sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede44

launch_openpilot.sh

@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

openpilot/selfdrive/controls/plannerd.py

@@ -23,13 +23,14 @@ def main():
   cloudlog.info("plannerd got CarParamsSP")
 
   gps_location_service = get_gps_location_service(params)
+  ignore_services = ["liveMapDataSP", gps_location_service]
 
   ldw = LaneDepartureWarning()
   longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
                             'liveMapDataSP', 'carStateSP', gps_location_service],
-                           poll='carState')
+                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
 
   while True:
     sm.update()

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_4503132331689013745) {
-   out_4503132331689013745[0] = delta_x[0] + nom_x[0];
-   out_4503132331689013745[1] = delta_x[1] + nom_x[1];
-   out_4503132331689013745[2] = delta_x[2] + nom_x[2];
-   out_4503132331689013745[3] = delta_x[3] + nom_x[3];
-   out_4503132331689013745[4] = delta_x[4] + nom_x[4];
-   out_4503132331689013745[5] = delta_x[5] + nom_x[5];
-   out_4503132331689013745[6] = delta_x[6] + nom_x[6];
-   out_4503132331689013745[7] = delta_x[7] + nom_x[7];
-   out_4503132331689013745[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_5519222819843562437) {
-   out_5519222819843562437[0] = -nom_x[0] + true_x[0];
-   out_5519222819843562437[1] = -nom_x[1] + true_x[1];
-   out_5519222819843562437[2] = -nom_x[2] + true_x[2];
-   out_5519222819843562437[3] = -nom_x[3] + true_x[3];
-   out_5519222819843562437[4] = -nom_x[4] + true_x[4];
-   out_5519222819843562437[5] = -nom_x[5] + true_x[5];
-   out_5519222819843562437[6] = -nom_x[6] + true_x[6];
-   out_5519222819843562437[7] = -nom_x[7] + true_x[7];
-   out_5519222819843562437[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_99880963271144866) {
-   out_99880963271144866[0] = 1.0;
-   out_99880963271144866[1] = 0.0;
-   out_99880963271144866[2] = 0.0;
-   out_99880963271144866[3] = 0.0;
-   out_99880963271144866[4] = 0.0;
-   out_99880963271144866[5] = 0.0;
-   out_99880963271144866[6] = 0.0;
-   out_99880963271144866[7] = 0.0;
-   out_99880963271144866[8] = 0.0;
-   out_99880963271144866[9] = 0.0;
-   out_99880963271144866[10] = 1.0;
-   out_99880963271144866[11] = 0.0;
-   out_99880963271144866[12] = 0.0;
-   out_99880963271144866[13] = 0.0;
-   out_99880963271144866[14] = 0.0;
-   out_99880963271144866[15] = 0.0;
-   out_99880963271144866[16] = 0.0;
-   out_99880963271144866[17] = 0.0;
-   out_99880963271144866[18] = 0.0;
-   out_99880963271144866[19] = 0.0;
-   out_99880963271144866[20] = 1.0;
-   out_99880963271144866[21] = 0.0;
-   out_99880963271144866[22] = 0.0;
-   out_99880963271144866[23] = 0.0;
-   out_99880963271144866[24] = 0.0;
-   out_99880963271144866[25] = 0.0;
-   out_99880963271144866[26] = 0.0;
-   out_99880963271144866[27] = 0.0;
-   out_99880963271144866[28] = 0.0;
-   out_99880963271144866[29] = 0.0;
-   out_99880963271144866[30] = 1.0;
-   out_99880963271144866[31] = 0.0;
-   out_99880963271144866[32] = 0.0;
-   out_99880963271144866[33] = 0.0;
-   out_99880963271144866[34] = 0.0;
-   out_99880963271144866[35] = 0.0;
-   out_99880963271144866[36] = 0.0;
-   out_99880963271144866[37] = 0.0;
-   out_99880963271144866[38] = 0.0;
-   out_99880963271144866[39] = 0.0;
-   out_99880963271144866[40] = 1.0;
-   out_99880963271144866[41] = 0.0;
-   out_99880963271144866[42] = 0.0;
-   out_99880963271144866[43] = 0.0;
-   out_99880963271144866[44] = 0.0;
-   out_99880963271144866[45] = 0.0;
-   out_99880963271144866[46] = 0.0;
-   out_99880963271144866[47] = 0.0;
-   out_99880963271144866[48] = 0.0;
-   out_99880963271144866[49] = 0.0;
-   out_99880963271144866[50] = 1.0;
-   out_99880963271144866[51] = 0.0;
-   out_99880963271144866[52] = 0.0;
-   out_99880963271144866[53] = 0.0;
-   out_99880963271144866[54] = 0.0;
-   out_99880963271144866[55] = 0.0;
-   out_99880963271144866[56] = 0.0;
