sunnypilot v2026.003.000

version: sunnypilot v2026.003.000 (staging)
date: 2026-07-25T14:10:40
master commit: fd22de1c9a

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_3010729618614624127) {
-   out_3010729618614624127[0] = delta_x[0] + nom_x[0];
-   out_3010729618614624127[1] = delta_x[1] + nom_x[1];
-   out_3010729618614624127[2] = delta_x[2] + nom_x[2];
-   out_3010729618614624127[3] = delta_x[3] + nom_x[3];
-   out_3010729618614624127[4] = delta_x[4] + nom_x[4];
-   out_3010729618614624127[5] = delta_x[5] + nom_x[5];
-   out_3010729618614624127[6] = delta_x[6] + nom_x[6];
-   out_3010729618614624127[7] = delta_x[7] + nom_x[7];
-   out_3010729618614624127[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_1308307769420293042) {
+   out_1308307769420293042[0] = delta_x[0] + nom_x[0];
+   out_1308307769420293042[1] = delta_x[1] + nom_x[1];
+   out_1308307769420293042[2] = delta_x[2] + nom_x[2];
+   out_1308307769420293042[3] = delta_x[3] + nom_x[3];
+   out_1308307769420293042[4] = delta_x[4] + nom_x[4];
+   out_1308307769420293042[5] = delta_x[5] + nom_x[5];
+   out_1308307769420293042[6] = delta_x[6] + nom_x[6];
+   out_1308307769420293042[7] = delta_x[7] + nom_x[7];
+   out_1308307769420293042[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_3985552318855446440) {
-   out_3985552318855446440[0] = -nom_x[0] + true_x[0];
-   out_3985552318855446440[1] = -nom_x[1] + true_x[1];
-   out_3985552318855446440[2] = -nom_x[2] + true_x[2];
-   out_3985552318855446440[3] = -nom_x[3] + true_x[3];
-   out_3985552318855446440[4] = -nom_x[4] + true_x[4];
-   out_3985552318855446440[5] = -nom_x[5] + true_x[5];
-   out_3985552318855446440[6] = -nom_x[6] + true_x[6];
-   out_3985552318855446440[7] = -nom_x[7] + true_x[7];
-   out_3985552318855446440[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_2556976084631402) {
+   out_2556976084631402[0] = -nom_x[0] + true_x[0];
+   out_2556976084631402[1] = -nom_x[1] + true_x[1];
+   out_2556976084631402[2] = -nom_x[2] + true_x[2];
+   out_2556976084631402[3] = -nom_x[3] + true_x[3];
+   out_2556976084631402[4] = -nom_x[4] + true_x[4];
+   out_2556976084631402[5] = -nom_x[5] + true_x[5];
+   out_2556976084631402[6] = -nom_x[6] + true_x[6];
+   out_2556976084631402[7] = -nom_x[7] + true_x[7];
+   out_2556976084631402[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_4306310304618992202) {
-   out_4306310304618992202[0] = 1.0;
-   out_4306310304618992202[1] = 0.0;
-   out_4306310304618992202[2] = 0.0;
-   out_4306310304618992202[3] = 0.0;
-   out_4306310304618992202[4] = 0.0;
-   out_4306310304618992202[5] = 0.0;
-   out_4306310304618992202[6] = 0.0;
-   out_4306310304618992202[7] = 0.0;
-   out_4306310304618992202[8] = 0.0;
-   out_4306310304618992202[9] = 0.0;
-   out_4306310304618992202[10] = 1.0;
-   out_4306310304618992202[11] = 0.0;
-   out_4306310304618992202[12] = 0.0;
-   out_4306310304618992202[13] = 0.0;
-   out_4306310304618992202[14] = 0.0;
-   out_4306310304618992202[15] = 0.0;
-   out_4306310304618992202[16] = 0.0;
-   out_4306310304618992202[17] = 0.0;
-   out_4306310304618992202[18] = 0.0;
-   out_4306310304618992202[19] = 0.0;
-   out_4306310304618992202[20] = 1.0;
-   out_4306310304618992202[21] = 0.0;
-   out_4306310304618992202[22] = 0.0;
-   out_4306310304618992202[23] = 0.0;
-   out_4306310304618992202[24] = 0.0;
-   out_4306310304618992202[25] = 0.0;
-   out_4306310304618992202[26] = 0.0;
-   out_4306310304618992202[27] = 0.0;
-   out_4306310304618992202[28] = 0.0;
-   out_4306310304618992202[29] = 0.0;
-   out_4306310304618992202[30] = 1.0;
-   out_4306310304618992202[31] = 0.0;
-   out_4306310304618992202[32] = 0.0;
-   out_4306310304618992202[33] = 0.0;
-   out_4306310304618992202[34] = 0.0;
-   out_4306310304618992202[35] = 0.0;
-   out_4306310304618992202[36] = 0.0;
-   out_4306310304618992202[37] = 0.0;
-   out_4306310304618992202[38] = 0.0;
-   out_4306310304618992202[39] = 0.0;
-   out_4306310304618992202[40] = 1.0;
-   out_4306310304618992202[41] = 0.0;
-   out_4306310304618992202[42] = 0.0;
-   out_4306310304618992202[43] = 0.0;
-   out_4306310304618992202[44] = 0.0;
-   out_4306310304618992202[45] = 0.0;
-   out_4306310304618992202[46] = 0.0;
-   out_4306310304618992202[47] = 0.0;
-   out_4306310304618992202[48] = 0.0;
-   out_4306310304618992202[49] = 0.0;
-   out_4306310304618992202[50] = 1.0;
-   out_4306310304618992202[51] = 0.0;
-   out_4306310304618992202[52] = 0.0;
-   out_4306310304618992202[53] = 0.0;
-   out_4306310304618992202[54] = 0.0;
-   out_4306310304618992202[55] = 0.0;
-   out_4306310304618992202[56] = 0.0;
-   out_4306310304618992202[57] = 0.0;
-   out_4306310304618992202[58] = 0.0;
-   out_4306310304618992202[59] = 0.0;
-   out_4306310304618992202[60] = 1.0;
-   out_4306310304618992202[61] = 0.0;
-   out_4306310304618992202[62] = 0.0;
-   out_4306310304618992202[63] = 0.0;
-   out_4306310304618992202[64] = 0.0;
-   out_4306310304618992202[65] = 0.0;
-   out_4306310304618992202[66] = 0.0;
-   out_4306310304618992202[67] = 0.0;
-   out_4306310304618992202[68] = 0.0;
-   out_4306310304618992202[69] = 0.0;
-   out_4306310304618992202[70] = 1.0;
-   out_4306310304618992202[71] = 0.0;
-   out_4306310304618992202[72] = 0.0;
-   out_4306310304618992202[73] = 0.0;
-   out_4306310304618992202[74] = 0.0;
