sunnypilot v2026.09.05-4855

version: sunnypilot v2026.003.000 (dev)
date: 2026-09-05T02:59:36
master commit: 7eb457f6c4

.github/CODEOWNERS

@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve

openpilot/selfdrive/locationd/models/generated/car.cpp

@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507) {
-   out_5744499419236567507[0] = delta_x[0] + nom_x[0];
-   out_5744499419236567507[1] = delta_x[1] + nom_x[1];
-   out_5744499419236567507[2] = delta_x[2] + nom_x[2];
-   out_5744499419236567507[3] = delta_x[3] + nom_x[3];
-   out_5744499419236567507[4] = delta_x[4] + nom_x[4];
-   out_5744499419236567507[5] = delta_x[5] + nom_x[5];
-   out_5744499419236567507[6] = delta_x[6] + nom_x[6];
-   out_5744499419236567507[7] = delta_x[7] + nom_x[7];
-   out_5744499419236567507[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_205475353292099530) {
+   out_205475353292099530[0] = delta_x[0] + nom_x[0];
+   out_205475353292099530[1] = delta_x[1] + nom_x[1];
+   out_205475353292099530[2] = delta_x[2] + nom_x[2];
+   out_205475353292099530[3] = delta_x[3] + nom_x[3];
+   out_205475353292099530[4] = delta_x[4] + nom_x[4];
+   out_205475353292099530[5] = delta_x[5] + nom_x[5];
+   out_205475353292099530[6] = delta_x[6] + nom_x[6];
+   out_205475353292099530[7] = delta_x[7] + nom_x[7];
+   out_205475353292099530[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
-   out_1184805137205037163[0] = -nom_x[0] + true_x[0];
-   out_1184805137205037163[1] = -nom_x[1] + true_x[1];
-   out_1184805137205037163[2] = -nom_x[2] + true_x[2];
-   out_1184805137205037163[3] = -nom_x[3] + true_x[3];
-   out_1184805137205037163[4] = -nom_x[4] + true_x[4];
-   out_1184805137205037163[5] = -nom_x[5] + true_x[5];
-   out_1184805137205037163[6] = -nom_x[6] + true_x[6];
-   out_1184805137205037163[7] = -nom_x[7] + true_x[7];
-   out_1184805137205037163[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_6859088956493527341) {
+   out_6859088956493527341[0] = -nom_x[0] + true_x[0];
+   out_6859088956493527341[1] = -nom_x[1] + true_x[1];
+   out_6859088956493527341[2] = -nom_x[2] + true_x[2];
+   out_6859088956493527341[3] = -nom_x[3] + true_x[3];
+   out_6859088956493527341[4] = -nom_x[4] + true_x[4];
+   out_6859088956493527341[5] = -nom_x[5] + true_x[5];
+   out_6859088956493527341[6] = -nom_x[6] + true_x[6];
+   out_6859088956493527341[7] = -nom_x[7] + true_x[7];
+   out_6859088956493527341[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_2752971634021862652) {
-   out_2752971634021862652[0] = 1.0;
-   out_2752971634021862652[1] = 0.0;
-   out_2752971634021862652[2] = 0.0;
-   out_2752971634021862652[3] = 0.0;
-   out_2752971634021862652[4] = 0.0;
-   out_2752971634021862652[5] = 0.0;
-   out_2752971634021862652[6] = 0.0;
-   out_2752971634021862652[7] = 0.0;
-   out_2752971634021862652[8] = 0.0;
-   out_2752971634021862652[9] = 0.0;
-   out_2752971634021862652[10] = 1.0;
-   out_2752971634021862652[11] = 0.0;
-   out_2752971634021862652[12] = 0.0;
-   out_2752971634021862652[13] = 0.0;
-   out_2752971634021862652[14] = 0.0;
-   out_2752971634021862652[15] = 0.0;
-   out_2752971634021862652[16] = 0.0;
-   out_2752971634021862652[17] = 0.0;
-   out_2752971634021862652[18] = 0.0;
-   out_2752971634021862652[19] = 0.0;
-   out_2752971634021862652[20] = 1.0;
-   out_2752971634021862652[21] = 0.0;
-   out_2752971634021862652[22] = 0.0;
-   out_2752971634021862652[23] = 0.0;
-   out_2752971634021862652[24] = 0.0;
-   out_2752971634021862652[25] = 0.0;
-   out_2752971634021862652[26] = 0.0;
-   out_2752971634021862652[27] = 0.0;
-   out_2752971634021862652[28] = 0.0;
-   out_2752971634021862652[29] = 0.0;
-   out_2752971634021862652[30] = 1.0;
-   out_2752971634021862652[31] = 0.0;
-   out_2752971634021862652[32] = 0.0;
-   out_2752971634021862652[33] = 0.0;
-   out_2752971634021862652[34] = 0.0;
-   out_2752971634021862652[35] = 0.0;
-   out_2752971634021862652[36] = 0.0;
-   out_2752971634021862652[37] = 0.0;
-   out_2752971634021862652[38] = 0.0;
-   out_2752971634021862652[39] = 0.0;
-   out_2752971634021862652[40] = 1.0;
-   out_2752971634021862652[41] = 0.0;
-   out_2752971634021862652[42] = 0.0;
-   out_2752971634021862652[43] = 0.0;
-   out_2752971634021862652[44] = 0.0;
-   out_2752971634021862652[45] = 0.0;
-   out_2752971634021862652[46] = 0.0;
-   out_2752971634021862652[47] = 0.0;
-   out_2752971634021862652[48] = 0.0;
-   out_2752971634021862652[49] = 0.0;
-   out_2752971634021862652[50] = 1.0;
-   out_2752971634021862652[51] = 0.0;
-   out_2752971634021862652[52] = 0.0;
-   out_2752971634021862652[53] = 0.0;
-   out_2752971634021862652[54] = 0.0;
-   out_2752971634021862652[55] = 0.0;
-   out_2752971634021862652[56] = 0.0;
-   out_2752971634021862652[57] = 0.0;
-   out_2752971634021862652[58] = 0.0;
-   out_2752971634021862652[59] = 0.0;
-   out_2752971634021862652[60] = 1.0;
-   out_2752971634021862652[61] = 0.0;
-   out_2752971634021862652[62] = 0.0;
-   out_2752971634021862652[63] = 0.0;
-   out_2752971634021862652[64] = 0.0;
-   out_2752971634021862652[65] = 0.0;
-   out_2752971634021862652[66] = 0.0;
-   out_2752971634021862652[67] = 0.0;
-   out_2752971634021862652[68] = 0.0;
-   out_2752971634021862652[69] = 0.0;
-   out_2752971634021862652[70] = 1.0;