-   out_99880963271144866[57] = 0.0;
-   out_99880963271144866[58] = 0.0;
-   out_99880963271144866[59] = 0.0;
-   out_99880963271144866[60] = 1.0;
-   out_99880963271144866[61] = 0.0;
-   out_99880963271144866[62] = 0.0;
-   out_99880963271144866[63] = 0.0;
-   out_99880963271144866[64] = 0.0;
-   out_99880963271144866[65] = 0.0;
-   out_99880963271144866[66] = 0.0;
-   out_99880963271144866[67] = 0.0;
-   out_99880963271144866[68] = 0.0;
-   out_99880963271144866[69] = 0.0;
-   out_99880963271144866[70] = 1.0;
-   out_99880963271144866[71] = 0.0;
-   out_99880963271144866[72] = 0.0;
-   out_99880963271144866[73] = 0.0;
-   out_99880963271144866[74] = 0.0;
-   out_99880963271144866[75] = 0.0;
-   out_99880963271144866[76] = 0.0;
-   out_99880963271144866[77] = 0.0;
-   out_99880963271144866[78] = 0.0;
-   out_99880963271144866[79] = 0.0;
-   out_99880963271144866[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_4490574509847198287) {
-   out_4490574509847198287[0] = state[0];
-   out_4490574509847198287[1] = state[1];
-   out_4490574509847198287[2] = state[2];
-   out_4490574509847198287[3] = state[3];
-   out_4490574509847198287[4] = state[4];
-   out_4490574509847198287[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_4490574509847198287[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_4490574509847198287[7] = state[7];
-   out_4490574509847198287[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_5588273031121660281) {
-   out_5588273031121660281[0] = 1;
-   out_5588273031121660281[1] = 0;
-   out_5588273031121660281[2] = 0;
-   out_5588273031121660281[3] = 0;
-   out_5588273031121660281[4] = 0;
-   out_5588273031121660281[5] = 0;
-   out_5588273031121660281[6] = 0;
-   out_5588273031121660281[7] = 0;
-   out_5588273031121660281[8] = 0;
-   out_5588273031121660281[9] = 0;
-   out_5588273031121660281[10] = 1;
-   out_5588273031121660281[11] = 0;
-   out_5588273031121660281[12] = 0;
-   out_5588273031121660281[13] = 0;
-   out_5588273031121660281[14] = 0;
-   out_5588273031121660281[15] = 0;
-   out_5588273031121660281[16] = 0;
-   out_5588273031121660281[17] = 0;
-   out_5588273031121660281[18] = 0;
-   out_5588273031121660281[19] = 0;
-   out_5588273031121660281[20] = 1;
-   out_5588273031121660281[21] = 0;
-   out_5588273031121660281[22] = 0;
-   out_5588273031121660281[23] = 0;
-   out_5588273031121660281[24] = 0;
-   out_5588273031121660281[25] = 0;
-   out_5588273031121660281[26] = 0;
-   out_5588273031121660281[27] = 0;
-   out_5588273031121660281[28] = 0;
-   out_5588273031121660281[29] = 0;
-   out_5588273031121660281[30] = 1;
-   out_5588273031121660281[31] = 0;
-   out_5588273031121660281[32] = 0;
-   out_5588273031121660281[33] = 0;
-   out_5588273031121660281[34] = 0;
-   out_5588273031121660281[35] = 0;
-   out_5588273031121660281[36] = 0;
-   out_5588273031121660281[37] = 0;
-   out_5588273031121660281[38] = 0;
-   out_5588273031121660281[39] = 0;
-   out_5588273031121660281[40] = 1;
-   out_5588273031121660281[41] = 0;
-   out_5588273031121660281[42] = 0;
-   out_5588273031121660281[43] = 0;
-   out_5588273031121660281[44] = 0;
-   out_5588273031121660281[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_5588273031121660281[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_5588273031121660281[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_5588273031121660281[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_5588273031121660281[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_5588273031121660281[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_5588273031121660281[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_5588273031121660281[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_5588273031121660281[53] = -9.8100000000000005*dt;