-   out_4306310304618992202[75] = 0.0;
-   out_4306310304618992202[76] = 0.0;
-   out_4306310304618992202[77] = 0.0;
-   out_4306310304618992202[78] = 0.0;
-   out_4306310304618992202[79] = 0.0;
-   out_4306310304618992202[80] = 1.0;
+void H_mod_fun(double *state, double *out_6527467579721338563) {
+   out_6527467579721338563[0] = 1.0;
+   out_6527467579721338563[1] = 0.0;
+   out_6527467579721338563[2] = 0.0;
+   out_6527467579721338563[3] = 0.0;
+   out_6527467579721338563[4] = 0.0;
+   out_6527467579721338563[5] = 0.0;
+   out_6527467579721338563[6] = 0.0;
+   out_6527467579721338563[7] = 0.0;
+   out_6527467579721338563[8] = 0.0;
+   out_6527467579721338563[9] = 0.0;
+   out_6527467579721338563[10] = 1.0;
+   out_6527467579721338563[11] = 0.0;
+   out_6527467579721338563[12] = 0.0;
+   out_6527467579721338563[13] = 0.0;
+   out_6527467579721338563[14] = 0.0;
+   out_6527467579721338563[15] = 0.0;
+   out_6527467579721338563[16] = 0.0;
+   out_6527467579721338563[17] = 0.0;
+   out_6527467579721338563[18] = 0.0;
+   out_6527467579721338563[19] = 0.0;
+   out_6527467579721338563[20] = 1.0;
+   out_6527467579721338563[21] = 0.0;
+   out_6527467579721338563[22] = 0.0;
+   out_6527467579721338563[23] = 0.0;
+   out_6527467579721338563[24] = 0.0;
+   out_6527467579721338563[25] = 0.0;
+   out_6527467579721338563[26] = 0.0;
+   out_6527467579721338563[27] = 0.0;
+   out_6527467579721338563[28] = 0.0;
+   out_6527467579721338563[29] = 0.0;
+   out_6527467579721338563[30] = 1.0;
+   out_6527467579721338563[31] = 0.0;
+   out_6527467579721338563[32] = 0.0;
+   out_6527467579721338563[33] = 0.0;
+   out_6527467579721338563[34] = 0.0;
+   out_6527467579721338563[35] = 0.0;
+   out_6527467579721338563[36] = 0.0;
+   out_6527467579721338563[37] = 0.0;
+   out_6527467579721338563[38] = 0.0;
+   out_6527467579721338563[39] = 0.0;
+   out_6527467579721338563[40] = 1.0;
+   out_6527467579721338563[41] = 0.0;
+   out_6527467579721338563[42] = 0.0;
+   out_6527467579721338563[43] = 0.0;
+   out_6527467579721338563[44] = 0.0;
+   out_6527467579721338563[45] = 0.0;
+   out_6527467579721338563[46] = 0.0;
+   out_6527467579721338563[47] = 0.0;
+   out_6527467579721338563[48] = 0.0;
+   out_6527467579721338563[49] = 0.0;
+   out_6527467579721338563[50] = 1.0;
+   out_6527467579721338563[51] = 0.0;
+   out_6527467579721338563[52] = 0.0;
+   out_6527467579721338563[53] = 0.0;
+   out_6527467579721338563[54] = 0.0;
+   out_6527467579721338563[55] = 0.0;
+   out_6527467579721338563[56] = 0.0;
+   out_6527467579721338563[57] = 0.0;
+   out_6527467579721338563[58] = 0.0;
+   out_6527467579721338563[59] = 0.0;
+   out_6527467579721338563[60] = 1.0;
+   out_6527467579721338563[61] = 0.0;
+   out_6527467579721338563[62] = 0.0;
+   out_6527467579721338563[63] = 0.0;
+   out_6527467579721338563[64] = 0.0;
+   out_6527467579721338563[65] = 0.0;
+   out_6527467579721338563[66] = 0.0;
+   out_6527467579721338563[67] = 0.0;
+   out_6527467579721338563[68] = 0.0;
+   out_6527467579721338563[69] = 0.0;
+   out_6527467579721338563[70] = 1.0;
+   out_6527467579721338563[71] = 0.0;
+   out_6527467579721338563[72] = 0.0;
+   out_6527467579721338563[73] = 0.0;
+   out_6527467579721338563[74] = 0.0;
+   out_6527467579721338563[75] = 0.0;
+   out_6527467579721338563[76] = 0.0;
+   out_6527467579721338563[77] = 0.0;
+   out_6527467579721338563[78] = 0.0;
+   out_6527467579721338563[79] = 0.0;
+   out_6527467579721338563[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_841039768515563673) {
-   out_841039768515563673[0] = state[0];
-   out_841039768515563673[1] = state[1];
-   out_841039768515563673[2] = state[2];
-   out_841039768515563673[3] = state[3];
-   out_841039768515563673[4] = state[4];
-   out_841039768515563673[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_841039768515563673[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_841039768515563673[7] = state[7];
-   out_841039768515563673[8] = state[8];
+void f_fun(double *state, double dt, double *out_46405867141907835) {
+   out_46405867141907835[0] = state[0];
+   out_46405867141907835[1] = state[1];
+   out_46405867141907835[2] = state[2];
+   out_46405867141907835[3] = state[3];
+   out_46405867141907835[4] = state[4];
+   out_46405867141907835[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_46405867141907835[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_46405867141907835[7] = state[7];
+   out_46405867141907835[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_3325406224632462615) {
-   out_3325406224632462615[0] = 1;
-   out_3325406224632462615[1] = 0;
-   out_3325406224632462615[2] = 0;
-   out_3325406224632462615[3] = 0;
-   out_3325406224632462615[4] = 0;
-   out_3325406224632462615[5] = 0;
-   out_3325406224632462615[6] = 0;
-   out_3325406224632462615[7] = 0;
-   out_3325406224632462615[8] = 0;
-   out_3325406224632462615[9] = 0;
-   out_3325406224632462615[10] = 1;
-   out_3325406224632462615[11] = 0;
-   out_3325406224632462615[12] = 0;
-   out_3325406224632462615[13] = 0;
-   out_3325406224632462615[14] = 0;
-   out_3325406224632462615[15] = 0;
-   out_3325406224632462615[16] = 0;
-   out_3325406224632462615[17] = 0;
-   out_3325406224632462615[18] = 0;
-   out_3325406224632462615[19] = 0;
-   out_3325406224632462615[20] = 1;
