sunnypilot v2026.003.000

version: sunnypilot v2026.003.000 (staging)
date: 2026-10-18T23:29:34
master commit: 0120b66f05

.gitattributes

@@ -0,0 +1 @@
+openpilot/selfdrive/modeld/models/big_*_tinygrad.pkl filter=lfs diff=lfs merge=lfs -text

.lfsconfig

@@ -0,0 +1,5 @@
+[lfs]
+	url = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+	pushurl = https://huggingface.co/sunnypilot/sunnypilot-lfs.git/info/lfs
+
+	locksverify = false

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

@@ -41,326 +41,326 @@ 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_7360625163823445495) {
-   out_7360625163823445495[0] = delta_x[0] + nom_x[0];
-   out_7360625163823445495[1] = delta_x[1] + nom_x[1];
-   out_7360625163823445495[2] = delta_x[2] + nom_x[2];
-   out_7360625163823445495[3] = delta_x[3] + nom_x[3];
-   out_7360625163823445495[4] = delta_x[4] + nom_x[4];
-   out_7360625163823445495[5] = delta_x[5] + nom_x[5];
-   out_7360625163823445495[6] = delta_x[6] + nom_x[6];
-   out_7360625163823445495[7] = delta_x[7] + nom_x[7];
-   out_7360625163823445495[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_3585265450871354510) {
+   out_3585265450871354510[0] = delta_x[0] + nom_x[0];
+   out_3585265450871354510[1] = delta_x[1] + nom_x[1];
+   out_3585265450871354510[2] = delta_x[2] + nom_x[2];
+   out_3585265450871354510[3] = delta_x[3] + nom_x[3];
+   out_3585265450871354510[4] = delta_x[4] + nom_x[4];
+   out_3585265450871354510[5] = delta_x[5] + nom_x[5];
+   out_3585265450871354510[6] = delta_x[6] + nom_x[6];
+   out_3585265450871354510[7] = delta_x[7] + nom_x[7];
+   out_3585265450871354510[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_8413491231423970122) {
-   out_8413491231423970122[0] = -nom_x[0] + true_x[0];
-   out_8413491231423970122[1] = -nom_x[1] + true_x[1];
-   out_8413491231423970122[2] = -nom_x[2] + true_x[2];
-   out_8413491231423970122[3] = -nom_x[3] + true_x[3];
-   out_8413491231423970122[4] = -nom_x[4] + true_x[4];
-   out_8413491231423970122[5] = -nom_x[5] + true_x[5];
-   out_8413491231423970122[6] = -nom_x[6] + true_x[6];
-   out_8413491231423970122[7] = -nom_x[7] + true_x[7];
-   out_8413491231423970122[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_4534440969468340130) {
+   out_4534440969468340130[0] = -nom_x[0] + true_x[0];
+   out_4534440969468340130[1] = -nom_x[1] + true_x[1];
+   out_4534440969468340130[2] = -nom_x[2] + true_x[2];
+   out_4534440969468340130[3] = -nom_x[3] + true_x[3];
+   out_4534440969468340130[4] = -nom_x[4] + true_x[4];
+   out_4534440969468340130[5] = -nom_x[5] + true_x[5];
+   out_4534440969468340130[6] = -nom_x[6] + true_x[6];
+   out_4534440969468340130[7] = -nom_x[7] + true_x[7];
+   out_4534440969468340130[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_2632326835772732722) {
-   out_2632326835772732722[0] = 1.0;
-   out_2632326835772732722[1] = 0.0;
-   out_2632326835772732722[2] = 0.0;
-   out_2632326835772732722[3] = 0.0;
-   out_2632326835772732722[4] = 0.0;
-   out_2632326835772732722[5] = 0.0;
-   out_2632326835772732722[6] = 0.0;
-   out_2632326835772732722[7] = 0.0;
-   out_2632326835772732722[8] = 0.0;
-   out_2632326835772732722[9] = 0.0;
-   out_2632326835772732722[10] = 1.0;
-   out_2632326835772732722[11] = 0.0;
-   out_2632326835772732722[12] = 0.0;
-   out_2632326835772732722[13] = 0.0;
-   out_2632326835772732722[14] = 0.0;
-   out_2632326835772732722[15] = 0.0;
-   out_2632326835772732722[16] = 0.0;
-   out_2632326835772732722[17] = 0.0;
-   out_2632326835772732722[18] = 0.0;
-   out_2632326835772732722[19] = 0.0;
-   out_2632326835772732722[20] = 1.0;
-   out_2632326835772732722[21] = 0.0;
-   out_2632326835772732722[22] = 0.0;
-   out_2632326835772732722[23] = 0.0;
-   out_2632326835772732722[24] = 0.0;
-   out_2632326835772732722[25] = 0.0;
-   out_2632326835772732722[26] = 0.0;
-   out_2632326835772732722[27] = 0.0;
-   out_2632326835772732722[28] = 0.0;
-   out_2632326835772732722[29] = 0.0;
-   out_2632326835772732722[30] = 1.0;
-   out_2632326835772732722[31] = 0.0;
-   out_2632326835772732722[32] = 0.0;
-   out_2632326835772732722[33] = 0.0;
-   out_2632326835772732722[34] = 0.0;
-   out_2632326835772732722[35] = 0.0;
-   out_2632326835772732722[36] = 0.0;
-   out_2632326835772732722[37] = 0.0;
-   out_2632326835772732722[38] = 0.0;
-   out_2632326835772732722[39] = 0.0;
-   out_2632326835772732722[40] = 1.0;
-   out_2632326835772732722[41] = 0.0;
-   out_2632326835772732722[42] = 0.0;
-   out_2632326835772732722[43] = 0.0;
-   out_2632326835772732722[44] = 0.0;
-   out_2632326835772732722[45] = 0.0;
-   out_2632326835772732722[46] = 0.0;
-   out_2632326835772732722[47] = 0.0;
-   out_2632326835772732722[48] = 0.0;
-   out_2632326835772732722[49] = 0.0;
-   out_2632326835772732722[50] = 1.0;
-   out_2632326835772732722[51] = 0.0;
-   out_2632326835772732722[52] = 0.0;
-   out_2632326835772732722[53] = 0.0;
-   out_2632326835772732722[54] = 0.0;
-   out_2632326835772732722[55] = 0.0;
-   out_2632326835772732722[56] = 0.0;
-   out_2632326835772732722[57] = 0.0;
-   out_2632326835772732722[58] = 0.0;
-   out_2632326835772732722[59] = 0.0;
-   out_2632326835772732722[60] = 1.0;
-   out_2632326835772732722[61] = 0.0;
-   out_2632326835772732722[62] = 0.0;
-   out_2632326835772732722[63] = 0.0;
-   out_2632326835772732722[64] = 0.0;
-   out_2632326835772732722[65] = 0.0;
-   out_2632326835772732722[66] = 0.0;
-   out_2632326835772732722[67] = 0.0;
-   out_2632326835772732722[68] = 0.0;
-   out_2632326835772732722[69] = 0.0;
-   out_2632326835772732722[70] = 1.0;
-   out_2632326835772732722[71] = 0.0;
-   out_2632326835772732722[72] = 0.0;
-   out_2632326835772732722[73] = 0.0;
-   out_2632326835772732722[74] = 0.0;
-   out_2632326835772732722[75] = 0.0;
-   out_2632326835772732722[76] = 0.0;
-   out_2632326835772732722[77] = 0.0;
-   out_2632326835772732722[78] = 0.0;
-   out_2632326835772732722[79] = 0.0;
-   out_2632326835772732722[80] = 1.0;
+void H_mod_fun(double *state, double *out_7815971298073658297) {
+   out_7815971298073658297[0] = 1.0;
+   out_7815971298073658297[1] = 0.0;
+   out_7815971298073658297[2] = 0.0;
+   out_7815971298073658297[3] = 0.0;
+   out_7815971298073658297[4] = 0.0;
+   out_7815971298073658297[5] = 0.0;
+   out_7815971298073658297[6] = 0.0;
+   out_7815971298073658297[7] = 0.0;
+   out_7815971298073658297[8] = 0.0;
+   out_7815971298073658297[9] = 0.0;
+   out_7815971298073658297[10] = 1.0;
+   out_7815971298073658297[11] = 0.0;
+   out_7815971298073658297[12] = 0.0;
+   out_7815971298073658297[13] = 0.0;
+   out_7815971298073658297[14] = 0.0;
+   out_7815971298073658297[15] = 0.0;
+   out_7815971298073658297[16] = 0.0;
+   out_7815971298073658297[17] = 0.0;
+   out_7815971298073658297[18] = 0.0;
+   out_7815971298073658297[19] = 0.0;
+   out_7815971298073658297[20] = 1.0;
+   out_7815971298073658297[21] = 0.0;
+   out_7815971298073658297[22] = 0.0;
+   out_7815971298073658297[23] = 0.0;
+   out_7815971298073658297[24] = 0.0;
+   out_7815971298073658297[25] = 0.0;
+   out_7815971298073658297[26] = 0.0;
+   out_7815971298073658297[27] = 0.0;
+   out_7815971298073658297[28] = 0.0;
+   out_7815971298073658297[29] = 0.0;
+   out_7815971298073658297[30] = 1.0;
+   out_7815971298073658297[31] = 0.0;
+   out_7815971298073658297[32] = 0.0;
+   out_7815971298073658297[33] = 0.0;
+   out_7815971298073658297[34] = 0.0;
+   out_7815971298073658297[35] = 0.0;
+   out_7815971298073658297[36] = 0.0;
+   out_7815971298073658297[37] = 0.0;
+   out_7815971298073658297[38] = 0.0;
+   out_7815971298073658297[39] = 0.0;
+   out_7815971298073658297[40] = 1.0;
+   out_7815971298073658297[41] = 0.0;
+   out_7815971298073658297[42] = 0.0;
+   out_7815971298073658297[43] = 0.0;