-   out_5588273031121660281[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_5588273031121660281[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_5588273031121660281[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5588273031121660281[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5588273031121660281[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_5588273031121660281[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_5588273031121660281[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_5588273031121660281[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_5588273031121660281[62] = 0;
-   out_5588273031121660281[63] = 0;
-   out_5588273031121660281[64] = 0;
-   out_5588273031121660281[65] = 0;
-   out_5588273031121660281[66] = 0;
-   out_5588273031121660281[67] = 0;
-   out_5588273031121660281[68] = 0;
-   out_5588273031121660281[69] = 0;
-   out_5588273031121660281[70] = 1;
-   out_5588273031121660281[71] = 0;
-   out_5588273031121660281[72] = 0;
-   out_5588273031121660281[73] = 0;
-   out_5588273031121660281[74] = 0;
-   out_5588273031121660281[75] = 0;
-   out_5588273031121660281[76] = 0;
-   out_5588273031121660281[77] = 0;
-   out_5588273031121660281[78] = 0;
-   out_5588273031121660281[79] = 0;
-   out_5588273031121660281[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_4633670035125740311) {
-   out_4633670035125740311[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_9153674884526169513) {
-   out_9153674884526169513[0] = 0;
-   out_9153674884526169513[1] = 0;
-   out_9153674884526169513[2] = 0;
-   out_9153674884526169513[3] = 0;
-   out_9153674884526169513[4] = 0;
-   out_9153674884526169513[5] = 0;
-   out_9153674884526169513[6] = 1;
-   out_9153674884526169513[7] = 0;
-   out_9153674884526169513[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_4147879785077922233) {
-   out_4147879785077922233[0] = state[4];
-   out_4147879785077922233[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_7067361405204513541) {
-   out_7067361405204513541[0] = 0;
-   out_7067361405204513541[1] = 0;
-   out_7067361405204513541[2] = 0;
-   out_7067361405204513541[3] = 0;
-   out_7067361405204513541[4] = 1;
-   out_7067361405204513541[5] = 0;
-   out_7067361405204513541[6] = 0;
-   out_7067361405204513541[7] = 0;
-   out_7067361405204513541[8] = 0;
-   out_7067361405204513541[9] = 0;
-   out_7067361405204513541[10] = 0;
-   out_7067361405204513541[11] = 0;
-   out_7067361405204513541[12] = 0;
-   out_7067361405204513541[13] = 0;
-   out_7067361405204513541[14] = 1;
-   out_7067361405204513541[15] = 0;
-   out_7067361405204513541[16] = 0;
-   out_7067361405204513541[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_8271119563379762661) {
-   out_8271119563379762661[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_2376378847691765348) {
-   out_2376378847691765348[0] = 0;
-   out_2376378847691765348[1] = 0;
-   out_2376378847691765348[2] = 0;
-   out_2376378847691765348[3] = 0;
-   out_2376378847691765348[4] = 1;
-   out_2376378847691765348[5] = 0;
-   out_2376378847691765348[6] = 0;
-   out_2376378847691765348[7] = 0;
-   out_2376378847691765348[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_749423849060713781) {
-   out_749423849060713781[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_5412171565652113289) {
-   out_5412171565652113289[0] = 0;
-   out_5412171565652113289[1] = 0;
-   out_5412171565652113289[2] = 0;
-   out_5412171565652113289[3] = 0;
-   out_5412171565652113289[4] = 0;
-   out_5412171565652113289[5] = 0;
-   out_5412171565652113289[6] = 0;
-   out_5412171565652113289[7] = 1;
-   out_5412171565652113289[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_2801473399302960502) {
-   out_2801473399302960502[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_6849572625582504532) {
-   out_6849572625582504532[0] = 0;
-   out_6849572625582504532[1] = 0;
-   out_6849572625582504532[2] = 0;
-   out_6849572625582504532[3] = 1;
-   out_6849572625582504532[4] = 0;
-   out_6849572625582504532[5] = 0;
-   out_6849572625582504532[6] = 0;
-   out_6849572625582504532[7] = 0;
-   out_6849572625582504532[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_5173951242668943310) {