-   out_3325406224632462615[21] = 0;
-   out_3325406224632462615[22] = 0;
-   out_3325406224632462615[23] = 0;
-   out_3325406224632462615[24] = 0;
-   out_3325406224632462615[25] = 0;
-   out_3325406224632462615[26] = 0;
-   out_3325406224632462615[27] = 0;
-   out_3325406224632462615[28] = 0;
-   out_3325406224632462615[29] = 0;
-   out_3325406224632462615[30] = 1;
-   out_3325406224632462615[31] = 0;
-   out_3325406224632462615[32] = 0;
-   out_3325406224632462615[33] = 0;
-   out_3325406224632462615[34] = 0;
-   out_3325406224632462615[35] = 0;
-   out_3325406224632462615[36] = 0;
-   out_3325406224632462615[37] = 0;
-   out_3325406224632462615[38] = 0;
-   out_3325406224632462615[39] = 0;
-   out_3325406224632462615[40] = 1;
-   out_3325406224632462615[41] = 0;
-   out_3325406224632462615[42] = 0;
-   out_3325406224632462615[43] = 0;
-   out_3325406224632462615[44] = 0;
-   out_3325406224632462615[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_3325406224632462615[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_3325406224632462615[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3325406224632462615[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3325406224632462615[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_3325406224632462615[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_3325406224632462615[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_3325406224632462615[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_3325406224632462615[53] = -9.8100000000000005*dt;
-   out_3325406224632462615[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_3325406224632462615[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_3325406224632462615[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3325406224632462615[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3325406224632462615[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_3325406224632462615[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_3325406224632462615[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_3325406224632462615[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_3325406224632462615[62] = 0;
-   out_3325406224632462615[63] = 0;
-   out_3325406224632462615[64] = 0;
-   out_3325406224632462615[65] = 0;
-   out_3325406224632462615[66] = 0;
-   out_3325406224632462615[67] = 0;
-   out_3325406224632462615[68] = 0;
-   out_3325406224632462615[69] = 0;
-   out_3325406224632462615[70] = 1;
-   out_3325406224632462615[71] = 0;
-   out_3325406224632462615[72] = 0;
-   out_3325406224632462615[73] = 0;
-   out_3325406224632462615[74] = 0;
-   out_3325406224632462615[75] = 0;
-   out_3325406224632462615[76] = 0;
-   out_3325406224632462615[77] = 0;
-   out_3325406224632462615[78] = 0;
-   out_3325406224632462615[79] = 0;
-   out_3325406224632462615[80] = 1;
+void F_fun(double *state, double dt, double *out_3458223914096858551) {
+   out_3458223914096858551[0] = 1;
+   out_3458223914096858551[1] = 0;
+   out_3458223914096858551[2] = 0;
+   out_3458223914096858551[3] = 0;
+   out_3458223914096858551[4] = 0;
+   out_3458223914096858551[5] = 0;
+   out_3458223914096858551[6] = 0;
+   out_3458223914096858551[7] = 0;
+   out_3458223914096858551[8] = 0;
+   out_3458223914096858551[9] = 0;
+   out_3458223914096858551[10] = 1;
+   out_3458223914096858551[11] = 0;
+   out_3458223914096858551[12] = 0;
+   out_3458223914096858551[13] = 0;
+   out_3458223914096858551[14] = 0;
+   out_3458223914096858551[15] = 0;
+   out_3458223914096858551[16] = 0;
+   out_3458223914096858551[17] = 0;
+   out_3458223914096858551[18] = 0;
+   out_3458223914096858551[19] = 0;
+   out_3458223914096858551[20] = 1;
+   out_3458223914096858551[21] = 0;
+   out_3458223914096858551[22] = 0;
+   out_3458223914096858551[23] = 0;
+   out_3458223914096858551[24] = 0;
+   out_3458223914096858551[25] = 0;
+   out_3458223914096858551[26] = 0;
+   out_3458223914096858551[27] = 0;
+   out_3458223914096858551[28] = 0;
+   out_3458223914096858551[29] = 0;
+   out_3458223914096858551[30] = 1;
+   out_3458223914096858551[31] = 0;
+   out_3458223914096858551[32] = 0;
+   out_3458223914096858551[33] = 0;
+   out_3458223914096858551[34] = 0;
+   out_3458223914096858551[35] = 0;
+   out_3458223914096858551[36] = 0;
+   out_3458223914096858551[37] = 0;
+   out_3458223914096858551[38] = 0;
+   out_3458223914096858551[39] = 0;
+   out_3458223914096858551[40] = 1;
+   out_3458223914096858551[41] = 0;
+   out_3458223914096858551[42] = 0;
+   out_3458223914096858551[43] = 0;
+   out_3458223914096858551[44] = 0;
+   out_3458223914096858551[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_3458223914096858551[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_3458223914096858551[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3458223914096858551[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3458223914096858551[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_3458223914096858551[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_3458223914096858551[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_3458223914096858551[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_3458223914096858551[53] = -9.8100000000000005*dt;