+   out_7815971298073658297[44] = 0.0;
+   out_7815971298073658297[45] = 0.0;
+   out_7815971298073658297[46] = 0.0;
+   out_7815971298073658297[47] = 0.0;
+   out_7815971298073658297[48] = 0.0;
+   out_7815971298073658297[49] = 0.0;
+   out_7815971298073658297[50] = 1.0;
+   out_7815971298073658297[51] = 0.0;
+   out_7815971298073658297[52] = 0.0;
+   out_7815971298073658297[53] = 0.0;
+   out_7815971298073658297[54] = 0.0;
+   out_7815971298073658297[55] = 0.0;
+   out_7815971298073658297[56] = 0.0;
+   out_7815971298073658297[57] = 0.0;
+   out_7815971298073658297[58] = 0.0;
+   out_7815971298073658297[59] = 0.0;
+   out_7815971298073658297[60] = 1.0;
+   out_7815971298073658297[61] = 0.0;
+   out_7815971298073658297[62] = 0.0;
+   out_7815971298073658297[63] = 0.0;
+   out_7815971298073658297[64] = 0.0;
+   out_7815971298073658297[65] = 0.0;
+   out_7815971298073658297[66] = 0.0;
+   out_7815971298073658297[67] = 0.0;
+   out_7815971298073658297[68] = 0.0;
+   out_7815971298073658297[69] = 0.0;
+   out_7815971298073658297[70] = 1.0;
+   out_7815971298073658297[71] = 0.0;
+   out_7815971298073658297[72] = 0.0;
+   out_7815971298073658297[73] = 0.0;
+   out_7815971298073658297[74] = 0.0;
+   out_7815971298073658297[75] = 0.0;
+   out_7815971298073658297[76] = 0.0;
+   out_7815971298073658297[77] = 0.0;
+   out_7815971298073658297[78] = 0.0;
+   out_7815971298073658297[79] = 0.0;
+   out_7815971298073658297[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_8532698894052839577) {
-   out_8532698894052839577[0] = state[0];
-   out_8532698894052839577[1] = state[1];
-   out_8532698894052839577[2] = state[2];
-   out_8532698894052839577[3] = state[3];
-   out_8532698894052839577[4] = state[4];
-   out_8532698894052839577[5] = dt*(stiffness_front*(-state[2] - state[3] + state[7])*state[0]/state[1] + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/state[4] + ((-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/state[4] - state[4])*state[6] - 9.8100000000000005*state[8]) + state[5];
-   out_8532698894052839577[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_8532698894052839577[7] = state[7];
-   out_8532698894052839577[8] = state[8];
+void f_fun(double *state, double dt, double *out_3011916394083426809) {
+   out_3011916394083426809[0] = state[0];
+   out_3011916394083426809[1] = state[1];
+   out_3011916394083426809[2] = state[2];
+   out_3011916394083426809[3] = state[3];
+   out_3011916394083426809[4] = state[4];
+   out_3011916394083426809[5] = dt*(stiffness_front*(-state[2] - state[3] + state[7])*state[0]/state[1] + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/state[4] + ((-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/state[4] - state[4])*state[6] - 9.8100000000000005*state[8]) + state[5];
+   out_3011916394083426809[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_3011916394083426809[7] = state[7];
+   out_3011916394083426809[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_5046006616921834778) {
-   out_5046006616921834778[0] = 1;
-   out_5046006616921834778[1] = 0;
-   out_5046006616921834778[2] = 0;
-   out_5046006616921834778[3] = 0;
-   out_5046006616921834778[4] = 0;
-   out_5046006616921834778[5] = 0;
-   out_5046006616921834778[6] = 0;
-   out_5046006616921834778[7] = 0;
-   out_5046006616921834778[8] = 0;
-   out_5046006616921834778[9] = 0;
-   out_5046006616921834778[10] = 1;
-   out_5046006616921834778[11] = 0;
-   out_5046006616921834778[12] = 0;
-   out_5046006616921834778[13] = 0;
-   out_5046006616921834778[14] = 0;
-   out_5046006616921834778[15] = 0;
-   out_5046006616921834778[16] = 0;
-   out_5046006616921834778[17] = 0;
-   out_5046006616921834778[18] = 0;
-   out_5046006616921834778[19] = 0;
-   out_5046006616921834778[20] = 1;
-   out_5046006616921834778[21] = 0;
-   out_5046006616921834778[22] = 0;
-   out_5046006616921834778[23] = 0;
-   out_5046006616921834778[24] = 0;
-   out_5046006616921834778[25] = 0;
-   out_5046006616921834778[26] = 0;
-   out_5046006616921834778[27] = 0;
-   out_5046006616921834778[28] = 0;
-   out_5046006616921834778[29] = 0;
-   out_5046006616921834778[30] = 1;
-   out_5046006616921834778[31] = 0;
-   out_5046006616921834778[32] = 0;
-   out_5046006616921834778[33] = 0;
-   out_5046006616921834778[34] = 0;
-   out_5046006616921834778[35] = 0;
-   out_5046006616921834778[36] = 0;
-   out_5046006616921834778[37] = 0;
-   out_5046006616921834778[38] = 0;
-   out_5046006616921834778[39] = 0;
-   out_5046006616921834778[40] = 1;
-   out_5046006616921834778[41] = 0;
-   out_5046006616921834778[42] = 0;
-   out_5046006616921834778[43] = 0;
-   out_5046006616921834778[44] = 0;
-   out_5046006616921834778[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/state[1] + (-stiffness_front - stiffness_rear)*state[5]/state[4] + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/state[4]);
-   out_5046006616921834778[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/pow(state[1], 2);
-   out_5046006616921834778[47] = -dt*stiffness_front*state[0]/state[1];
-   out_5046006616921834778[48] = -dt*stiffness_front*state[0]/state[1];
-   out_5046006616921834778[49] = dt*(-(-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/pow(state[4], 2) + (-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/pow(state[4], 2) - 1)*state[6]);
-   out_5046006616921834778[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/state[4] + 1;
-   out_5046006616921834778[51] = dt*((-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/state[4] - state[4]);
-   out_5046006616921834778[52] = dt*stiffness_front*state[0]/state[1];
-   out_5046006616921834778[53] = -9.8100000000000005*dt;
-   out_5046006616921834778[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_5046006616921834778[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_5046006616921834778[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5046006616921834778[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5046006616921834778[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_5046006616921834778[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_5046006616921834778[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_5046006616921834778[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5046006616921834778[62] = 0;
-   out_5046006616921834778[63] = 0;
-   out_5046006616921834778[64] = 0;
-   out_5046006616921834778[65] = 0;
-   out_5046006616921834778[66] = 0;
-   out_5046006616921834778[67] = 0;
-   out_5046006616921834778[68] = 0;
-   out_5046006616921834778[69] = 0;
-   out_5046006616921834778[70] = 1;
-   out_5046006616921834778[71] = 0;
-   out_5046006616921834778[72] = 0;
-   out_5046006616921834778[73] = 0;
-   out_5046006616921834778[74] = 0;
-   out_5046006616921834778[75] = 0;
-   out_5046006616921834778[76] = 0;
-   out_5046006616921834778[77] = 0;
-   out_5046006616921834778[78] = 0;
-   out_5046006616921834778[79] = 0;
-   out_5046006616921834778[80] = 1;
+void F_fun(double *state, double dt, double *out_4768916904116545459) {
+   out_4768916904116545459[0] = 1;
+   out_4768916904116545459[1] = 0;
+   out_4768916904116545459[2] = 0;
+   out_4768916904116545459[3] = 0;
+   out_4768916904116545459[4] = 0;
+   out_4768916904116545459[5] = 0;
+   out_4768916904116545459[6] = 0;
+   out_4768916904116545459[7] = 0;
+   out_4768916904116545459[8] = 0;
+   out_4768916904116545459[9] = 0;
+   out_4768916904116545459[10] = 1;
+   out_4768916904116545459[11] = 0;
+   out_4768916904116545459[12] = 0;
+   out_4768916904116545459[13] = 0;
+   out_4768916904116545459[14] = 0;
+   out_4768916904116545459[15] = 0;
+   out_4768916904116545459[16] = 0;
+   out_4768916904116545459[17] = 0;
+   out_4768916904116545459[18] = 0;
+   out_4768916904116545459[19] = 0;