-   out_2752971634021862652[71] = 0.0;
-   out_2752971634021862652[72] = 0.0;
-   out_2752971634021862652[73] = 0.0;
-   out_2752971634021862652[74] = 0.0;
-   out_2752971634021862652[75] = 0.0;
-   out_2752971634021862652[76] = 0.0;
-   out_2752971634021862652[77] = 0.0;
-   out_2752971634021862652[78] = 0.0;
-   out_2752971634021862652[79] = 0.0;
-   out_2752971634021862652[80] = 1.0;
+void H_mod_fun(double *state, double *out_8201686483145055601) {
+   out_8201686483145055601[0] = 1.0;
+   out_8201686483145055601[1] = 0.0;
+   out_8201686483145055601[2] = 0.0;
+   out_8201686483145055601[3] = 0.0;
+   out_8201686483145055601[4] = 0.0;
+   out_8201686483145055601[5] = 0.0;
+   out_8201686483145055601[6] = 0.0;
+   out_8201686483145055601[7] = 0.0;
+   out_8201686483145055601[8] = 0.0;
+   out_8201686483145055601[9] = 0.0;
+   out_8201686483145055601[10] = 1.0;
+   out_8201686483145055601[11] = 0.0;
+   out_8201686483145055601[12] = 0.0;
+   out_8201686483145055601[13] = 0.0;
+   out_8201686483145055601[14] = 0.0;
+   out_8201686483145055601[15] = 0.0;
+   out_8201686483145055601[16] = 0.0;
+   out_8201686483145055601[17] = 0.0;
+   out_8201686483145055601[18] = 0.0;
+   out_8201686483145055601[19] = 0.0;
+   out_8201686483145055601[20] = 1.0;
+   out_8201686483145055601[21] = 0.0;
+   out_8201686483145055601[22] = 0.0;
+   out_8201686483145055601[23] = 0.0;
+   out_8201686483145055601[24] = 0.0;
+   out_8201686483145055601[25] = 0.0;
+   out_8201686483145055601[26] = 0.0;
+   out_8201686483145055601[27] = 0.0;
+   out_8201686483145055601[28] = 0.0;
+   out_8201686483145055601[29] = 0.0;
+   out_8201686483145055601[30] = 1.0;
+   out_8201686483145055601[31] = 0.0;
+   out_8201686483145055601[32] = 0.0;
+   out_8201686483145055601[33] = 0.0;
+   out_8201686483145055601[34] = 0.0;
+   out_8201686483145055601[35] = 0.0;
+   out_8201686483145055601[36] = 0.0;
+   out_8201686483145055601[37] = 0.0;
+   out_8201686483145055601[38] = 0.0;
+   out_8201686483145055601[39] = 0.0;
+   out_8201686483145055601[40] = 1.0;
+   out_8201686483145055601[41] = 0.0;
+   out_8201686483145055601[42] = 0.0;
+   out_8201686483145055601[43] = 0.0;
+   out_8201686483145055601[44] = 0.0;
+   out_8201686483145055601[45] = 0.0;
+   out_8201686483145055601[46] = 0.0;
+   out_8201686483145055601[47] = 0.0;
+   out_8201686483145055601[48] = 0.0;
+   out_8201686483145055601[49] = 0.0;
+   out_8201686483145055601[50] = 1.0;
+   out_8201686483145055601[51] = 0.0;
+   out_8201686483145055601[52] = 0.0;
+   out_8201686483145055601[53] = 0.0;
+   out_8201686483145055601[54] = 0.0;
+   out_8201686483145055601[55] = 0.0;
+   out_8201686483145055601[56] = 0.0;
+   out_8201686483145055601[57] = 0.0;
+   out_8201686483145055601[58] = 0.0;
+   out_8201686483145055601[59] = 0.0;
+   out_8201686483145055601[60] = 1.0;
+   out_8201686483145055601[61] = 0.0;
+   out_8201686483145055601[62] = 0.0;
+   out_8201686483145055601[63] = 0.0;
+   out_8201686483145055601[64] = 0.0;
+   out_8201686483145055601[65] = 0.0;
+   out_8201686483145055601[66] = 0.0;
+   out_8201686483145055601[67] = 0.0;
+   out_8201686483145055601[68] = 0.0;
+   out_8201686483145055601[69] = 0.0;
+   out_8201686483145055601[70] = 1.0;
+   out_8201686483145055601[71] = 0.0;
+   out_8201686483145055601[72] = 0.0;
+   out_8201686483145055601[73] = 0.0;
+   out_8201686483145055601[74] = 0.0;
+   out_8201686483145055601[75] = 0.0;
+   out_8201686483145055601[76] = 0.0;
+   out_8201686483145055601[77] = 0.0;
+   out_8201686483145055601[78] = 0.0;
+   out_8201686483145055601[79] = 0.0;
+   out_8201686483145055601[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_7658700760911629364) {
-   out_7658700760911629364[0] = state[0];
-   out_7658700760911629364[1] = state[1];
-   out_7658700760911629364[2] = state[2];
-   out_7658700760911629364[3] = state[3];
-   out_7658700760911629364[4] = state[4];
-   out_7658700760911629364[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_7658700760911629364[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_7658700760911629364[7] = state[7];
-   out_7658700760911629364[8] = state[8];
+void f_fun(double *state, double dt, double *out_2204957494938772746) {
+   out_2204957494938772746[0] = state[0];
+   out_2204957494938772746[1] = state[1];
+   out_2204957494938772746[2] = state[2];
+   out_2204957494938772746[3] = state[3];
+   out_2204957494938772746[4] = state[4];
+   out_2204957494938772746[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_2204957494938772746[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_2204957494938772746[7] = state[7];
+   out_2204957494938772746[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_6351856658156694456) {
-   out_6351856658156694456[0] = 1;
-   out_6351856658156694456[1] = 0;
-   out_6351856658156694456[2] = 0;
-   out_6351856658156694456[3] = 0;
-   out_6351856658156694456[4] = 0;
-   out_6351856658156694456[5] = 0;
-   out_6351856658156694456[6] = 0;
-   out_6351856658156694456[7] = 0;
-   out_6351856658156694456[8] = 0;
-   out_6351856658156694456[9] = 0;
-   out_6351856658156694456[10] = 1;
-   out_6351856658156694456[11] = 0;
-   out_6351856658156694456[12] = 0;
-   out_6351856658156694456[13] = 0;
-   out_6351856658156694456[14] = 0;
-   out_6351856658156694456[15] = 0;