+   out_3458223914096858551[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_3458223914096858551[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_3458223914096858551[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3458223914096858551[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3458223914096858551[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_3458223914096858551[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_3458223914096858551[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_3458223914096858551[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_3458223914096858551[62] = 0;
+   out_3458223914096858551[63] = 0;
+   out_3458223914096858551[64] = 0;
+   out_3458223914096858551[65] = 0;
+   out_3458223914096858551[66] = 0;
+   out_3458223914096858551[67] = 0;
+   out_3458223914096858551[68] = 0;
+   out_3458223914096858551[69] = 0;
+   out_3458223914096858551[70] = 1;
+   out_3458223914096858551[71] = 0;
+   out_3458223914096858551[72] = 0;
+   out_3458223914096858551[73] = 0;
+   out_3458223914096858551[74] = 0;
+   out_3458223914096858551[75] = 0;
+   out_3458223914096858551[76] = 0;
+   out_3458223914096858551[77] = 0;
+   out_3458223914096858551[78] = 0;
+   out_3458223914096858551[79] = 0;
+   out_3458223914096858551[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_8501492422434664386) {
-   out_8501492422434664386[0] = state[6];
+void h_25(double *state, double *unused, double *out_5649626404835719527) {
+   out_5649626404835719527[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_7217655417465113750) {
-   out_7217655417465113750[0] = 0;
-   out_7217655417465113750[1] = 0;
-   out_7217655417465113750[2] = 0;
-   out_7217655417465113750[3] = 0;
-   out_7217655417465113750[4] = 0;
-   out_7217655417465113750[5] = 0;
-   out_7217655417465113750[6] = 1;
-   out_7217655417465113750[7] = 0;
-   out_7217655417465113750[8] = 0;
+void H_25(double *state, double *unused, double *out_1393870453252521242) {
+   out_1393870453252521242[0] = 0;
+   out_1393870453252521242[1] = 0;
+   out_1393870453252521242[2] = 0;
+   out_1393870453252521242[3] = 0;
+   out_1393870453252521242[4] = 0;
+   out_1393870453252521242[5] = 0;
+   out_1393870453252521242[6] = 1;
+   out_1393870453252521242[7] = 0;
+   out_1393870453252521242[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_2528371558444461081) {
-   out_2528371558444461081[0] = state[4];
-   out_2528371558444461081[1] = state[5];
+void h_24(double *state, double *unused, double *out_775491211629833659) {
+   out_775491211629833659[0] = state[4];
+   out_775491211629833659[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_7688112899508452474) {
-   out_7688112899508452474[0] = 0;
-   out_7688112899508452474[1] = 0;
-   out_7688112899508452474[2] = 0;
-   out_7688112899508452474[3] = 0;
-   out_7688112899508452474[4] = 1;
-   out_7688112899508452474[5] = 0;
-   out_7688112899508452474[6] = 0;
-   out_7688112899508452474[7] = 0;
-   out_7688112899508452474[8] = 0;
-   out_7688112899508452474[9] = 0;
-   out_7688112899508452474[10] = 0;
-   out_7688112899508452474[11] = 0;
-   out_7688112899508452474[12] = 0;
-   out_7688112899508452474[13] = 0;
-   out_7688112899508452474[14] = 1;
-   out_7688112899508452474[15] = 0;
-   out_7688112899508452474[16] = 0;
-   out_7688112899508452474[17] = 0;
+void H_24(double *state, double *unused, double *out_778779145752978324) {
+   out_778779145752978324[0] = 0;
+   out_778779145752978324[1] = 0;
+   out_778779145752978324[2] = 0;
+   out_778779145752978324[3] = 0;
+   out_778779145752978324[4] = 1;
+   out_778779145752978324[5] = 0;
+   out_778779145752978324[6] = 0;
+   out_778779145752978324[7] = 0;
+   out_778779145752978324[8] = 0;
+   out_778779145752978324[9] = 0;
+   out_778779145752978324[10] = 0;
+   out_778779145752978324[11] = 0;
+   out_778779145752978324[12] = 0;
+   out_778779145752978324[13] = 0;
+   out_778779145752978324[14] = 1;
+   out_778779145752978324[15] = 0;
+   out_778779145752978324[16] = 0;
+   out_778779145752978324[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_8776686484719170275) {
-   out_8776686484719170275[0] = state[4];
+void h_30(double *state, double *unused, double *out_6641670473033171960) {
+   out_6641670473033171960[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_6701392326116829668) {
-   out_6701392326116829668[0] = 0;
-   out_6701392326116829668[1] = 0;
-   out_6701392326116829668[2] = 0;
-   out_6701392326116829668[3] = 0;
-   out_6701392326116829668[4] = 1;
-   out_6701392326116829668[5] = 0;
-   out_6701392326116829668[6] = 0;
-   out_6701392326116829668[7] = 0;
-   out_6701392326116829668[8] = 0;
+void H_30(double *state, double *unused, double *out_3912203411759769869) {
+   out_3912203411759769869[0] = 0;
+   out_3912203411759769869[1] = 0;
+   out_3912203411759769869[2] = 0;
+   out_3912203411759769869[3] = 0;
+   out_3912203411759769869[4] = 1;
+   out_3912203411759769869[5] = 0;
+   out_3912203411759769869[6] = 0;
+   out_3912203411759769869[7] = 0;
+   out_3912203411759769869[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_8173370600042692758) {
-   out_8173370600042692758[0] = state[7];
+void h_26(double *state, double *unused, double *out_7244986357709649477) {
+   out_7244986357709649477[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_7487585337370381642) {