+   out_4768916904116545459[20] = 1;
+   out_4768916904116545459[21] = 0;
+   out_4768916904116545459[22] = 0;
+   out_4768916904116545459[23] = 0;
+   out_4768916904116545459[24] = 0;
+   out_4768916904116545459[25] = 0;
+   out_4768916904116545459[26] = 0;
+   out_4768916904116545459[27] = 0;
+   out_4768916904116545459[28] = 0;
+   out_4768916904116545459[29] = 0;
+   out_4768916904116545459[30] = 1;
+   out_4768916904116545459[31] = 0;
+   out_4768916904116545459[32] = 0;
+   out_4768916904116545459[33] = 0;
+   out_4768916904116545459[34] = 0;
+   out_4768916904116545459[35] = 0;
+   out_4768916904116545459[36] = 0;
+   out_4768916904116545459[37] = 0;
+   out_4768916904116545459[38] = 0;
+   out_4768916904116545459[39] = 0;
+   out_4768916904116545459[40] = 1;
+   out_4768916904116545459[41] = 0;
+   out_4768916904116545459[42] = 0;
+   out_4768916904116545459[43] = 0;
+   out_4768916904116545459[44] = 0;
+   out_4768916904116545459[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/state[1] + (-stiffness_front - stiffness_rear)*state[5]/state[4] + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/state[4]);
+   out_4768916904116545459[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/pow(state[1], 2);
+   out_4768916904116545459[47] = -dt*stiffness_front*state[0]/state[1];
+   out_4768916904116545459[48] = -dt*stiffness_front*state[0]/state[1];
+   out_4768916904116545459[49] = dt*(-(-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/pow(state[4], 2) + (-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/pow(state[4], 2) - 1)*state[6]);
+   out_4768916904116545459[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/state[4] + 1;
+   out_4768916904116545459[51] = dt*((-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/state[4] - state[4]);
+   out_4768916904116545459[52] = dt*stiffness_front*state[0]/state[1];
+   out_4768916904116545459[53] = -9.8100000000000005*dt;
+   out_4768916904116545459[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_4768916904116545459[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_4768916904116545459[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4768916904116545459[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4768916904116545459[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_4768916904116545459[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_4768916904116545459[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_4768916904116545459[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_4768916904116545459[62] = 0;
+   out_4768916904116545459[63] = 0;
+   out_4768916904116545459[64] = 0;
+   out_4768916904116545459[65] = 0;
+   out_4768916904116545459[66] = 0;
+   out_4768916904116545459[67] = 0;
+   out_4768916904116545459[68] = 0;
+   out_4768916904116545459[69] = 0;
+   out_4768916904116545459[70] = 1;
+   out_4768916904116545459[71] = 0;
+   out_4768916904116545459[72] = 0;
+   out_4768916904116545459[73] = 0;
+   out_4768916904116545459[74] = 0;
+   out_4768916904116545459[75] = 0;
+   out_4768916904116545459[76] = 0;
+   out_4768916904116545459[77] = 0;
+   out_4768916904116545459[78] = 0;
+   out_4768916904116545459[79] = 0;
+   out_4768916904116545459[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_5546638875155758793) {
-   out_5546638875155758793[0] = state[6];
+void h_25(double *state, double *unused, double *out_8627167620031889565) {
+   out_8627167620031889565[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_890653814216758955) {
-   out_890653814216758955[0] = 0;
-   out_890653814216758955[1] = 0;
-   out_890653814216758955[2] = 0;
-   out_890653814216758955[3] = 0;
-   out_890653814216758955[4] = 0;
-   out_890653814216758955[5] = 0;
-   out_890653814216758955[6] = 1;
-   out_890653814216758955[7] = 0;
-   out_890653814216758955[8] = 0;
+void H_25(double *state, double *unused, double *out_1719062931467283681) {
+   out_1719062931467283681[0] = 0;
+   out_1719062931467283681[1] = 0;
+   out_1719062931467283681[2] = 0;
+   out_1719062931467283681[3] = 0;
+   out_1719062931467283681[4] = 0;
+   out_1719062931467283681[5] = 0;
+   out_1719062931467283681[6] = 1;
+   out_1719062931467283681[7] = 0;
+   out_1719062931467283681[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_4367318711229477977) {
-   out_4367318711229477977[0] = state[4];
-   out_4367318711229477977[1] = state[5];
+void h_24(double *state, double *unused, double *out_5179238137807796494) {
+   out_5179238137807796494[0] = state[4];
+   out_5179238137807796494[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_4448579413019082091) {
-   out_4448579413019082091[0] = 0;
-   out_4448579413019082091[1] = 0;
-   out_4448579413019082091[2] = 0;
-   out_4448579413019082091[3] = 0;
-   out_4448579413019082091[4] = 1;
-   out_4448579413019082091[5] = 0;
-   out_4448579413019082091[6] = 0;
-   out_4448579413019082091[7] = 0;
-   out_4448579413019082091[8] = 0;
-   out_4448579413019082091[9] = 0;
-   out_4448579413019082091[10] = 0;
-   out_4448579413019082091[11] = 0;
-   out_4448579413019082091[12] = 0;
-   out_4448579413019082091[13] = 0;
-   out_4448579413019082091[14] = 1;
-   out_4448579413019082091[15] = 0;
-   out_4448579413019082091[16] = 0;
-   out_4448579413019082091[17] = 0;
+void H_24(double *state, double *unused, double *out_453586667538215885) {
+   out_453586667538215885[0] = 0;
+   out_453586667538215885[1] = 0;
+   out_453586667538215885[2] = 0;
+   out_453586667538215885[3] = 0;
+   out_453586667538215885[4] = 1;
+   out_453586667538215885[5] = 0;
+   out_453586667538215885[6] = 0;
+   out_453586667538215885[7] = 0;
+   out_453586667538215885[8] = 0;
+   out_453586667538215885[9] = 0;
+   out_453586667538215885[10] = 0;
+   out_453586667538215885[11] = 0;
+   out_453586667538215885[12] = 0;
+   out_453586667538215885[13] = 0;
+   out_453586667538215885[14] = 1;
+   out_453586667538215885[15] = 0;
+   out_453586667538215885[16] = 0;
+   out_453586667538215885[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_1909189346901736443) {
-   out_1909189346901736443[0] = state[4];
+void h_30(double *state, double *unused, double *out_4528864321752517701) {
+   out_4528864321752517701[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_7807344155708375710) {
-   out_7807344155708375710[0] = 0;
-   out_7807344155708375710[1] = 0;
-   out_7807344155708375710[2] = 0;
-   out_7807344155708375710[3] = 0;
-   out_7807344155708375710[4] = 1;
-   out_7807344155708375710[5] = 0;
-   out_7807344155708375710[6] = 0;
-   out_7807344155708375710[7] = 0;
-   out_7807344155708375710[8] = 0;
+void H_30(double *state, double *unused, double *out_4237395889974532308) {
+   out_4237395889974532308[0] = 0;
+   out_4237395889974532308[1] = 0;
+   out_4237395889974532308[2] = 0;
+   out_4237395889974532308[3] = 0;
+   out_4237395889974532308[4] = 1;
+   out_4237395889974532308[5] = 0;
+   out_4237395889974532308[6] = 0;
+   out_4237395889974532308[7] = 0;
+   out_4237395889974532308[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_6910862614562582088) {
-   out_6910862614562582088[0] = state[7];
+void h_26(double *state, double *unused, double *out_5472374174654180136) {
+   out_5472374174654180136[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_2850849504657297269) {
-   out_2850849504657297269[0] = 0;
-   out_2850849504657297269[1] = 0;
-   out_2850849504657297269[2] = 0;
-   out_2850849504657297269[3] = 0;
-   out_2850849504657297269[4] = 0;
-   out_2850849504657297269[5] = 0;
-   out_2850849504657297269[6] = 0;
-   out_2850849504657297269[7] = 1;
-   out_2850849504657297269[8] = 0;
+void H_26(double *state, double *unused, double *out_2022440387406772543) {
+   out_2022440387406772543[0] = 0;