-   out_6351856658156694456[16] = 0;
-   out_6351856658156694456[17] = 0;
-   out_6351856658156694456[18] = 0;
-   out_6351856658156694456[19] = 0;
-   out_6351856658156694456[20] = 1;
-   out_6351856658156694456[21] = 0;
-   out_6351856658156694456[22] = 0;
-   out_6351856658156694456[23] = 0;
-   out_6351856658156694456[24] = 0;
-   out_6351856658156694456[25] = 0;
-   out_6351856658156694456[26] = 0;
-   out_6351856658156694456[27] = 0;
-   out_6351856658156694456[28] = 0;
-   out_6351856658156694456[29] = 0;
-   out_6351856658156694456[30] = 1;
-   out_6351856658156694456[31] = 0;
-   out_6351856658156694456[32] = 0;
-   out_6351856658156694456[33] = 0;
-   out_6351856658156694456[34] = 0;
-   out_6351856658156694456[35] = 0;
-   out_6351856658156694456[36] = 0;
-   out_6351856658156694456[37] = 0;
-   out_6351856658156694456[38] = 0;
-   out_6351856658156694456[39] = 0;
-   out_6351856658156694456[40] = 1;
-   out_6351856658156694456[41] = 0;
-   out_6351856658156694456[42] = 0;
-   out_6351856658156694456[43] = 0;
-   out_6351856658156694456[44] = 0;
-   out_6351856658156694456[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_6351856658156694456[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_6351856658156694456[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6351856658156694456[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6351856658156694456[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_6351856658156694456[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_6351856658156694456[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_6351856658156694456[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_6351856658156694456[53] = -9.8100000000000005*dt;
-   out_6351856658156694456[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_6351856658156694456[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_6351856658156694456[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6351856658156694456[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6351856658156694456[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_6351856658156694456[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_6351856658156694456[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_6351856658156694456[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_6351856658156694456[62] = 0;
-   out_6351856658156694456[63] = 0;
-   out_6351856658156694456[64] = 0;
-   out_6351856658156694456[65] = 0;
-   out_6351856658156694456[66] = 0;
-   out_6351856658156694456[67] = 0;
-   out_6351856658156694456[68] = 0;
-   out_6351856658156694456[69] = 0;
-   out_6351856658156694456[70] = 1;
-   out_6351856658156694456[71] = 0;
-   out_6351856658156694456[72] = 0;
-   out_6351856658156694456[73] = 0;
-   out_6351856658156694456[74] = 0;
-   out_6351856658156694456[75] = 0;
-   out_6351856658156694456[76] = 0;
-   out_6351856658156694456[77] = 0;
-   out_6351856658156694456[78] = 0;
-   out_6351856658156694456[79] = 0;
-   out_6351856658156694456[80] = 1;
+void F_fun(double *state, double dt, double *out_2327939745960551937) {
+   out_2327939745960551937[0] = 1;
+   out_2327939745960551937[1] = 0;
+   out_2327939745960551937[2] = 0;
+   out_2327939745960551937[3] = 0;
+   out_2327939745960551937[4] = 0;
+   out_2327939745960551937[5] = 0;
+   out_2327939745960551937[6] = 0;
+   out_2327939745960551937[7] = 0;
+   out_2327939745960551937[8] = 0;
+   out_2327939745960551937[9] = 0;
+   out_2327939745960551937[10] = 1;
+   out_2327939745960551937[11] = 0;
+   out_2327939745960551937[12] = 0;
+   out_2327939745960551937[13] = 0;
+   out_2327939745960551937[14] = 0;
+   out_2327939745960551937[15] = 0;
+   out_2327939745960551937[16] = 0;
+   out_2327939745960551937[17] = 0;
+   out_2327939745960551937[18] = 0;
+   out_2327939745960551937[19] = 0;
+   out_2327939745960551937[20] = 1;
+   out_2327939745960551937[21] = 0;
+   out_2327939745960551937[22] = 0;
+   out_2327939745960551937[23] = 0;
+   out_2327939745960551937[24] = 0;
+   out_2327939745960551937[25] = 0;
+   out_2327939745960551937[26] = 0;
+   out_2327939745960551937[27] = 0;
+   out_2327939745960551937[28] = 0;
+   out_2327939745960551937[29] = 0;
+   out_2327939745960551937[30] = 1;
+   out_2327939745960551937[31] = 0;
+   out_2327939745960551937[32] = 0;
+   out_2327939745960551937[33] = 0;
+   out_2327939745960551937[34] = 0;
+   out_2327939745960551937[35] = 0;
+   out_2327939745960551937[36] = 0;
+   out_2327939745960551937[37] = 0;
+   out_2327939745960551937[38] = 0;
+   out_2327939745960551937[39] = 0;
+   out_2327939745960551937[40] = 1;
+   out_2327939745960551937[41] = 0;
+   out_2327939745960551937[42] = 0;
+   out_2327939745960551937[43] = 0;
+   out_2327939745960551937[44] = 0;
+   out_2327939745960551937[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_2327939745960551937[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_2327939745960551937[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2327939745960551937[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2327939745960551937[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_2327939745960551937[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_2327939745960551937[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_2327939745960551937[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_2327939745960551937[53] = -9.8100000000000005*dt;