-   out_7487585337370381642[0] = 0;
-   out_7487585337370381642[1] = 0;
-   out_7487585337370381642[2] = 0;
-   out_7487585337370381642[3] = 0;
-   out_7487585337370381642[4] = 0;
-   out_7487585337370381642[5] = 0;
-   out_7487585337370381642[6] = 0;
-   out_7487585337370381642[7] = 1;
-   out_7487585337370381642[8] = 0;
+void H_26(double *state, double *unused, double *out_2347632865621534982) {
+   out_2347632865621534982[0] = 0;
+   out_2347632865621534982[1] = 0;
+   out_2347632865621534982[2] = 0;
+   out_2347632865621534982[3] = 0;
+   out_2347632865621534982[4] = 0;
+   out_2347632865621534982[5] = 0;
+   out_2347632865621534982[6] = 0;
+   out_2347632865621534982[7] = 1;
+   out_2347632865621534982[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_4943578383614041585) {
-   out_4943578383614041585[0] = state[3];
+void h_27(double *state, double *unused, double *out_1785517029592981286) {
+   out_1785517029592981286[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_8924986397300772885) {
-   out_8924986397300772885[0] = 0;
-   out_8924986397300772885[1] = 0;
-   out_8924986397300772885[2] = 0;
-   out_8924986397300772885[3] = 1;
-   out_8924986397300772885[4] = 0;
-   out_8924986397300772885[5] = 0;
-   out_8924986397300772885[6] = 0;
-   out_8924986397300772885[7] = 0;
-   out_8924986397300772885[8] = 0;
+void H_27(double *state, double *unused, double *out_1737440099959344958) {
+   out_1737440099959344958[0] = 0;
+   out_1737440099959344958[1] = 0;
+   out_1737440099959344958[2] = 0;
+   out_1737440099959344958[3] = 1;
+   out_1737440099959344958[4] = 0;
+   out_1737440099959344958[5] = 0;
+   out_1737440099959344958[6] = 0;
+   out_1737440099959344958[7] = 0;
+   out_1737440099959344958[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_4668384321329535696) {
-   out_4668384321329535696[0] = state[1];
+void h_29(double *state, double *unused, double *out_9200668279867682005) {
+   out_9200668279867682005[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_7211623670431221852) {
-   out_7211623670431221852[0] = 0;
-   out_7211623670431221852[1] = 1;
-   out_7211623670431221852[2] = 0;
-   out_7211623670431221852[3] = 0;
-   out_7211623670431221852[4] = 0;
-   out_7211623670431221852[5] = 0;
-   out_7211623670431221852[6] = 0;
-   out_7211623670431221852[7] = 0;
-   out_7211623670431221852[8] = 0;
+void H_29(double *state, double *unused, double *out_4422434756074162053) {
+   out_4422434756074162053[0] = 0;
+   out_4422434756074162053[1] = 1;
+   out_4422434756074162053[2] = 0;
+   out_4422434756074162053[3] = 0;
+   out_4422434756074162053[4] = 0;
+   out_4422434756074162053[5] = 0;
+   out_4422434756074162053[6] = 0;
+   out_4422434756074162053[7] = 0;
+   out_4422434756074162053[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_6247021973002058322) {
-   out_6247021973002058322[0] = state[0];
+void h_28(double *state, double *unused, double *out_2729026882494643721) {
+   out_2729026882494643721[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_9175253941996548103) {
-   out_9175253941996548103[0] = 1;
-   out_9175253941996548103[1] = 0;
-   out_9175253941996548103[2] = 0;
-   out_9175253941996548103[3] = 0;
-   out_9175253941996548103[4] = 0;
-   out_9175253941996548103[5] = 0;
-   out_9175253941996548103[6] = 0;
-   out_9175253941996548103[7] = 0;
-   out_9175253941996548103[8] = 0;
+void H_28(double *state, double *unused, double *out_659964260995368521) {
+   out_659964260995368521[0] = 1;
+   out_659964260995368521[1] = 0;
+   out_659964260995368521[2] = 0;
+   out_659964260995368521[3] = 0;
+   out_659964260995368521[4] = 0;
+   out_659964260995368521[5] = 0;
+   out_659964260995368521[6] = 0;
+   out_659964260995368521[7] = 0;
+   out_659964260995368521[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_1448590970011147238) {
-   out_1448590970011147238[0] = state[8];
+void h_31(double *state, double *unused, double *out_6026282442523481153) {
+   out_6026282442523481153[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_7187009455588153322) {
-   out_7187009455588153322[0] = 0;
-   out_7187009455588153322[1] = 0;
-   out_7187009455588153322[2] = 0;
-   out_7187009455588153322[3] = 0;
-   out_7187009455588153322[4] = 0;
-   out_7187009455588153322[5] = 0;
-   out_7187009455588153322[6] = 0;
-   out_7187009455588153322[7] = 0;
-   out_7187009455588153322[8] = 1;
+void H_31(double *state, double *unused, double *out_2973840967854886458) {
+   out_2973840967854886458[0] = 0;
+   out_2973840967854886458[1] = 0;
+   out_2973840967854886458[2] = 0;
+   out_2973840967854886458[3] = 0;
+   out_2973840967854886458[4] = 0;
+   out_2973840967854886458[5] = 0;
+   out_2973840967854886458[6] = 0;
+   out_2973840967854886458[7] = 0;
+   out_2973840967854886458[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_3010729618614624127) {
-  err_fun(nom_x, delta_x, out_3010729618614624127);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1308307769420293042) {
+  err_fun(nom_x, delta_x, out_1308307769420293042);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3985552318855446440) {
-  inv_err_fun(nom_x, true_x, out_3985552318855446440);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2556976084631402) {
+  inv_err_fun(nom_x, true_x, out_2556976084631402);