+   out_2022440387406772543[1] = 0;
+   out_2022440387406772543[2] = 0;
+   out_2022440387406772543[3] = 0;
+   out_2022440387406772543[4] = 0;
+   out_2022440387406772543[5] = 0;
+   out_2022440387406772543[6] = 0;
+   out_2022440387406772543[7] = 1;
+   out_2022440387406772543[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3918136026546952058) {
-   out_3918136026546952058[0] = state[3];
+void h_27(double *state, double *unused, double *out_2749092444325053967) {
+   out_2749092444325053967[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_5632580843907950799) {
-   out_5632580843907950799[0] = 0;
-   out_5632580843907950799[1] = 0;
-   out_5632580843907950799[2] = 0;
-   out_5632580843907950799[3] = 1;
-   out_5632580843907950799[4] = 0;
-   out_5632580843907950799[5] = 0;
-   out_5632580843907950799[6] = 0;
-   out_5632580843907950799[7] = 0;
-   out_5632580843907950799[8] = 0;
+void H_27(double *state, double *unused, double *out_6460989961158475525) {
+   out_6460989961158475525[0] = 0;
+   out_6460989961158475525[1] = 0;
+   out_6460989961158475525[2] = 0;
+   out_6460989961158475525[3] = 1;
+   out_6460989961158475525[4] = 0;
+   out_6460989961158475525[5] = 0;
+   out_6460989961158475525[6] = 0;
+   out_6460989961158475525[7] = 0;
+   out_6460989961158475525[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_3092483920759109202) {
-   out_3092483920759109202[0] = state[1];
+void h_29(double *state, double *unused, double *out_5132180206428995218) {
+   out_5132180206428995218[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_8317575500022767894) {
-   out_8317575500022767894[0] = 0;
-   out_8317575500022767894[1] = 1;
-   out_8317575500022767894[2] = 0;
-   out_8317575500022767894[3] = 0;
-   out_8317575500022767894[4] = 0;
-   out_8317575500022767894[5] = 0;
-   out_8317575500022767894[6] = 0;
-   out_8317575500022767894[7] = 0;
-   out_8317575500022767894[8] = 0;
+void H_29(double *state, double *unused, double *out_4747627234288924492) {
+   out_4747627234288924492[0] = 0;
+   out_4747627234288924492[1] = 1;
+   out_4747627234288924492[2] = 0;
+   out_4747627234288924492[3] = 0;
+   out_4747627234288924492[4] = 0;
+   out_4747627234288924492[5] = 0;
+   out_4747627234288924492[6] = 0;
+   out_4747627234288924492[7] = 0;
+   out_4747627234288924492[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_4521451911223429575) {
-   out_4521451911223429575[0] = state[0];
+void h_28(double *state, double *unused, double *out_9148133961738903113) {
+   out_9148133961738903113[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_1163180900031130808) {
-   out_1163180900031130808[0] = 1;
-   out_1163180900031130808[1] = 0;
-   out_1163180900031130808[2] = 0;
-   out_1163180900031130808[3] = 0;
-   out_1163180900031130808[4] = 0;
-   out_1163180900031130808[5] = 0;
-   out_1163180900031130808[6] = 0;
-   out_1163180900031130808[7] = 0;
-   out_1163180900031130808[8] = 0;
+void H_28(double *state, double *unused, double *out_334771782780606082) {
+   out_334771782780606082[0] = 1;
+   out_334771782780606082[1] = 0;
+   out_334771782780606082[2] = 0;
+   out_334771782780606082[3] = 0;
+   out_334771782780606082[4] = 0;
+   out_334771782780606082[5] = 0;
+   out_334771782780606082[6] = 0;
+   out_334771782780606082[7] = 0;
+   out_334771782780606082[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_5821832937440264682) {
-   out_5821832937440264682[0] = state[8];
+void h_31(double *state, double *unused, double *out_745894969277840380) {
+   out_745894969277840380[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_921299776093719383) {
-   out_921299776093719383[0] = 0;
-   out_921299776093719383[1] = 0;
-   out_921299776093719383[2] = 0;
-   out_921299776093719383[3] = 0;
-   out_921299776093719383[4] = 0;
-   out_921299776093719383[5] = 0;
-   out_921299776093719383[6] = 0;
-   out_921299776093719383[7] = 0;
-   out_921299776093719383[8] = 1;
+void H_31(double *state, double *unused, double *out_2648648489640124019) {
+   out_2648648489640124019[0] = 0;
+   out_2648648489640124019[1] = 0;
+   out_2648648489640124019[2] = 0;
+   out_2648648489640124019[3] = 0;
+   out_2648648489640124019[4] = 0;
+   out_2648648489640124019[5] = 0;
+   out_2648648489640124019[6] = 0;
+   out_2648648489640124019[7] = 0;
+   out_2648648489640124019[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -514,68 +514,68 @@ 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_7360625163823445495) {
-  err_fun(nom_x, delta_x, out_7360625163823445495);
+void car_err_fun(double *nom_x, double *delta_x, double *out_3585265450871354510) {
+  err_fun(nom_x, delta_x, out_3585265450871354510);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8413491231423970122) {
-  inv_err_fun(nom_x, true_x, out_8413491231423970122);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_4534440969468340130) {
+  inv_err_fun(nom_x, true_x, out_4534440969468340130);
 }
-void car_H_mod_fun(double *state, double *out_2632326835772732722) {
-  H_mod_fun(state, out_2632326835772732722);
+void car_H_mod_fun(double *state, double *out_7815971298073658297) {
+  H_mod_fun(state, out_7815971298073658297);
 }
-void car_f_fun(double *state, double dt, double *out_8532698894052839577) {
-  f_fun(state,  dt, out_8532698894052839577);
+void car_f_fun(double *state, double dt, double *out_3011916394083426809) {
+  f_fun(state,  dt, out_3011916394083426809);
 }
-void car_F_fun(double *state, double dt, double *out_5046006616921834778) {
-  F_fun(state,  dt, out_5046006616921834778);
+void car_F_fun(double *state, double dt, double *out_4768916904116545459) {
+  F_fun(state,  dt, out_4768916904116545459);
 }
-void car_h_25(double *state, double *unused, double *out_5546638875155758793) {
-  h_25(state, unused, out_5546638875155758793);
+void car_h_25(double *state, double *unused, double *out_8627167620031889565) {
+  h_25(state, unused, out_8627167620031889565);
 }
-void car_H_25(double *state, double *unused, double *out_890653814216758955) {
-  H_25(state, unused, out_890653814216758955);
+void car_H_25(double *state, double *unused, double *out_1719062931467283681) {
+  H_25(state, unused, out_1719062931467283681);
 }
-void car_h_24(double *state, double *unused, double *out_4367318711229477977) {
-  h_24(state, unused, out_4367318711229477977);
+void car_h_24(double *state, double *unused, double *out_5179238137807796494) {
+  h_24(state, unused, out_5179238137807796494);
 }
-void car_H_24(double *state, double *unused, double *out_4448579413019082091) {
-  H_24(state, unused, out_4448579413019082091);
+void car_H_24(double *state, double *unused, double *out_453586667538215885) {
+  H_24(state, unused, out_453586667538215885);
 }
-void car_h_30(double *state, double *unused, double *out_1909189346901736443) {
-  h_30(state, unused, out_1909189346901736443);
+void car_h_30(double *state, double *unused, double *out_4528864321752517701) {
+  h_30(state, unused, out_4528864321752517701);
 }
-void car_H_30(double *state, double *unused, double *out_7807344155708375710) {
-  H_30(state, unused, out_7807344155708375710);
+void car_H_30(double *state, double *unused, double *out_4237395889974532308) {
+  H_30(state, unused, out_4237395889974532308);
 }
-void car_h_26(double *state, double *unused, double *out_6910862614562582088) {
-  h_26(state, unused, out_6910862614562582088);
+void car_h_26(double *state, double *unused, double *out_5472374174654180136) {
+  h_26(state, unused, out_5472374174654180136);
 }
-void car_H_26(double *state, double *unused, double *out_2850849504657297269) {
-  H_26(state, unused, out_2850849504657297269);
+void car_H_26(double *state, double *unused, double *out_2022440387406772543) {