+   out_2327939745960551937[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_2327939745960551937[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_2327939745960551937[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2327939745960551937[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2327939745960551937[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_2327939745960551937[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_2327939745960551937[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_2327939745960551937[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_2327939745960551937[62] = 0;
+   out_2327939745960551937[63] = 0;
+   out_2327939745960551937[64] = 0;
+   out_2327939745960551937[65] = 0;
+   out_2327939745960551937[66] = 0;
+   out_2327939745960551937[67] = 0;
+   out_2327939745960551937[68] = 0;
+   out_2327939745960551937[69] = 0;
+   out_2327939745960551937[70] = 1;
+   out_2327939745960551937[71] = 0;
+   out_2327939745960551937[72] = 0;
+   out_2327939745960551937[73] = 0;
+   out_2327939745960551937[74] = 0;
+   out_2327939745960551937[75] = 0;
+   out_2327939745960551937[76] = 0;
+   out_2327939745960551937[77] = 0;
+   out_2327939745960551937[78] = 0;
+   out_2327939745960551937[79] = 0;
+   out_2327939745960551937[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_2115125997200973707) {
-   out_2115125997200973707[0] = state[6];
+void h_25(double *state, double *unused, double *out_8734450240234959528) {
+   out_8734450240234959528[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_6275952284011354329) {
-   out_6275952284011354329[0] = 0;
-   out_6275952284011354329[1] = 0;
-   out_6275952284011354329[2] = 0;
-   out_6275952284011354329[3] = 0;
-   out_6275952284011354329[4] = 0;
-   out_6275952284011354329[5] = 0;
-   out_6275952284011354329[6] = 1;
-   out_6275952284011354329[7] = 0;
-   out_6275952284011354329[8] = 0;
+void H_25(double *state, double *unused, double *out_6133161197384342845) {
+   out_6133161197384342845[0] = 0;
+   out_6133161197384342845[1] = 0;
+   out_6133161197384342845[2] = 0;
+   out_6133161197384342845[3] = 0;
+   out_6133161197384342845[4] = 0;
+   out_6133161197384342845[5] = 0;
+   out_6133161197384342845[6] = 1;
+   out_6133161197384342845[7] = 0;
+   out_6133161197384342845[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_7937179482135297626) {
-   out_7937179482135297626[0] = state[4];
-   out_7937179482135297626[1] = state[5];
+void h_24(double *state, double *unused, double *out_8806581475742121932) {
+   out_8806581475742121932[0] = state[4];
+   out_8806581475742121932[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_8612866190895874151) {
-   out_8612866190895874151[0] = 0;
-   out_8612866190895874151[1] = 0;
-   out_8612866190895874151[2] = 0;
-   out_8612866190895874151[3] = 0;
-   out_8612866190895874151[4] = 1;
-   out_8612866190895874151[5] = 0;
-   out_8612866190895874151[6] = 0;
-   out_8612866190895874151[7] = 0;
-   out_8612866190895874151[8] = 0;
-   out_8612866190895874151[9] = 0;
-   out_8612866190895874151[10] = 0;
-   out_8612866190895874151[11] = 0;
-   out_8612866190895874151[12] = 0;
-   out_8612866190895874151[13] = 0;
-   out_8612866190895874151[14] = 1;
-   out_8612866190895874151[15] = 0;
-   out_8612866190895874151[16] = 0;
-   out_8612866190895874151[17] = 0;
+void H_24(double *state, double *unused, double *out_5738011069733690670) {
+   out_5738011069733690670[0] = 0;
+   out_5738011069733690670[1] = 0;
+   out_5738011069733690670[2] = 0;
+   out_5738011069733690670[3] = 0;
+   out_5738011069733690670[4] = 1;
+   out_5738011069733690670[5] = 0;
+   out_5738011069733690670[6] = 0;
+   out_5738011069733690670[7] = 0;
+   out_5738011069733690670[8] = 0;
+   out_5738011069733690670[9] = 0;
+   out_5738011069733690670[10] = 0;
+   out_5738011069733690670[11] = 0;
+   out_5738011069733690670[12] = 0;
+   out_5738011069733690670[13] = 0;
+   out_5738011069733690670[14] = 1;
+   out_5738011069733690670[15] = 0;
+   out_5738011069733690670[16] = 0;
+   out_5738011069733690670[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_8646825364085210282) {
-   out_8646825364085210282[0] = state[4];
+void h_30(double *state, double *unused, double *out_971184983414287087) {
+   out_971184983414287087[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_6146613336868114259) {
-   out_6146613336868114259[0] = 0;
-   out_6146613336868114259[1] = 0;
-   out_6146613336868114259[2] = 0;
-   out_6146613336868114259[3] = 0;
-   out_6146613336868114259[4] = 1;
-   out_6146613336868114259[5] = 0;
-   out_6146613336868114259[6] = 0;
-   out_6146613336868114259[7] = 0;
-   out_6146613336868114259[8] = 0;
+void H_30(double *state, double *unused, double *out_5396892534833592016) {
+   out_5396892534833592016[0] = 0;
+   out_5396892534833592016[1] = 0;
+   out_5396892534833592016[2] = 0;
+   out_5396892534833592016[3] = 0;
+   out_5396892534833592016[4] = 1;
+   out_5396892534833592016[5] = 0;
+   out_5396892534833592016[6] = 0;
+   out_5396892534833592016[7] = 0;
+   out_5396892534833592016[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_7195513388815643683) {