 }
-void car_H_mod_fun(double *state, double *out_4306310304618992202) {
-  H_mod_fun(state, out_4306310304618992202);
+void car_H_mod_fun(double *state, double *out_6527467579721338563) {
+  H_mod_fun(state, out_6527467579721338563);
 }
-void car_f_fun(double *state, double dt, double *out_841039768515563673) {
-  f_fun(state,  dt, out_841039768515563673);
+void car_f_fun(double *state, double dt, double *out_46405867141907835) {
+  f_fun(state,  dt, out_46405867141907835);
 }
-void car_F_fun(double *state, double dt, double *out_3325406224632462615) {
-  F_fun(state,  dt, out_3325406224632462615);
+void car_F_fun(double *state, double dt, double *out_3458223914096858551) {
+  F_fun(state,  dt, out_3458223914096858551);
 }
-void car_h_25(double *state, double *unused, double *out_8501492422434664386) {
-  h_25(state, unused, out_8501492422434664386);
+void car_h_25(double *state, double *unused, double *out_5649626404835719527) {
+  h_25(state, unused, out_5649626404835719527);
 }
-void car_H_25(double *state, double *unused, double *out_7217655417465113750) {
-  H_25(state, unused, out_7217655417465113750);
+void car_H_25(double *state, double *unused, double *out_1393870453252521242) {
+  H_25(state, unused, out_1393870453252521242);
 }
-void car_h_24(double *state, double *unused, double *out_2528371558444461081) {
-  h_24(state, unused, out_2528371558444461081);
+void car_h_24(double *state, double *unused, double *out_775491211629833659) {
+  h_24(state, unused, out_775491211629833659);
 }
-void car_H_24(double *state, double *unused, double *out_7688112899508452474) {
-  H_24(state, unused, out_7688112899508452474);
+void car_H_24(double *state, double *unused, double *out_778779145752978324) {
+  H_24(state, unused, out_778779145752978324);
 }
-void car_h_30(double *state, double *unused, double *out_8776686484719170275) {
-  h_30(state, unused, out_8776686484719170275);
+void car_h_30(double *state, double *unused, double *out_6641670473033171960) {
+  h_30(state, unused, out_6641670473033171960);
 }
-void car_H_30(double *state, double *unused, double *out_6701392326116829668) {
-  H_30(state, unused, out_6701392326116829668);
+void car_H_30(double *state, double *unused, double *out_3912203411759769869) {
+  H_30(state, unused, out_3912203411759769869);
 }
-void car_h_26(double *state, double *unused, double *out_8173370600042692758) {
-  h_26(state, unused, out_8173370600042692758);
+void car_h_26(double *state, double *unused, double *out_7244986357709649477) {
+  h_26(state, unused, out_7244986357709649477);
 }
-void car_H_26(double *state, double *unused, double *out_7487585337370381642) {
-  H_26(state, unused, out_7487585337370381642);
+void car_H_26(double *state, double *unused, double *out_2347632865621534982) {
+  H_26(state, unused, out_2347632865621534982);
 }
-void car_h_27(double *state, double *unused, double *out_4943578383614041585) {
-  h_27(state, unused, out_4943578383614041585);
+void car_h_27(double *state, double *unused, double *out_1785517029592981286) {
+  h_27(state, unused, out_1785517029592981286);
 }
-void car_H_27(double *state, double *unused, double *out_8924986397300772885) {
-  H_27(state, unused, out_8924986397300772885);
+void car_H_27(double *state, double *unused, double *out_1737440099959344958) {
+  H_27(state, unused, out_1737440099959344958);
 }
-void car_h_29(double *state, double *unused, double *out_4668384321329535696) {
-  h_29(state, unused, out_4668384321329535696);
+void car_h_29(double *state, double *unused, double *out_9200668279867682005) {
+  h_29(state, unused, out_9200668279867682005);
 }
-void car_H_29(double *state, double *unused, double *out_7211623670431221852) {
-  H_29(state, unused, out_7211623670431221852);
+void car_H_29(double *state, double *unused, double *out_4422434756074162053) {
+  H_29(state, unused, out_4422434756074162053);
 }
-void car_h_28(double *state, double *unused, double *out_6247021973002058322) {
-  h_28(state, unused, out_6247021973002058322);
+void car_h_28(double *state, double *unused, double *out_2729026882494643721) {
+  h_28(state, unused, out_2729026882494643721);
 }
-void car_H_28(double *state, double *unused, double *out_9175253941996548103) {
-  H_28(state, unused, out_9175253941996548103);
+void car_H_28(double *state, double *unused, double *out_659964260995368521) {
+  H_28(state, unused, out_659964260995368521);
 }
-void car_h_31(double *state, double *unused, double *out_1448590970011147238) {
-  h_31(state, unused, out_1448590970011147238);
+void car_h_31(double *state, double *unused, double *out_6026282442523481153) {
+  h_31(state, unused, out_6026282442523481153);
 }
-void car_H_31(double *state, double *unused, double *out_7187009455588153322) {
-  H_31(state, unused, out_7187009455588153322);
+void car_H_31(double *state, double *unused, double *out_2973840967854886458) {
+  H_31(state, unused, out_2973840967854886458);
 }
 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_3010729618614624127);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_3985552318855446440);
-void car_H_mod_fun(double *state, double *out_4306310304618992202);
-void car_f_fun(double *state, double dt, double *out_841039768515563673);
-void car_F_fun(double *state, double dt, double *out_3325406224632462615);