+  H_26(state, unused, out_2022440387406772543);
 }
-void car_h_27(double *state, double *unused, double *out_3918136026546952058) {
-  h_27(state, unused, out_3918136026546952058);
+void car_h_27(double *state, double *unused, double *out_2749092444325053967) {
+  h_27(state, unused, out_2749092444325053967);
 }
-void car_H_27(double *state, double *unused, double *out_5632580843907950799) {
-  H_27(state, unused, out_5632580843907950799);
+void car_H_27(double *state, double *unused, double *out_6460989961158475525) {
+  H_27(state, unused, out_6460989961158475525);
 }
-void car_h_29(double *state, double *unused, double *out_3092483920759109202) {
-  h_29(state, unused, out_3092483920759109202);
+void car_h_29(double *state, double *unused, double *out_5132180206428995218) {
+  h_29(state, unused, out_5132180206428995218);
 }
-void car_H_29(double *state, double *unused, double *out_8317575500022767894) {
-  H_29(state, unused, out_8317575500022767894);
+void car_H_29(double *state, double *unused, double *out_4747627234288924492) {
+  H_29(state, unused, out_4747627234288924492);
 }
-void car_h_28(double *state, double *unused, double *out_4521451911223429575) {
-  h_28(state, unused, out_4521451911223429575);
+void car_h_28(double *state, double *unused, double *out_9148133961738903113) {
+  h_28(state, unused, out_9148133961738903113);
 }
-void car_H_28(double *state, double *unused, double *out_1163180900031130808) {
-  H_28(state, unused, out_1163180900031130808);
+void car_H_28(double *state, double *unused, double *out_334771782780606082) {
+  H_28(state, unused, out_334771782780606082);
 }
-void car_h_31(double *state, double *unused, double *out_5821832937440264682) {
-  h_31(state, unused, out_5821832937440264682);
+void car_h_31(double *state, double *unused, double *out_745894969277840380) {
+  h_31(state, unused, out_745894969277840380);
 }
-void car_H_31(double *state, double *unused, double *out_921299776093719383) {
-  H_31(state, unused, out_921299776093719383);
+void car_H_31(double *state, double *unused, double *out_2648648489640124019) {
+  H_31(state, unused, out_2648648489640124019);
 }
 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_7360625163823445495);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8413491231423970122);
-void car_H_mod_fun(double *state, double *out_2632326835772732722);
-void car_f_fun(double *state, double dt, double *out_8532698894052839577);
-void car_F_fun(double *state, double dt, double *out_5046006616921834778);
-void car_h_25(double *state, double *unused, double *out_5546638875155758793);
-void car_H_25(double *state, double *unused, double *out_890653814216758955);
-void car_h_24(double *state, double *unused, double *out_4367318711229477977);
-void car_H_24(double *state, double *unused, double *out_4448579413019082091);
-void car_h_30(double *state, double *unused, double *out_1909189346901736443);
-void car_H_30(double *state, double *unused, double *out_7807344155708375710);
-void car_h_26(double *state, double *unused, double *out_6910862614562582088);
-void car_H_26(double *state, double *unused, double *out_2850849504657297269);
-void car_h_27(double *state, double *unused, double *out_3918136026546952058);
-void car_H_27(double *state, double *unused, double *out_5632580843907950799);
-void car_h_29(double *state, double *unused, double *out_3092483920759109202);
-void car_H_29(double *state, double *unused, double *out_8317575500022767894);
-void car_h_28(double *state, double *unused, double *out_4521451911223429575);
-void car_H_28(double *state, double *unused, double *out_1163180900031130808);
-void car_h_31(double *state, double *unused, double *out_5821832937440264682);
-void car_H_31(double *state, double *unused, double *out_921299776093719383);
+void car_err_fun(double *nom_x, double *delta_x, double *out_3585265450871354510);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_4534440969468340130);
+void car_H_mod_fun(double *state, double *out_7815971298073658297);
+void car_f_fun(double *state, double dt, double *out_3011916394083426809);
+void car_F_fun(double *state, double dt, double *out_4768916904116545459);
+void car_h_25(double *state, double *unused, double *out_8627167620031889565);
+void car_H_25(double *state, double *unused, double *out_1719062931467283681);
+void car_h_24(double *state, double *unused, double *out_5179238137807796494);
+void car_H_24(double *state, double *unused, double *out_453586667538215885);
+void car_h_30(double *state, double *unused, double *out_4528864321752517701);
+void car_H_30(double *state, double *unused, double *out_4237395889974532308);
+void car_h_26(double *state, double *unused, double *out_5472374174654180136);
+void car_H_26(double *state, double *unused, double *out_2022440387406772543);
+void car_h_27(double *state, double *unused, double *out_2749092444325053967);
+void car_H_27(double *state, double *unused, double *out_6460989961158475525);
+void car_h_29(double *state, double *unused, double *out_5132180206428995218);
+void car_H_29(double *state, double *unused, double *out_4747627234288924492);
+void car_h_28(double *state, double *unused, double *out_9148133961738903113);
+void car_H_28(double *state, double *unused, double *out_334771782780606082);
+void car_h_31(double *state, double *unused, double *out_745894969277840380);
+void car_H_31(double *state, double *unused, double *out_2648648489640124019);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_rotational_inertia(double x);
 void car_set_center_to_front(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_5308991872147398563);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_5440750294658648606);
-void pose_H_mod_fun(double *state, double *out_7655853576405724458);
-void pose_f_fun(double *state, double dt, double *out_4136808220434975141);
-void pose_F_fun(double *state, double dt, double *out_2537852680944861179);
-void pose_h_4(double *state, double *unused, double *out_7730454059225088569);
-void pose_H_4(double *state, double *unused, double *out_7019083287459919586);
-void pose_h_10(double *state, double *unused, double *out_1910166407148471034);
-void pose_H_10(double *state, double *unused, double *out_3315929574475692252);
-void pose_h_13(double *state, double *unused, double *out_2907941445058093810);
-void pose_H_13(double *state, double *unused, double *out_7593905322947108006);
-void pose_h_14(double *state, double *unused, double *out_5410884076226838020);
-void pose_H_14(double *state, double *unused, double *out_8344872353954259734);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_1372154176746733435);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1523580565963320994);
+void pose_H_mod_fun(double *state, double *out_7104221342799173532);
+void pose_f_fun(double *state, double dt, double *out_7349931890006772642);
+void pose_F_fun(double *state, double dt, double *out_1064691538495726265);
+void pose_h_4(double *state, double *unused, double *out_5786601062018184200);
+void pose_H_4(double *state, double *unused, double *out_8923920068705470393);
+void pose_h_10(double *state, double *unused, double *out_8200446056116706374);
+void pose_H_10(double *state, double *unused, double *out_8156688557227160880);
+void pose_h_13(double *state, double *unused, double *out_9145870174400750931);
+void pose_H_13(double *state, double *unused, double *out_5711646243373137592);
+void pose_h_14(double *state, double *unused, double *out_5989511771500844071);
+void pose_H_14(double *state, double *unused, double *out_6440035572708708927);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c7a3fcfc95813826ca871a80bea18df833aacb2eb6f5333e25a01e65b1a422
+size 799941965