-   out_7195513388815643683[0] = state[7];
+void h_26(double *state, double *unused, double *out_1416855028350640224) {
+   out_1416855028350640224[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_2534448965137298105) {
-   out_2534448965137298105[0] = 0;
-   out_2534448965137298105[1] = 0;
-   out_2534448965137298105[2] = 0;
-   out_2534448965137298105[3] = 0;
-   out_2534448965137298105[4] = 0;
-   out_2534448965137298105[5] = 0;
-   out_2534448965137298105[6] = 0;
-   out_2534448965137298105[7] = 1;
-   out_2534448965137298105[8] = 0;
+void H_26(double *state, double *unused, double *out_2391657878510286621) {
+   out_2391657878510286621[0] = 0;
+   out_2391657878510286621[1] = 0;
+   out_2391657878510286621[2] = 0;
+   out_2391657878510286621[3] = 0;
+   out_2391657878510286621[4] = 0;
+   out_2391657878510286621[5] = 0;
+   out_2391657878510286621[6] = 0;
+   out_2391657878510286621[7] = 1;
+   out_2391657878510286621[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3029764065914673830) {
-   out_3029764065914673830[0] = state[3];
+void h_27(double *state, double *unused, double *out_5511166866350839857) {
+   out_5511166866350839857[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_3971850025067689348) {
-   out_3971850025067689348[0] = 0;
-   out_3971850025067689348[1] = 0;
-   out_3971850025067689348[2] = 0;
-   out_3971850025067689348[3] = 1;
-   out_3971850025067689348[4] = 0;
-   out_3971850025067689348[5] = 0;
-   out_3971850025067689348[6] = 0;
-   out_3971850025067689348[7] = 0;
-   out_3971850025067689348[8] = 0;
+void H_27(double *state, double *unused, double *out_7571655846634016927) {
+   out_7571655846634016927[0] = 0;
+   out_7571655846634016927[1] = 0;
+   out_7571655846634016927[2] = 0;
+   out_7571655846634016927[3] = 1;
+   out_7571655846634016927[4] = 0;
+   out_7571655846634016927[5] = 0;
+   out_7571655846634016927[6] = 0;
+   out_7571655846634016927[7] = 0;
+   out_7571655846634016927[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_4733501190905998611) {
-   out_4733501190905998611[0] = state[1];
+void h_29(double *state, double *unused, double *out_5235972804066333968) {
+   out_5235972804066333968[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_6656844681182506443) {
-   out_6656844681182506443[0] = 0;
-   out_6656844681182506443[1] = 1;
-   out_6656844681182506443[2] = 0;
-   out_6656844681182506443[3] = 0;
-   out_6656844681182506443[4] = 0;
-   out_6656844681182506443[5] = 0;
-   out_6656844681182506443[6] = 0;
-   out_6656844681182506443[7] = 0;
-   out_6656844681182506443[8] = 0;
+void H_29(double *state, double *unused, double *out_9161725500205983656) {
+   out_9161725500205983656[0] = 0;
+   out_9161725500205983656[1] = 1;
+   out_9161725500205983656[2] = 0;
+   out_9161725500205983656[3] = 0;
+   out_9161725500205983656[4] = 0;
+   out_9161725500205983656[5] = 0;
+   out_9161725500205983656[6] = 0;
+   out_9161725500205983656[7] = 0;
+   out_9161725500205983656[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_6095421901546968827) {
-   out_6095421901546968827[0] = state[0];
+void h_28(double *state, double *unused, double *out_7891338238985058206) {
+   out_7891338238985058206[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_2823911718871392259) {
-   out_2823911718871392259[0] = 1;
-   out_2823911718871392259[1] = 0;
-   out_2823911718871392259[2] = 0;
-   out_2823911718871392259[3] = 0;
-   out_2823911718871392259[4] = 0;
-   out_2823911718871392259[5] = 0;
-   out_2823911718871392259[6] = 0;
-   out_2823911718871392259[7] = 0;
-   out_2823911718871392259[8] = 0;
+void H_28(double *state, double *unused, double *out_4079326483136453082) {
+   out_4079326483136453082[0] = 1;
+   out_4079326483136453082[1] = 0;
+   out_4079326483136453082[2] = 0;
+   out_4079326483136453082[3] = 0;
+   out_4079326483136453082[4] = 0;
+   out_4079326483136453082[5] = 0;
+   out_4079326483136453082[6] = 0;
+   out_4079326483136453082[7] = 0;
+   out_4079326483136453082[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_6524751479517568177) {
-   out_6524751479517568177[0] = state[8];
+void h_31(double *state, double *unused, double *out_8694811794428211892) {
+   out_8694811794428211892[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_6306598245888314757) {
-   out_6306598245888314757[0] = 0;
-   out_6306598245888314757[1] = 0;
-   out_6306598245888314757[2] = 0;
-   out_6306598245888314757[3] = 0;
-   out_6306598245888314757[4] = 0;
-   out_6306598245888314757[5] = 0;
-   out_6306598245888314757[6] = 0;
-   out_6306598245888314757[7] = 0;
-   out_6306598245888314757[8] = 1;
+void H_31(double *state, double *unused, double *out_6163807159261303273) {
+   out_6163807159261303273[0] = 0;
+   out_6163807159261303273[1] = 0;
+   out_6163807159261303273[2] = 0;
+   out_6163807159261303273[3] = 0;
+   out_6163807159261303273[4] = 0;
+   out_6163807159261303273[5] = 0;
+   out_6163807159261303273[6] = 0;
+   out_6163807159261303273[7] = 0;
+   out_6163807159261303273[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_5744499419236567507) {
-  err_fun(nom_x, delta_x, out_5744499419236567507);
+void car_err_fun(double *nom_x, double *delta_x, double *out_205475353292099530) {