-void car_h_25(double *state, double *unused, double *out_8501492422434664386);
-void car_H_25(double *state, double *unused, double *out_7217655417465113750);
-void car_h_24(double *state, double *unused, double *out_2528371558444461081);
-void car_H_24(double *state, double *unused, double *out_7688112899508452474);
-void car_h_30(double *state, double *unused, double *out_8776686484719170275);
-void car_H_30(double *state, double *unused, double *out_6701392326116829668);
-void car_h_26(double *state, double *unused, double *out_8173370600042692758);
-void car_H_26(double *state, double *unused, double *out_7487585337370381642);
-void car_h_27(double *state, double *unused, double *out_4943578383614041585);
-void car_H_27(double *state, double *unused, double *out_8924986397300772885);
-void car_h_29(double *state, double *unused, double *out_4668384321329535696);
-void car_H_29(double *state, double *unused, double *out_7211623670431221852);
-void car_h_28(double *state, double *unused, double *out_6247021973002058322);
-void car_H_28(double *state, double *unused, double *out_9175253941996548103);
-void car_h_31(double *state, double *unused, double *out_1448590970011147238);
-void car_H_31(double *state, double *unused, double *out_7187009455588153322);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1308307769420293042);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_2556976084631402);
+void car_H_mod_fun(double *state, double *out_6527467579721338563);
+void car_f_fun(double *state, double dt, double *out_46405867141907835);
+void car_F_fun(double *state, double dt, double *out_3458223914096858551);
+void car_h_25(double *state, double *unused, double *out_5649626404835719527);
+void car_H_25(double *state, double *unused, double *out_1393870453252521242);
+void car_h_24(double *state, double *unused, double *out_775491211629833659);
+void car_H_24(double *state, double *unused, double *out_778779145752978324);
+void car_h_30(double *state, double *unused, double *out_6641670473033171960);
+void car_H_30(double *state, double *unused, double *out_3912203411759769869);
+void car_h_26(double *state, double *unused, double *out_7244986357709649477);
+void car_H_26(double *state, double *unused, double *out_2347632865621534982);
+void car_h_27(double *state, double *unused, double *out_1785517029592981286);
+void car_H_27(double *state, double *unused, double *out_1737440099959344958);
+void car_h_29(double *state, double *unused, double *out_9200668279867682005);
+void car_H_29(double *state, double *unused, double *out_4422434756074162053);
+void car_h_28(double *state, double *unused, double *out_2729026882494643721);
+void car_H_28(double *state, double *unused, double *out_659964260995368521);
+void car_h_31(double *state, double *unused, double *out_6026282442523481153);
+void car_H_31(double *state, double *unused, double *out_2973840967854886458);
 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_342973137176612241);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4414887224430184744);
-void pose_H_mod_fun(double *state, double *out_824354775938542426);
-void pose_f_fun(double *state, double dt, double *out_432270031952541382);
-void pose_F_fun(double *state, double dt, double *out_6844361959189325516);
-void pose_h_4(double *state, double *unused, double *out_948512472116913193);
-void pose_H_4(double *state, double *unused, double *out_4098576854729491679);
-void pose_h_10(double *state, double *unused, double *out_8780443367168833320);
-void pose_H_10(double *state, double *unused, double *out_7022073385523406729);
-void pose_h_13(double *state, double *unused, double *out_3854432803415109726);
-void pose_H_13(double *state, double *unused, double *out_3512054353587209250);
-void pose_h_14(double *state, double *unused, double *out_3383842427869284419);
-void pose_H_14(double *state, double *unused, double *out_135335998390007150);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_264984234156022510);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_4459356063444070539);
+void pose_H_mod_fun(double *state, double *out_7005986214264108234);
+void pose_f_fun(double *state, double dt, double *out_4717377945151750388);
+void pose_F_fun(double *state, double dt, double *out_4729405661658211402);
+void pose_h_4(double *state, double *unused, double *out_5738722976826185665);
+void pose_H_4(double *state, double *unused, double *out_8862099202367372115);
+void pose_h_10(double *state, double *unused, double *out_2388008800197743067);
+void pose_H_10(double *state, double *unused, double *out_8909533314766452476);
+void pose_h_13(double *state, double *unused, double *out_9149861557909701017);
+void pose_H_13(double *state, double *unused, double *out_5649825377035039314);
+void pose_h_14(double *state, double *unused, double *out_3251330187002382357);
+void pose_H_14(double *state, double *unused, double *out_9149528344697295902);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

openpilot/sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.07.25-4597"
+#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_6352154163192849580);
-void live_err_fun(double *nom_x, double *delta_x, double *out_4071252314637571743);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_7579279316636236983);