openpilot/selfdrive/modeld/models/big_driving_warp_1344x760_tinygrad.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd16e1a1e0a0cd248c10698c26598033f9d066f58b2739540a2d8264b3a9d007
+size 849004

openpilot/selfdrive/modeld/models/big_driving_warp_1928x1208_tinygrad.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2c74a024ecd7277c5e5b54846a8914a518b5ef946ee67e8005c3ba98769afef
+size 848739

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise.py

@@ -8,6 +8,7 @@ from enum import IntEnum
 
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.cruise_sub_layouts.speed_limit_settings import SpeedLimitSettingsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.system.ui.lib.multilang import tr, tr_noop
 from openpilot.system.ui.sunnypilot.widgets.list_view import toggle_item_sp, option_item_sp, simple_button_item_sp
 from openpilot.system.ui.widgets import Widget
@@ -29,6 +30,7 @@ ACC_ENABLED_DESCRIPTION = tr_noop("Enable custom Short & Long press increments f
 ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot longitudinal control enabled.")
 ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
 ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")
+MAP_UNAVAILABLE_DESCRIPTION = tr_noop("Map data is temporarily unavailable.")
 
 
 class CruiseLayout(Widget):
@@ -54,7 +56,8 @@ class CruiseLayout(Widget):
 
     self.scc_m_toggle = toggle_item_sp(
       title=tr("Smart Cruise Control - Map"),
-      description=tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
+      description=(f"<b>{tr(MAP_UNAVAILABLE_DESCRIPTION)}</b>\n\n" if not MAPD_AVAILABLE else "") +
+                  tr("Use map data to estimate the appropriate speed to drive through turns ahead."),
       param="SmartCruiseControlMap")
 
     self.custom_acc_toggle = toggle_item_sp(
@@ -139,7 +142,7 @@ class CruiseLayout(Widget):
       if has_long or has_icbm:
         self.custom_acc_toggle.action_item.set_enabled(((has_long and not ui_state.CP.pcmCruise) or has_icbm) and ui_state.is_offroad())
         self.scc_v_toggle.action_item.set_enabled(True)
-        self.scc_m_toggle.action_item.set_enabled(True)
+        self.scc_m_toggle.action_item.set_enabled(MAPD_AVAILABLE)
       else:
         ui_state.params.remove("CustomAccIncrementsEnabled")
         ui_state.params.remove("SmartCruiseControlVision")

openpilot/selfdrive/ui/sunnypilot/layouts/settings/cruise_sub_layouts/speed_limit_policy.py

@@ -8,6 +8,8 @@ from collections.abc import Callable
 
 import pyray as rl
 from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy
 from openpilot.system.ui.lib.multilang import tr
 from openpilot.system.ui.sunnypilot.widgets.list_view import multiple_button_item_sp
 from openpilot.system.ui.widgets.network import NavButton
@@ -43,6 +45,8 @@ class SpeedLimitPolicyLayout(Widget):
       param="SpeedLimitPolicy",
       button_width=250,
     )
+    if not MAPD_AVAILABLE:
+      self._speed_limit_policy.action_item.set_enabled_buttons({Policy.car_state_only})
 
     items = [
       self._speed_limit_policy
@@ -51,6 +55,8 @@ class SpeedLimitPolicyLayout(Widget):
 
   @staticmethod
   def _get_policy_description():
+    if not MAPD_AVAILABLE:
+      return f"<b>{tr('Map data is temporarily unavailable. Using Speed Limit data only from Car.')}</b>"
     return get_highlighted_description(ui_state.params, "SpeedLimitPolicy", SPEED_LIMIT_POLICY_DESCRIPTIONS)
 
   def _render(self, rect):

openpilot/sunnypilot/common/version.h

@@ -1 +1 @@
-#define SUNNYPILOT_VERSION "2026.10.19-4954"
+#define SUNNYPILOT_VERSION "2026.003.000"

openpilot/sunnypilot/mapd/__init__.py

@@ -3,3 +3,7 @@ from openpilot.common.basedir import BASEDIR
 
 MAPD_BIN_DIR = os.path.join(BASEDIR, 'openpilot', 'third_party/mapd_pfeiferj')
 MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
+
+# mapd still runs (OSM downloads) but has no position source since ubloxd owns LastGPSPosition;
+# map-based features stay off until mapd is rebuilt
+MAPD_AVAILABLE = False

openpilot/sunnypilot/mapd/live_map_data/osm_map_data.py

@@ -4,7 +4,6 @@ Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
 This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
-import json
 import math
 import platform
 
