784414385371189905[5] = 0;
-   out_8784414385371189905[6] = 0;
-   out_8784414385371189905[7] = 0;
-   out_8784414385371189905[8] = 0;
+void H_29(double *state, double *unused, double *out_7216378367834888436) {
+   out_7216378367834888436[0] = 0;
+   out_7216378367834888436[1] = 1;
+   out_7216378367834888436[2] = 0;
+   out_7216378367834888436[3] = 0;
+   out_7216378367834888436[4] = 0;
+   out_7216378367834888436[5] = 0;
+   out_7216378367834888436[6] = 0;
+   out_7216378367834888436[7] = 0;
+   out_7216378367834888436[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_7400645873158492396) {
-   out_7400645873158492396[0] = state[0];
+void h_28(double *state, double *unused, double *out_2289064230671607362) {
+   out_2289064230671607362[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_6820784113805863654) {
-   out_6820784113805863654[0] = 1;
-   out_6820784113805863654[1] = 0;
-   out_6820784113805863654[2] = 0;
-   out_6820784113805863654[3] = 0;
-   out_6820784113805863654[4] = 0;
-   out_6820784113805863654[5] = 0;
-   out_6820784113805863654[6] = 0;
-   out_6820784113805863654[7] = 0;
-   out_6820784113805863654[8] = 0;
+void H_28(double *state, double *unused, double *out_5252748096269562185) {
+   out_5252748096269562185[0] = 1;
+   out_5252748096269562185[1] = 0;
+   out_5252748096269562185[2] = 0;
+   out_5252748096269562185[3] = 0;
+   out_5252748096269562185[4] = 0;
+   out_5252748096269562185[5] = 0;
+   out_5252748096269562185[6] = 0;
+   out_5252748096269562185[7] = 0;
+   out_5252748096269562185[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_1803659519959713708) {
-   out_1803659519959713708[0] = state[8];
+void h_31(double *state, double *unused, double *out_8054220617992086895) {
+   out_8054220617992086895[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_9134660820665381591) {
-   out_9134660820665381591[0] = 0;
-   out_9134660820665381591[1] = 0;
-   out_9134660820665381591[2] = 0;
-   out_9134660820665381591[3] = 0;
-   out_9134660820665381591[4] = 0;
-   out_9134660820665381591[5] = 0;
-   out_9134660820665381591[6] = 0;
-   out_9134660820665381591[7] = 0;
-   out_9134660820665381591[8] = 1;
+void H_31(double *state, double *unused, double *out_7566624803129080122) {
+   out_7566624803129080122[0] = 0;
+   out_7566624803129080122[1] = 0;
+   out_7566624803129080122[2] = 0;
+   out_7566624803129080122[3] = 0;
+   out_7566624803129080122[4] = 0;
+   out_7566624803129080122[5] = 0;
+   out_7566624803129080122[6] = 0;
+   out_7566624803129080122[7] = 0;
+   out_7566624803129080122[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
  update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
 }
-void car_err_fun(double *nom_x, double *delta_x, double *out_5070392900769873758) {
-  err_fun(nom_x, delta_x, out_5070392900769873758);
+void car_err_fun(double *nom_x, double *delta_x, double *out_2496243277963511837) {
+  err_fun(nom_x, delta_x, out_2496243277963511837);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051) {
-  inv_err_fun(nom_x, true_x, out_3742760733154016051);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8723072931307095264) {
+  inv_err_fun(nom_x, true_x, out_8723072931307095264);
 }
-void car_H_mod_fun(double *state, double *out_5758456641177717920) {
-  H_mod_fun(state, out_5758456641177717920);
+void car_H_mod_fun(double *state, double *out_2432465619939465173) {
+  H_mod_fun(state, out_2432465619939465173);
 }
-void car_f_fun(double *state, double dt, double *out_730595102125265078) {
-  f_fun(state,  dt, out_730595102125265078);
+void car_f_fun(double *state, double dt, double *out_433459712136092591) {
+  f_fun(state,  dt, out_433459712136092591);
 }
-void car_F_fun(double *state, double dt, double *out_7198115545780111359) {
-  F_fun(state,  dt, out_7198115545780111359);
+void car_F_fun(double *state, double dt, double *out_2989085374181927005) {
+  F_fun(state,  dt, out_2989085374181927005);
 }
-void car_h_25(double *state, double *unused, double *out_5441109048213736058) {
-  h_25(state, unused, out_5441109048213736058);
+void car_h_25(double *state, double *unused, double *out_7779026555707581006) {
+  h_25(state, unused, out_7779026555707581006);
 }
-void car_H_25(double *state, double *unused, double *out_4766949399557973891) {
-  H_25(state, unused, out_4766949399557973891);
+void car_H_25(double *state, double *unused, double *out_7597270765006040550) {
+  H_25(state, unused, out_7597270765006040550);
 }
-void car_h_24(double *state, double *unused, double *out_2797667639827089179) {
-  h_24(state, unused, out_2797667639827089179);
+void car_h_24(double *state, double *unused, double *out_1363944844356195076) {
+  h_24(state, unused, out_1363944844356195076);
 }