-void live_H_mod_fun(double *state, double *out_2183030463631189817);
-void live_f_fun(double *state, double dt, double *out_5889449294370966489);
-void live_F_fun(double *state, double dt, double *out_4590604826483372195);
-void live_h_4(double *state, double *unused, double *out_8188582832631334816);
-void live_H_4(double *state, double *unused, double *out_7947231586507101220);
-void live_h_9(double *state, double *unused, double *out_3642341249638579952);
-void live_H_9(double *state, double *unused, double *out_3212293551938002926);
-void live_h_10(double *state, double *unused, double *out_2827509996430913912);
-void live_H_10(double *state, double *unused, double *out_5851187932200043394);
-void live_h_12(double *state, double *unused, double *out_8787305242966137389);
-void live_H_12(double *state, double *unused, double *out_5480056079170488601);
-void live_h_35(double *state, double *unused, double *out_5904086788787176377);
-void live_H_35(double *state, double *unused, double *out_7132850429829843020);
-void live_h_32(double *state, double *unused, double *out_4350922156484078074);
-void live_H_32(double *state, double *unused, double *out_7095194406207799526);
-void live_h_13(double *state, double *unused, double *out_3453680179466203195);
-void live_H_13(double *state, double *unused, double *out_2170845890615723155);
-void live_h_14(double *state, double *unused, double *out_3642341249638579952);
-void live_H_14(double *state, double *unused, double *out_3212293551938002926);
-void live_h_33(double *state, double *unused, double *out_8251223619274971083);
-void live_H_33(double *state, double *unused, double *out_3982293425190985416);
+void live_H(double *in_vec, double *out_6746369553526897517);
+void live_err_fun(double *nom_x, double *delta_x, double *out_2356689388845686605);
+void live_inv_err_fun(double *nom_x, double *true_x, double *out_7416532235122030660);
+void live_H_mod_fun(double *state, double *out_7744797074742978621);
+void live_f_fun(double *state, double dt, double *out_8063025216892748525);
+void live_F_fun(double *state, double dt, double *out_1924980074135776075);
+void live_h_4(double *state, double *unused, double *out_7366302340587907635);
+void live_H_4(double *state, double *unused, double *out_8678952100085115055);
+void live_h_9(double *state, double *unused, double *out_1116014595619586497);
+void live_H_9(double *state, double *unused, double *out_2480573038359989091);
+void live_h_10(double *state, double *unused, double *out_15153629602772458);
+void live_H_10(double *state, double *unused, double *out_4583653000591918572);
+void live_h_12(double *state, double *unused, double *out_9071809923999704409);
+void live_H_12(double *state, double *unused, double *out_4748335565592474766);
+void live_h_35(double *state, double *unused, double *out_7011637724721731008);
+void live_H_35(double *state, double *unused, double *out_2002772533267461057);
+void live_h_32(double *state, double *unused, double *out_8005805873262674095);
+void live_H_32(double *state, double *unused, double *out_6269965131311088716);
+void live_h_13(double *state, double *unused, double *out_7868428076142185420);
+void live_H_13(double *state, double *unused, double *out_4177806446556115282);
+void live_h_14(double *state, double *unused, double *out_1116014595619586497);
+void live_H_14(double *state, double *unused, double *out_2480573038359989091);
+void live_h_33(double *state, double *unused, double *out_5108012817780654932);
+void live_H_33(double *state, double *unused, double *out_1147784471371396547);
 void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

rednose_repo/rednose/helpers/ekf_sym_pyx.cpp

@@ -26037,7 +26037,7 @@ __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":100
  * 
@@ -26836,7 +26836,7 @@ __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 ---*/
@@ -26846,7 +26846,7 @@ __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);

tinygrad_repo/tinygrad.egg-info/SOURCES.txt

@@ -33,7 +33,6 @@ tinygrad/engine/jit.py
 tinygrad/engine/realize.py
 tinygrad/llm/__init__.py
 tinygrad/llm/__main__.py
-tinygrad/llm/chat.html
 tinygrad/llm/cli.py
 tinygrad/llm/gguf.py
 tinygrad/llm/model.py
@@ -149,21 +148,6 @@ tinygrad/runtime/autogen/amd/rdna4/enum.py
 tinygrad/runtime/autogen/amd/rdna4/ins.py
 tinygrad/runtime/autogen/amd/rdna4/operands.py
 tinygrad/runtime/autogen/amd/rdna4/str_pcode.py
-tinygrad/runtime/autogen/nv_regs/__init__.py
-tinygrad/runtime/autogen/nv_regs/dev_bus.py
-tinygrad/runtime/autogen/nv_regs/dev_falcon_second_pri.py
-tinygrad/runtime/autogen/nv_regs/dev_falcon_v4.py
-tinygrad/runtime/autogen/nv_regs/dev_fb.py
-tinygrad/runtime/autogen/nv_regs/dev_fbif_v4.py
-tinygrad/runtime/autogen/nv_regs/dev_fsp_pri.py
-tinygrad/runtime/autogen/nv_regs/dev_gc6_island.py
-tinygrad/runtime/autogen/nv_regs/dev_gsp.py
-tinygrad/runtime/autogen/nv_regs/dev_mmu.py
-tinygrad/runtime/autogen/nv_regs/dev_riscv_pri.py
-tinygrad/runtime/autogen/nv_regs/dev_sec_pri.py
-tinygrad/runtime/autogen/nv_regs/dev_therm.py
-tinygrad/runtime/autogen/nv_regs/dev_vm.py
-tinygrad/runtime/autogen/nv_regs/nv_ref.py
 tinygrad/runtime/graph/__init__.py
 tinygrad/runtime/graph/cuda.py
 tinygrad/runtime/graph/hcq.py