@@ -27,21 +26,6 @@ class OsmMapData(BaseMapData):
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
 
-    if self.last_position is None:
-      return
-
-    params = {
-      "latitude": self.last_position.latitude,
-      "longitude": self.last_position.longitude,
-    }
-
-    if self.last_bearing is not None:
-      params['bearing'] = self.last_bearing
-
-    # mapd reads its position from the memory params as JSON, so write it for the mapd binary.
-    # LastGPSPosition is registered as BYTES (ubloxd owns the persistent copy for pigeond),
-    # so the JSON payload has to be encoded here.
-    self.mem_params.put("LastGPSPosition", json.dumps(params).encode(), block=True)
 
   def get_current_speed_limit(self) -> float:
     return float(self.mem_params.get("MapSpeedLimit") or 0.0)

openpilot/sunnypilot/mapd/mapd_manager.py

@@ -121,10 +121,6 @@ def update_osm_db() -> None:
   if not mem_params.get("OSMDownloadBounds"):
     mem_params.put("OSMDownloadBounds", "", block=True)
 
-  # mapd reads LastGPSPosition from the memory params as JSON, and it is registered as BYTES upstream
-  if not mem_params.get("LastGPSPosition"):
-    mem_params.put("LastGPSPosition", b"{}", block=True)
-
 
 def main_thread():
   update_installed_version(VERSION, params)

openpilot/sunnypilot/mapd/tests/test_osm_map_data.py

@@ -1,70 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-import json
-import math
-import platform
-
-import openpilot.cereal.messaging as messaging
-from openpilot.cereal import log
-from openpilot.common.params import Params
-from openpilot.common.test import OpenpilotTestCase
-from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
-
-
-class TestOsmMapData(OpenpilotTestCase):
-  """The mapd binary reads its position from the memory params as JSON, so mapd_manager has to feed it."""
-
-  LATITUDE = 32.875134
-  LONGITUDE = -117.209777
-  ALTITUDE = 42.0
-  BEARING = 90.0
-
-  def setup_method(self):
-    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else Params()
-    self.mem_params.remove("LastGPSPosition")
-    self.map_data = OsmMapData()
-    self.pm = messaging.PubMaster(['liveLocationKalman'])
-
-  def location_message(self, status: log.LiveLocationKalman.Status, position_valid: bool):
-    msg = messaging.new_message('liveLocationKalman', valid=True)
-    location = msg.liveLocationKalman
-    location.status = status
-    location.positionGeodetic = {'value': [self.LATITUDE, self.LONGITUDE, self.ALTITUDE], 'valid': position_valid}
-    location.calibratedOrientationNED = {'value': [0.0, 0.0, math.radians(self.BEARING)], 'valid': True}
-    return msg
-
-  def send_location(self, status: log.LiveLocationKalman.Status, position_valid: bool) -> None:
-    # the first exchange synchronizes the PUB/SUB connection, the second one is actually received
-    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
-    self.map_data.sm.update(1000)
-    self.pm.send('liveLocationKalman', self.location_message(status, position_valid))
-    self.map_data.sm.update(1000)
-
-  def read_position(self) -> dict:
-    value = self.mem_params.get("LastGPSPosition")
-    self.assertIsNotNone(value, "LastGPSPosition was not written for mapd")
-    return json.loads(value)
-
-  def test_writes_position_for_mapd(self):
-    self.send_location(log.LiveLocationKalman.Status.valid, True)
-    self.map_data.tick()
-
-    position = self.read_position()
-    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['bearing'], self.BEARING, delta=1e-6)
-
-  def test_invalid_localizer_keeps_last_known_position(self):
-    self.send_location(log.LiveLocationKalman.Status.valid, True)
-    self.map_data.tick()
-
-    self.send_location(log.LiveLocationKalman.Status.uninitialized, False)
-    self.map_data.tick()
-
-    position = self.read_position()
-    self.assertAlmostEqual(position['latitude'], self.LATITUDE, delta=1e-6)
-    self.assertAlmostEqual(position['longitude'], self.LONGITUDE, delta=1e-6)

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/map_controller.py

@@ -9,6 +9,7 @@ from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.navd.helpers import Coordinate
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control import MIN_V
 
@@ -75,7 +76,7 @@ class SmartCruiseControlMap:
   def __init__(self):
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
-    self.enabled = self.params.get_bool("SmartCruiseControlMap")
+    self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
     self.long_enabled = False
     self.long_override = False
     self.is_enabled = False
@@ -101,7 +102,7 @@ class SmartCruiseControlMap:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.enabled = self.params.get_bool("SmartCruiseControlMap")
+      self.enabled = MAPD_AVAILABLE and self.params.get_bool("SmartCruiseControlMap")
 
   def update_calculations(self, sm: messaging.SubMaster) -> None:
     gps = sm[self.gps_location_service]

openpilot/sunnypilot/selfdrive/controls/lib/smart_cruise_control/tests/test_map_controller.py

@@ -8,7 +8,7 @@ import json
 import math
 import platform
 from types import SimpleNamespace
-from unittest.mock import MagicMock
+from unittest.mock import MagicMock, patch
 
 from openpilot.cereal import custom
 from openpilot.common.params import Params
@@ -23,6 +23,8 @@ MapState = VisionState = custom.LongitudinalPlanSP.SmartCruiseControl.MapState
 class TestSmartCruiseControlMap(OpenpilotTestCase):
 
   def setup_method(self):
+    self.mapd_patch = patch("openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.map_controller.MAPD_AVAILABLE", True)
+    self.mapd_patch.start()
     self.params = Params()
     self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
     self.reset_params()
@@ -30,6 +32,9 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     self.sm = MagicMock()
     self.sm.__getitem__.return_value = SimpleNamespace(latitude=0.0, longitude=0.0)
 
+  def teardown_method(self):
+    self.mapd_patch.stop()
+
   def reset_params(self):
     self.params.put_bool("SmartCruiseControlMap", True, block=True)
 
@@ -50,6 +55,14 @@ class TestSmartCruiseControlMap(OpenpilotTestCase):
     assert self.scc_m.state == VisionState.disabled
     assert not self.scc_m.is_active
 
+  def test_mapd_unavailable(self):
+    self.mapd_patch.stop()
+    self.scc_m = SmartCruiseControlMap()
+    for _ in range(int(10. / DT_MDL)):
+      self.scc_m.update(self.sm, True, False, 0., 0., 0.)
+    assert self.scc_m.state == VisionState.disabled
+    self.mapd_patch.start()
+
   def test_disabled(self):
     for _ in range(int(10. / DT_MDL)):
       self.scc_m.update(self.sm, False, False, 0., 0., 0.)

openpilot/sunnypilot/selfdrive/controls/lib/speed_limit/speed_limit_resolver.py

@@ -13,6 +13,7 @@ from openpilot.common.gps import get_gps_location_service
 from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD, get_sanitize_int_param
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Policy, OffsetType
 