+  err_fun(nom_x, delta_x, out_205475353292099530);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163) {
-  inv_err_fun(nom_x, true_x, out_1184805137205037163);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_6859088956493527341) {
+  inv_err_fun(nom_x, true_x, out_6859088956493527341);
 }
-void car_H_mod_fun(double *state, double *out_2752971634021862652) {
-  H_mod_fun(state, out_2752971634021862652);
+void car_H_mod_fun(double *state, double *out_8201686483145055601) {
+  H_mod_fun(state, out_8201686483145055601);
 }
-void car_f_fun(double *state, double dt, double *out_7658700760911629364) {
-  f_fun(state,  dt, out_7658700760911629364);
+void car_f_fun(double *state, double dt, double *out_2204957494938772746) {
+  f_fun(state,  dt, out_2204957494938772746);
 }
-void car_F_fun(double *state, double dt, double *out_6351856658156694456) {
-  F_fun(state,  dt, out_6351856658156694456);
+void car_F_fun(double *state, double dt, double *out_2327939745960551937) {
+  F_fun(state,  dt, out_2327939745960551937);
 }
-void car_h_25(double *state, double *unused, double *out_2115125997200973707) {
-  h_25(state, unused, out_2115125997200973707);
+void car_h_25(double *state, double *unused, double *out_8734450240234959528) {
+  h_25(state, unused, out_8734450240234959528);
 }
-void car_H_25(double *state, double *unused, double *out_6275952284011354329) {
-  H_25(state, unused, out_6275952284011354329);
+void car_H_25(double *state, double *unused, double *out_6133161197384342845) {
+  H_25(state, unused, out_6133161197384342845);
 }
-void car_h_24(double *state, double *unused, double *out_7937179482135297626) {
-  h_24(state, unused, out_7937179482135297626);
+void car_h_24(double *state, double *unused, double *out_8806581475742121932) {
+  h_24(state, unused, out_8806581475742121932);
 }
-void car_H_24(double *state, double *unused, double *out_8612866190895874151) {
-  H_24(state, unused, out_8612866190895874151);
+void car_H_24(double *state, double *unused, double *out_5738011069733690670) {
+  H_24(state, unused, out_5738011069733690670);
 }
-void car_h_30(double *state, double *unused, double *out_8646825364085210282) {
-  h_30(state, unused, out_8646825364085210282);
+void car_h_30(double *state, double *unused, double *out_971184983414287087) {
+  h_30(state, unused, out_971184983414287087);
 }
-void car_H_30(double *state, double *unused, double *out_6146613336868114259) {
-  H_30(state, unused, out_6146613336868114259);
+void car_H_30(double *state, double *unused, double *out_5396892534833592016) {
+  H_30(state, unused, out_5396892534833592016);
 }
-void car_h_26(double *state, double *unused, double *out_7195513388815643683) {
-  h_26(state, unused, out_7195513388815643683);
+void car_h_26(double *state, double *unused, double *out_1416855028350640224) {
+  h_26(state, unused, out_1416855028350640224);
 }
-void car_H_26(double *state, double *unused, double *out_2534448965137298105) {
-  H_26(state, unused, out_2534448965137298105);
+void car_H_26(double *state, double *unused, double *out_2391657878510286621) {
+  H_26(state, unused, out_2391657878510286621);
 }
-void car_h_27(double *state, double *unused, double *out_3029764065914673830) {
-  h_27(state, unused, out_3029764065914673830);
+void car_h_27(double *state, double *unused, double *out_5511166866350839857) {
+  h_27(state, unused, out_5511166866350839857);
 }
-void car_H_27(double *state, double *unused, double *out_3971850025067689348) {
-  H_27(state, unused, out_3971850025067689348);
+void car_H_27(double *state, double *unused, double *out_7571655846634016927) {
+  H_27(state, unused, out_7571655846634016927);
 }
-void car_h_29(double *state, double *unused, double *out_4733501190905998611) {
-  h_29(state, unused, out_4733501190905998611);
+void car_h_29(double *state, double *unused, double *out_5235972804066333968) {
+  h_29(state, unused, out_5235972804066333968);
 }
-void car_H_29(double *state, double *unused, double *out_6656844681182506443) {
-  H_29(state, unused, out_6656844681182506443);
+void car_H_29(double *state, double *unused, double *out_9161725500205983656) {
+  H_29(state, unused, out_9161725500205983656);
 }
-void car_h_28(double *state, double *unused, double *out_6095421901546968827) {
-  h_28(state, unused, out_6095421901546968827);
+void car_h_28(double *state, double *unused, double *out_7891338238985058206) {
+  h_28(state, unused, out_7891338238985058206);
 }
-void car_H_28(double *state, double *unused, double *out_2823911718871392259) {
-  H_28(state, unused, out_2823911718871392259);
+void car_H_28(double *state, double *unused, double *out_4079326483136453082) {
+  H_28(state, unused, out_4079326483136453082);
 }
-void car_h_31(double *state, double *unused, double *out_6524751479517568177) {
-  h_31(state, unused, out_6524751479517568177);
+void car_h_31(double *state, double *unused, double *out_8694811794428211892) {
+  h_31(state, unused, out_8694811794428211892);
 }
-void car_H_31(double *state, double *unused, double *out_6306598245888314757) {
-  H_31(state, unused, out_6306598245888314757);
+void car_H_31(double *state, double *unused, double *out_6163807159261303273) {
+  H_31(state, unused, out_6163807159261303273);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