-void car_H_24(double *state, double *unused, double *out_4461115786511221334) {
-  H_24(state, unused, out_4461115786511221334);
+void car_H_24(double *state, double *unused, double *out_4648440628852349640) {
+  H_24(state, unused, out_4648440628852349640);
 }
-void car_h_30(double *state, double *unused, double *out_1188271489450022901) {
-  h_30(state, unused, out_1188271489450022901);
+void car_h_30(double *state, double *unused, double *out_7936213224058710151) {
+  h_30(state, unused, out_7936213224058710151);
 }
-void car_H_30(double *state, double *unused, double *out_9152098344023969527) {
-  H_30(state, unused, out_9152098344023969527);
+void car_H_30(double *state, double *unused, double *out_7726609712149280620) {
+  H_30(state, unused, out_7726609712149280620);
 }
-void car_h_26(double *state, double *unused, double *out_6530138725336053464) {
-  h_26(state, unused, out_6530138725336053464);
+void car_h_26(double *state, double *unused, double *out_1537171706644861005) {
+  h_26(state, unused, out_1537171706644861005);
 }
-void car_H_26(double *state, double *unused, double *out_8508452718432030115) {
-  H_26(state, unused, out_8508452718432030115);
+void car_H_26(double *state, double *unused, double *out_6940416700895728646) {
+  H_26(state, unused, out_6940416700895728646);
 }
-void car_h_27(double *state, double *unused, double *out_8003961757834969913) {
-  h_27(state, unused, out_8003961757834969913);
+void car_h_27(double *state, double *unused, double *out_3232574083573269797) {
+  h_27(state, unused, out_3232574083573269797);
 }
-void car_H_27(double *state, double *unused, double *out_6977335032223544616) {
-  H_27(state, unused, out_6977335032223544616);
+void car_H_27(double *state, double *unused, double *out_8545371049759846085) {
+  H_27(state, unused, out_8545371049759846085);
 }
-void car_h_29(double *state, double *unused, double *out_1416133831358674750) {
-  h_29(state, unused, out_1416133831358674750);
+void car_h_29(double *state, double *unused, double *out_3538261142777081139) {
+  h_29(state, unused, out_3538261142777081139);
 }
-void car_H_29(double *state, double *unused, double *out_8784414385371189905) {
-  H_29(state, unused, out_8784414385371189905);
+void car_H_29(double *state, double *unused, double *out_7216378367834888436) {
+  H_29(state, unused, out_7216378367834888436);
 }
-void car_h_28(double *state, double *unused, double *out_7400645873158492396) {
-  h_28(state, unused, out_7400645873158492396);
+void car_h_28(double *state, double *unused, double *out_2289064230671607362) {
+  h_28(state, unused, out_2289064230671607362);
 }
-void car_H_28(double *state, double *unused, double *out_6820784113805863654) {
-  H_28(state, unused, out_6820784113805863654);
+void car_H_28(double *state, double *unused, double *out_5252748096269562185) {
+  H_28(state, unused, out_5252748096269562185);
 }
-void car_h_31(double *state, double *unused, double *out_1803659519959713708) {
-  h_31(state, unused, out_1803659519959713708);
+void car_h_31(double *state, double *unused, double *out_8054220617992086895) {
+  h_31(state, unused, out_8054220617992086895);
 }
-void car_H_31(double *state, double *unused, double *out_9134660820665381591) {
-  H_31(state, unused, out_9134660820665381591);
+void car_H_31(double *state, double *unused, double *out_7566624803129080122) {
+  H_31(state, unused, out_7566624803129080122);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
@@ -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_5070392900769873758);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3742760733154016051);
-void car_H_mod_fun(double *state, double *out_5758456641177717920);
-void car_f_fun(double *state, double dt, double *out_730595102125265078);
-void car_F_fun(double *state, double dt, double *out_7198115545780111359);
-void car_h_25(double *state, double *unused, double *out_5441109048213736058);
-void car_H_25(double *state, double *unused, double *out_4766949399557973891);
-void car_h_24(double *state, double *unused, double *out_2797667639827089179);
-void car_H_24(double *state, double *unused, double *out_4461115786511221334);
-void car_h_30(double *state, double *unused, double *out_1188271489450022901);
-void car_H_30(double *state, double *unused, double *out_9152098344023969527);
-void car_h_26(double *state, double *unused, double *out_6530138725336053464);
-void car_H_26(double *state, double *unused, double *out_8508452718432030115);
-void car_h_27(double *state, double *unused, double *out_8003961757834969913);
-void car_H_27(double *state, double *unused, double *out_6977335032223544616);
-void car_h_29(double *state, double *unused, double *out_1416133831358674750);
-void car_H_29(double *state, double *unused, double *out_8784414385371189905);