@@ -48,6 +49,8 @@ class SpeedLimitResolver:
       Policy.max().value,
       self.params
     )
+    if not MAPD_AVAILABLE:
+      self.policy = Policy.car_state_only
     self._policy_to_sources_map = {
       Policy.car_state_only: [SpeedLimitSource.car],
       Policy.map_data_only: [SpeedLimitSource.map],
@@ -91,7 +94,7 @@ class SpeedLimitResolver:
 
   def update_params(self):
     if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
-      self.policy = self.params.get("SpeedLimitPolicy", return_default=True)
+      self.policy = self.params.get("SpeedLimitPolicy", return_default=True) if MAPD_AVAILABLE else Policy.car_state_only
       self.is_metric = self.params.get_bool("IsMetric")
       self.offset_type = self.params.get("SpeedLimitOffsetType", return_default=True)
       self.offset_value = self.params.get("SpeedLimitValueOffset", return_default=True)

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_8536236811475430067);
-void live_err_fun(double *nom_x, double *delta_x, double *out_4614868058485758139);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_8573554928028298681);
-void live_H_mod_fun(double *state, double *out_6128852447133223565);
-void live_f_fun(double *state, double dt, double *out_7195534889995166041);
-void live_F_fun(double *state, double dt, double *out_9012508306389018670);
-void live_h_4(double *state, double *unused, double *out_2657657745771735915);
-void live_H_4(double *state, double *unused, double *out_1457735078816209632);
-void live_h_9(double *state, double *unused, double *out_181525824636861445);
-void live_H_9(double *state, double *unused, double *out_8744954014080657102);
-void live_h_10(double *state, double *unused, double *out_2940864223365932608);
-void live_H_10(double *state, double *unused, double *out_6591157835936482265);
-void live_h_12(double *state, double *unused, double *out_830811219903448800);
-void live_H_12(double *state, double *unused, double *out_4923523298226523364);
-void live_h_35(double *state, double *unused, double *out_1177115113523305926);
-void live_H_35(double *state, double *unused, double *out_2177960265901509655);
-void live_h_32(double *state, double *unused, double *out_8970203849717307468);
-void live_H_32(double *state, double *unused, double *out_5493453269239321848);
-void live_h_13(double *state, double *unused, double *out_1337448462981849436);
-void live_H_13(double *state, double *unused, double *out_2400089242629978824);
-void live_h_14(double *state, double *unused, double *out_181525824636861445);
-void live_H_14(double *state, double *unused, double *out_8744954014080657102);
-void live_h_33(double *state, double *unused, double *out_3078698583527751553);
-void live_H_33(double *state, double *unused, double *out_972596738737347949);
+void live_H(double *in_vec, double *out_2772122295686760629);
+void live_err_fun(double *nom_x, double *delta_x, double *out_6423955222691101398);
+void live_inv_err_fun(double *nom_x, double *true_x, double *out_719794691562319521);
+void live_H_mod_fun(double *state, double *out_126498273849915804);
+void live_f_fun(double *state, double dt, double *out_309423444720901128);
+void live_F_fun(double *state, double dt, double *out_1032010961160371620);
+void live_h_4(double *state, double *unused, double *out_390901647692918293);
+void live_H_4(double *state, double *unused, double *out_5503350273553476542);
+void live_h_9(double *state, double *unused, double *out_7608991673321319985);
+void live_H_9(double *state, double *unused, double *out_5262160626923885897);
+void live_h_10(double *state, double *unused, double *out_1303176786126841938);
+void live_H_10(double *state, double *unused, double *out_163299894457592615);
+void live_h_12(double *state, double *unused, double *out_9079169607037095226);
+void live_H_12(double *state, double *unused, double *out_483893865521514747);
+void live_h_35(double *state, double *unused, double *out_2930488141765413477);
+void live_H_35(double *state, double *unused, double *out_2261669166803498962);
+void live_h_32(double *state, double *unused, double *out_2212806671509093227);
+void live_H_32(double *state, double *unused, double *out_2079335608929607926);
+void live_h_13(double *state, double *unused, double *out_1599053777318742698);
+void live_H_13(double *state, double *unused, double *out_4211853044970865788);
+void live_h_14(double *state, double *unused, double *out_7608991673321319985);
+void live_H_14(double *state, double *unused, double *out_5262160626923885897);
+void live_h_33(double *state, double *unused, double *out_4867598165434144742);
+void live_H_33(double *state, double *unused, double *out_5412226171442356566);
 void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

openpilot/sunnypilot/sunnylink/capabilities.py

@@ -15,6 +15,7 @@ from opendbc.sunnypilot.car.tesla.values import TeslaFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.hardware import HARDWARE
+from openpilot.sunnypilot.mapd import MAPD_AVAILABLE
 
 
 # Wire-protocol version for the capabilities payload. Bump on breaking changes
@@ -43,6 +44,7 @@ CAPABILITY_FIELDS = (
   "device_type",
   "subaru_has_sng",
   "hyundai_alpha_long_available",
+  "mapd_available",
 )
 
 CAPABILITY_LABELS: dict[str, str] = {
@@ -65,6 +67,7 @@ CAPABILITY_LABELS: dict[str, str] = {
   "device_type": "Device type",
   "subaru_has_sng": "Subaru Stop-and-Go available",
   "hyundai_alpha_long_available": "Hyundai Alpha Longitudinal available",
+  "mapd_available": "Map data available",
 }
 
 # Explicit defaults for non-boolean capability fields
@@ -132,6 +135,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
   caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
   caps["is_development"] = params.get_bool("IsDevelopmentBranch")
   caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
+  caps["mapd_available"] = MAPD_AVAILABLE
 
   bundle = params.get("CarPlatformBundle")
   bundle_brand = _bundle_field(bundle, "brand")

openpilot/sunnypilot/sunnylink/docs/README.md

@@ -156,7 +156,7 @@ The tables below describe the **compiled** `settings_ui.json` schema — what th
 
 **Enablement rules**: Grayed out (disabled) when rules fail. Frontend shows a contextual badge explaining why.
 
-**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`
+**Capability fields** (referenced in rules): `has_longitudinal_control`, `has_icbm`, `icbm_available`, `torque_allowed`, `brand`, `pcm_cruise`, `alpha_long_available`, `steer_control_type`, `has_bsm`, `is_release`, `is_sp_release`, `is_development`, `tesla_has_vehicle_bus`, `has_stop_and_go`, `stock_longitudinal`, `mapd_available`
 
 ---
 

openpilot/sunnypilot/sunnylink/settings_ui.json

@@ -857,19 +857,47 @@
                     },
                     {
                       "value": 1,
-                      "label": "Map Data Only"
+                      "label": "Map Data Only",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 2,
-                      "label": "Car State Priority"
+                      "label": "Car State Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 3,
-                      "label": "Map Data Priority"
+                      "label": "Map Data Priority",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     },
                     {
                       "value": 4,
-                      "label": "Combined"
+                      "label": "Combined",
+                      "enablement": [
+                        {
+                          "type": "capability",
+                          "field": "mapd_available",
+                          "equals": true
+                        }
+                      ]
                     }
                   ]
                 },
@@ -1001,6 +1029,11 @@
                 }
               ],
               "enablement": [
+                {
+                  "type": "capability",
+                  "field": "mapd_available",
+                  "equals": true
+                },
                 {
                   "type": "any",
                   "conditions": [

openpilot/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml

@@ -167,12 +167,28 @@ sections:
         label: Car State Only
       - value: 1
         label: Map Data Only
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 2
         label: Car State Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 3
         label: Map Data Priority
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
       - value: 4
         label: Combined
+        enablement:
+        - type: capability
+          field: mapd_available
+          equals: true
     - key: SpeedLimitOffsetType
       widget: multiple_button
       title: Speed Limit Offset Type
@@ -246,6 +262,9 @@ sections:
         field: has_icbm
         equals: true
     enablement:
+    - type: capability
+      field: mapd_available
+      equals: true
     - type: any
       conditions:
       - type: capability