openpilot/selfdrive/locationd/models/generated/car.h

@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_5744499419236567507);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1184805137205037163);
-void car_H_mod_fun(double *state, double *out_2752971634021862652);
-void car_f_fun(double *state, double dt, double *out_7658700760911629364);
-void car_F_fun(double *state, double dt, double *out_6351856658156694456);
-void car_h_25(double *state, double *unused, double *out_2115125997200973707);
-void car_H_25(double *state, double *unused, double *out_6275952284011354329);
-void car_h_24(double *state, double *unused, double *out_7937179482135297626);
-void car_H_24(double *state, double *unused, double *out_8612866190895874151);
-void car_h_30(double *state, double *unused, double *out_8646825364085210282);
-void car_H_30(double *state, double *unused, double *out_6146613336868114259);
-void car_h_26(double *state, double *unused, double *out_7195513388815643683);
-void car_H_26(double *state, double *unused, double *out_2534448965137298105);
-void car_h_27(double *state, double *unused, double *out_3029764065914673830);
-void car_H_27(double *state, double *unused, double *out_3971850025067689348);
-void car_h_29(double *state, double *unused, double *out_4733501190905998611);
-void car_H_29(double *state, double *unused, double *out_6656844681182506443);
-void car_h_28(double *state, double *unused, double *out_6095421901546968827);
-void car_H_28(double *state, double *unused, double *out_2823911718871392259);
-void car_h_31(double *state, double *unused, double *out_6524751479517568177);
-void car_H_31(double *state, double *unused, double *out_6306598245888314757);
+void car_err_fun(double *nom_x, double *delta_x, double *out_205475353292099530);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_6859088956493527341);
+void car_H_mod_fun(double *state, double *out_8201686483145055601);
+void car_f_fun(double *state, double dt, double *out_2204957494938772746);
+void car_F_fun(double *state, double dt, double *out_2327939745960551937);
+void car_h_25(double *state, double *unused, double *out_8734450240234959528);
+void car_H_25(double *state, double *unused, double *out_6133161197384342845);
+void car_h_24(double *state, double *unused, double *out_8806581475742121932);
+void car_H_24(double *state, double *unused, double *out_5738011069733690670);
+void car_h_30(double *state, double *unused, double *out_971184983414287087);
+void car_H_30(double *state, double *unused, double *out_5396892534833592016);
+void car_h_26(double *state, double *unused, double *out_1416855028350640224);
+void car_H_26(double *state, double *unused, double *out_2391657878510286621);
+void car_h_27(double *state, double *unused, double *out_5511166866350839857);
+void car_H_27(double *state, double *unused, double *out_7571655846634016927);
+void car_h_29(double *state, double *unused, double *out_5235972804066333968);
+void car_H_29(double *state, double *unused, double *out_9161725500205983656);
+void car_h_28(double *state, double *unused, double *out_7891338238985058206);
+void car_H_28(double *state, double *unused, double *out_4079326483136453082);
+void car_h_31(double *state, double *unused, double *out_8694811794428211892);
+void car_H_31(double *state, double *unused, double *out_6163807159261303273);
 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);

openpilot/selfdrive/locationd/models/generated/pose.h

@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_7899872685628621531);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1215289726053279423);
-void pose_H_mod_fun(double *state, double *out_420741753375595218);
-void pose_f_fun(double *state, double dt, double *out_5996963235034927992);
-void pose_F_fun(double *state, double dt, double *out_78320000076568703);
-void pose_h_4(double *state, double *unused, double *out_2403402202974529453);
-void pose_H_4(double *state, double *unused, double *out_5573260138414675953);
-void pose_h_10(double *state, double *unused, double *out_1415940429779603810);
-void pose_H_10(double *state, double *unused, double *out_5540918162512642087);
-void pose_h_13(double *state, double *unused, double *out_8116494657900557165);
-void pose_H_13(double *state, double *unused, double *out_8785533963747008754);
-void pose_h_14(double *state, double *unused, double *out_2556692697037776409);
-void pose_H_14(double *state, double *unused, double *out_8910243078955391134);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_7491504487925958906);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_8173082431785614969);
+void pose_H_mod_fun(double *state, double *out_3955896825213980969);
+void pose_f_fun(double *state, double dt, double *out_6226431844178190638);
+void pose_F_fun(double *state, double dt, double *out_5590858509180719260);
+void pose_h_4(double *state, double *unused, double *out_8311116516369893334);
+void pose_H_4(double *state, double *unused, double *out_1196621559825099766);
+void pose_h_10(double *state, double *unused, double *out_8024633733467632830);
+void pose_H_10(double *state, double *unused, double *out_9211636060607930666);
+void pose_h_13(double *state, double *unused, double *out_5246243153983473200);
+void pose_H_13(double *state, double *unused, double *out_4408895385157432567);
+void pose_h_14(double *state, double *unused, double *out_2666716766060469740);
+void pose_H_14(double *state, double *unused, double *out_5159862416164584295);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