-void car_h_28(double *state, double *unused, double *out_7400645873158492396);
-void car_H_28(double *state, double *unused, double *out_6820784113805863654);
-void car_h_31(double *state, double *unused, double *out_1803659519959713708);
-void car_H_31(double *state, double *unused, double *out_9134660820665381591);
+void car_err_fun(double *nom_x, double *delta_x, double *out_2496243277963511837);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_8723072931307095264);
+void car_H_mod_fun(double *state, double *out_2432465619939465173);
+void car_f_fun(double *state, double dt, double *out_433459712136092591);
+void car_F_fun(double *state, double dt, double *out_2989085374181927005);
+void car_h_25(double *state, double *unused, double *out_7779026555707581006);
+void car_H_25(double *state, double *unused, double *out_7597270765006040550);
+void car_h_24(double *state, double *unused, double *out_1363944844356195076);
+void car_H_24(double *state, double *unused, double *out_4648440628852349640);
+void car_h_30(double *state, double *unused, double *out_7936213224058710151);
+void car_H_30(double *state, double *unused, double *out_7726609712149280620);
+void car_h_26(double *state, double *unused, double *out_1537171706644861005);
+void car_H_26(double *state, double *unused, double *out_6940416700895728646);
+void car_h_27(double *state, double *unused, double *out_3232574083573269797);
+void car_H_27(double *state, double *unused, double *out_8545371049759846085);
+void car_h_29(double *state, double *unused, double *out_3538261142777081139);
+void car_H_29(double *state, double *unused, double *out_7216378367834888436);
+void car_h_28(double *state, double *unused, double *out_2289064230671607362);
+void car_H_28(double *state, double *unused, double *out_5252748096269562185);
+void car_h_31(double *state, double *unused, double *out_8054220617992086895);
+void car_H_31(double *state, double *unused, double *out_7566624803129080122);
 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);
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_8299703332077589328);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4608058237383429265);
-void pose_H_mod_fun(double *state, double *out_7885453398379249088);
-void pose_f_fun(double *state, double dt, double *out_1688144950946873165);
-void pose_F_fun(double *state, double dt, double *out_4851283621730691038);
-void pose_h_4(double *state, double *unused, double *out_2329133011647763937);
-void pose_H_4(double *state, double *unused, double *out_8639614400433961695);
-void pose_h_10(double *state, double *unused, double *out_3294648635274985008);
-void pose_H_10(double *state, double *unused, double *out_3780608178453222524);
-void pose_h_13(double *state, double *unused, double *out_8905113933939181200);
-void pose_H_13(double *state, double *unused, double *out_6594855847943257120);
-void pose_h_14(double *state, double *unused, double *out_8324071568749841126);
-void pose_H_14(double *state, double *unused, double *out_5843888816936105392);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_7117000844039973656);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5738271447995775317);
+void pose_H_mod_fun(double *state, double *out_4131332949940298666);
+void pose_f_fun(double *state, double dt, double *out_6388120990768684370);
+void pose_F_fun(double *state, double dt, double *out_7678082896540462195);
+void pose_h_4(double *state, double *unused, double *out_285865806461862263);
+void pose_H_4(double *state, double *unused, double *out_2311634224034001805);
+void pose_h_10(double *state, double *unused, double *out_3345721551474225191);
+void pose_H_10(double *state, double *unused, double *out_7600016663620136720);
+void pose_h_13(double *state, double *unused, double *out_3239845409590022619);
+void pose_H_13(double *state, double *unused, double *out_5523908049366334606);
+void pose_h_14(double *state, double *unused, double *out_8238467406184066972);
+void pose_H_14(double *state, double *unused, double *out_6274875080373486334);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.09.28-4914"
+#define SUNNYPILOT_VERSION "2026.003.000"
@@ -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_5926322025614992030);
-void live_err_fun(double *nom_x, double *delta_x, double *out_5043251176595415602);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_3360739843129809304);
-void live_H_mod_fun(double *state, double *out_8279386211598339514);
-void live_f_fun(double *state, double dt, double *out_6890687714462639744);
-void live_F_fun(double *state, double dt, double *out_7621965816561569981);
-void live_h_4(double *state, double *unused, double *out_3851734767229128263);
