sunnypilot v2026.003.000

version: sunnypilot v2026.003.000 (staging)
date: 2026-09-05T14:58:51
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_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 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_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 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_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 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_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_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_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 h_25(double *state, double *unused, double *out_2115125997200973707) {
-   out_2115125997200973707[0] = state[6];
+void h_25(double *state, double *unused, double *out_5441109048213736058) {
+   out_5441109048213736058[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_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_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_2797667639827089179) {
+   out_2797667639827089179[0] = state[4];
+   out_2797667639827089179[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_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_30(double *state, double *unused, double *out_8646825364085210282) {
-   out_8646825364085210282[0] = state[4];
+void h_30(double *state, double *unused, double *out_1188271489450022901) {
+   out_1188271489450022901[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_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_26(double *state, double *unused, double *out_7195513388815643683) {
-   out_7195513388815643683[0] = state[7];
+void h_26(double *state, double *unused, double *out_6530138725336053464) {
+   out_6530138725336053464[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_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_27(double *state, double *unused, double *out_3029764065914673830) {
-   out_3029764065914673830[0] = state[3];
+void h_27(double *state, double *unused, double *out_8003961757834969913) {
+   out_8003961757834969913[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_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_29(double *state, double *unused, double *out_4733501190905998611) {
-   out_4733501190905998611[0] = state[1];
+void h_29(double *state, double *unused, double *out_1416133831358674750) {
+   out_1416133831358674750[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_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_28(double *state, double *unused, double *out_6095421901546968827) {
-   out_6095421901546968827[0] = state[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_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_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_31(double *state, double *unused, double *out_6524751479517568177) {
-   out_6524751479517568177[0] = state[8];
+void h_31(double *state, double *unused, double *out_1803659519959713708) {
+   out_1803659519959713708[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_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;
 }
 #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_5070392900769873758) {
+  err_fun(nom_x, delta_x, out_5070392900769873758);
 }
-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_3742760733154016051) {
+  inv_err_fun(nom_x, true_x, out_3742760733154016051);
 }
-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_5758456641177717920) {
+  H_mod_fun(state, out_5758456641177717920);
 }
-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_730595102125265078) {
+  f_fun(state,  dt, out_730595102125265078);
 }
-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_7198115545780111359) {
+  F_fun(state,  dt, out_7198115545780111359);
 }
-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_5441109048213736058) {
+  h_25(state, unused, out_5441109048213736058);
 }
-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_4766949399557973891) {
+  H_25(state, unused, out_4766949399557973891);
 }
-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_2797667639827089179) {
+  h_24(state, unused, out_2797667639827089179);
 }
-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_4461115786511221334) {
+  H_24(state, unused, out_4461115786511221334);
 }
-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_1188271489450022901) {
+  h_30(state, unused, out_1188271489450022901);
 }
-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_9152098344023969527) {
+  H_30(state, unused, out_9152098344023969527);
 }
-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_6530138725336053464) {
+  h_26(state, unused, out_6530138725336053464);
 }
-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_8508452718432030115) {
+  H_26(state, unused, out_8508452718432030115);
 }
-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_8003961757834969913) {
+  h_27(state, unused, out_8003961757834969913);
 }
-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_6977335032223544616) {
+  H_27(state, unused, out_6977335032223544616);
 }
-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_1416133831358674750) {
+  h_29(state, unused, out_1416133831358674750);
 }
-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_8784414385371189905) {
+  H_29(state, unused, out_8784414385371189905);
 }
-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_7400645873158492396) {
+  h_28(state, unused, out_7400645873158492396);
 }
-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_6820784113805863654) {
+  H_28(state, unused, out_6820784113805863654);
 }
-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_1803659519959713708) {
+  h_31(state, unused, out_1803659519959713708);
 }
-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_9134660820665381591) {
+  H_31(state, unused, out_9134660820665381591);
 }
 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_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_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_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_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 "2026.003.000"

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_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_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
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@@ -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);