openpilot/sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.09.04-4849"
+#define SUNNYPILOT_VERSION "2026.09.05-4855"

openpilot/sunnypilot/selfdrive/locationd/models/generated/live.h

@@ -10,29 +10,29 @@ void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, doub
 void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void live_H(double *in_vec, double *out_6359227913389949712);
-void live_err_fun(double *nom_x, double *delta_x, double *out_5070973522734377332);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_1504386229041325813);
-void live_H_mod_fun(double *state, double *out_8604409008290842398);
-void live_f_fun(double *state, double dt, double *out_122542228347959485);
-void live_F_fun(double *state, double dt, double *out_4079892232653715769);
-void live_h_4(double *state, double *unused, double *out_5353206138509165465);
-void live_H_4(double *state, double *unused, double *out_3934719090872387589);
-void live_h_9(double *state, double *unused, double *out_8807055816776463374);
-void live_H_9(double *state, double *unused, double *out_7224806047572716557);
-void live_h_10(double *state, double *unused, double *out_2897072850418891434);
-void live_H_10(double *state, double *unused, double *out_2938213750100159528);
-void live_h_12(double *state, double *unused, double *out_6098799151588263013);
-void live_H_12(double *state, double *unused, double *out_2446539286170345407);
-void live_h_35(double *state, double *unused, double *out_1955422699431481948);
-void live_H_35(double *state, double *unused, double *out_299023746154668302);
-void live_h_32(double *state, double *unused, double *out_8406014722897533998);
-void live_H_32(double *state, double *unused, double *out_7432545933185735434);
-void live_h_13(double *state, double *unused, double *out_9104729345260618237);
-void live_H_13(double *state, double *unused, double *out_4844093272925809884);
-void live_h_14(double *state, double *unused, double *out_8807055816776463374);
-void live_H_14(double *state, double *unused, double *out_7224806047572716557);
-void live_h_33(double *state, double *unused, double *out_563456123860700114);
-void live_H_33(double *state, double *unused, double *out_948776632190842222);
+void live_H(double *in_vec, double *out_8536236811475430067);
+void live_err_fun(double *nom_x, double *delta_x, double *out_4614868058485758139);
+void live_inv_err_fun(double *nom_x, double *true_x, double *out_8573554928028298681);
+void live_H_mod_fun(double *state, double *out_6128852447133223565);
+void live_f_fun(double *state, double dt, double *out_7195534889995166041);
+void live_F_fun(double *state, double dt, double *out_9012508306389018670);
+void live_h_4(double *state, double *unused, double *out_2657657745771735915);
+void live_H_4(double *state, double *unused, double *out_1457735078816209632);
+void live_h_9(double *state, double *unused, double *out_181525824636861445);
+void live_H_9(double *state, double *unused, double *out_8744954014080657102);
+void live_h_10(double *state, double *unused, double *out_2940864223365932608);
+void live_H_10(double *state, double *unused, double *out_6591157835936482265);
+void live_h_12(double *state, double *unused, double *out_830811219903448800);
+void live_H_12(double *state, double *unused, double *out_4923523298226523364);
+void live_h_35(double *state, double *unused, double *out_1177115113523305926);
+void live_H_35(double *state, double *unused, double *out_2177960265901509655);
+void live_h_32(double *state, double *unused, double *out_8970203849717307468);
+void live_H_32(double *state, double *unused, double *out_5493453269239321848);
+void live_h_13(double *state, double *unused, double *out_1337448462981849436);
+void live_H_13(double *state, double *unused, double *out_2400089242629978824);
+void live_h_14(double *state, double *unused, double *out_181525824636861445);
+void live_H_14(double *state, double *unused, double *out_8744954014080657102);
+void live_h_33(double *state, double *unused, double *out_3078698583527751553);
+void live_H_33(double *state, double *unused, double *out_972596738737347949);
 void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

rednose_repo/rednose/helpers/ekf_sym_pyx.cpp

@@ -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, 0, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error));
+  __Pyx_TraceStartFunc("PyInit_ekf_sym_pyx", __pyx_f[0], 1, 1, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error));
 
   /* "View.MemoryView":108
  * 
@@ -26644,7 +26644,7 @@ __Pyx_RefNannySetupContext("PyInit_ekf_sym_pyx", 0);
   __Pyx_GOTREF(__pyx_t_4);
   if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_test, __pyx_t_4) < (0)) __PYX_ERR(0, 1, __pyx_L1_error)
   __Pyx_DECREF(__pyx_t_4); __pyx_t_4 = 0;
-  __Pyx_TraceReturnValue(Py_None, 0, 0, __PYX_ERR(0, 1, __pyx_L1_error));
+  __Pyx_TraceReturnValue(Py_None, 1, 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(0, 0);
+  __Pyx_TraceExceptionUnwind(1, 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);