-void live_H_4(double *state, double *unused, double *out_5878769767090540838);
-void live_h_9(double *state, double *unused, double *out_2694197172040937469);
-void live_H_9(double *state, double *unused, double *out_1408449168173906632);
-void live_h_10(double *state, double *unused, double *out_7033125878671447195);
-void live_H_10(double *state, double *unused, double *out_65675330875969869);
-void live_h_12(double *state, double *unused, double *out_8799002316774637565);
-void live_H_12(double *state, double *unused, double *out_6186715929576277782);
-void live_h_35(double *state, double *unused, double *out_2868906334315872882);
-void live_H_35(double *state, double *unused, double *out_8932278961901291491);
-void live_h_32(double *state, double *unused, double *out_9199462926327450350);
-void live_H_32(double *state, double *unused, double *out_6730806947389842532);
-void live_h_13(double *state, double *unused, double *out_3826583407417889778);
-void live_H_13(double *state, double *unused, double *out_3672088104010170074);
-void live_h_14(double *state, double *unused, double *out_2694197172040937469);
-void live_H_14(double *state, double *unused, double *out_1408449168173906632);
-void live_h_33(double *state, double *unused, double *out_6802426037572342548);
-void live_H_33(double *state, double *unused, double *out_7684478583555780967);
+void live_H(double *in_vec, double *out_5452829107469162780);
+void live_err_fun(double *nom_x, double *delta_x, double *out_3220790007633989495);
+void live_inv_err_fun(double *nom_x, double *true_x, double *out_4938944413096769859);
+void live_H_mod_fun(double *state, double *out_3163350226954137755);
+void live_f_fun(double *state, double dt, double *out_906380554342107344);
+void live_F_fun(double *state, double dt, double *out_8771576855209840709);
+void live_h_4(double *state, double *unused, double *out_5673006619389236486);
+void live_H_4(double *state, double *unused, double *out_1461864924616712124);
+void live_h_9(double *state, double *unused, double *out_2928313839239557547);
+void live_H_9(double *state, double *unused, double *out_5825354010647735346);
+void live_h_10(double *state, double *unused, double *out_4937947399891705567);
+void live_H_10(double *state, double *unused, double *out_6853151491969528711);
+void live_h_12(double *state, double *unused, double *out_8953356214902748655);
+void live_H_12(double *state, double *unused, double *out_3557591483415249671);
+void live_h_35(double *state, double *unused, double *out_2130568491963600512);
+void live_H_35(double *state, double *unused, double *out_6303154515740263380);
+void live_h_32(double *state, double *unused, double *out_1026443349713726609);
+void live_H_32(double *state, double *unused, double *out_6342285185761675678);
+void live_h_13(double *state, double *unused, double *out_5536550817418961602);
+void live_H_13(double *state, double *unused, double *out_1205943401545293765);
+void live_h_14(double *state, double *unused, double *out_2928313839239557547);
+void live_H_14(double *state, double *unused, double *out_5825354010647735346);
+void live_h_33(double *state, double *unused, double *out_4511517793756921927);
+void live_H_33(double *state, double *unused, double *out_8993032553330430632);
 void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
@@ -25845,7 +25845,7 @@ __Pyx_RefNannySetupContext("PyInit_ekf_sym_pyx", 0);
  (void)__Pyx_modinit_variable_import_code(__pyx_mstate);
  (void)__Pyx_modinit_function_import_code(__pyx_mstate);
  /*--- Execution code ---*/
-  __Pyx_TraceStartFunc("PyInit_ekf_sym_pyx", __pyx_f[0], 1, 1, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error));
+  __Pyx_TraceStartFunc("PyInit_ekf_sym_pyx", __pyx_f[0], 1, 0, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error));

  /* "View.MemoryView":108
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@@ -26644,7 +26644,7 @@ __Pyx_RefNannySetupContext("PyInit_ekf_sym_pyx", 0);
  __Pyx_GOTREF(__pyx_t_4);
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  __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0;
-  __Pyx_TraceReturnValue(Py_None, 1, 0, __PYX_ERR(0, 1, __pyx_L1_error));
+  __Pyx_TraceReturnValue(Py_None, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error));
  __Pyx_PyMonitoring_ExitScope(0);

  /*--- Wrapped vars code ---*/
@@ -26654,7 +26654,7 @@ __Pyx_RefNannySetupContext("PyInit_ekf_sym_pyx", 0);
  __Pyx_XDECREF(__pyx_t_4);
  __Pyx_XDECREF(__pyx_t_5);
  __Pyx_TraceException(__pyx_lineno, 0, 0);
-  __Pyx_TraceExceptionUnwind(1, 0);
+  __Pyx_TraceExceptionUnwind(0, 0);
  if (__pyx_m) {
    if (__pyx_mstate->__pyx_d && stringtab_initialized) {
      __Pyx_AddTraceback("init rednose.helpers.ekf_sym_pyx", __pyx_clineno, __pyx_lineno, __pyx_filename);