-   out_5173951242668943310[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_8912176792012229989) {
-   out_8912176792012229989[0] = 0;
-   out_8912176792012229989[1] = 1;
-   out_8912176792012229989[2] = 0;
-   out_8912176792012229989[3] = 0;
-   out_8912176792012229989[4] = 0;
-   out_8912176792012229989[5] = 0;
-   out_8912176792012229989[6] = 0;
-   out_8912176792012229989[7] = 0;
-   out_8912176792012229989[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_5994836064963036638) {
-   out_5994836064963036638[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_6948546520446903738) {
-   out_6948546520446903738[0] = 1;
-   out_6948546520446903738[1] = 0;
-   out_6948546520446903738[2] = 0;
-   out_6948546520446903738[3] = 0;
-   out_6948546520446903738[4] = 0;
-   out_6948546520446903738[5] = 0;
-   out_6948546520446903738[6] = 0;
-   out_6948546520446903738[7] = 0;
-   out_6948546520446903738[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_6352515274334922980) {
-   out_6352515274334922980[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_9184320846403129941) {
-   out_9184320846403129941[0] = 0;
-   out_9184320846403129941[1] = 0;
-   out_9184320846403129941[2] = 0;
-   out_9184320846403129941[3] = 0;
-   out_9184320846403129941[4] = 0;
-   out_9184320846403129941[5] = 0;
-   out_9184320846403129941[6] = 0;
-   out_9184320846403129941[7] = 0;
-   out_9184320846403129941[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_4503132331689013745) {
-  err_fun(nom_x, delta_x, out_4503132331689013745);
+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_5519222819843562437) {
-  inv_err_fun(nom_x, true_x, out_5519222819843562437);
+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_99880963271144866) {
-  H_mod_fun(state, out_99880963271144866);
+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_4490574509847198287) {
-  f_fun(state,  dt, out_4490574509847198287);
+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_5588273031121660281) {
-  F_fun(state,  dt, out_5588273031121660281);
+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_4633670035125740311) {
-  h_25(state, unused, out_4633670035125740311);
+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_9153674884526169513) {
-  H_25(state, unused, out_9153674884526169513);
+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_4147879785077922233) {
-  h_24(state, unused, out_4147879785077922233);
+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_7067361405204513541) {
-  H_24(state, unused, out_7067361405204513541);
+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_8271119563379762661) {
-  h_30(state, unused, out_8271119563379762661);
+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_2376378847691765348) {
-  H_30(state, unused, out_2376378847691765348);
+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_749423849060713781) {
-  h_26(state, unused, out_749423849060713781);
+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_5412171565652113289) {
-  H_26(state, unused, out_5412171565652113289);
+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_2801473399302960502) {
-  h_27(state, unused, out_2801473399302960502);
+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_6849572625582504532) {
-  H_27(state, unused, out_6849572625582504532);
+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_5173951242668943310) {
-  h_29(state, unused, out_5173951242668943310);
+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_8912176792012229989) {
-  H_29(state, unused, out_8912176792012229989);
+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_5994836064963036638) {
-  h_28(state, unused, out_5994836064963036638);
+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_6948546520446903738) {
-  H_28(state, unused, out_6948546520446903738);
+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_6352515274334922980) {
-  h_31(state, unused, out_6352515274334922980);
+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_9184320846403129941) {
-  H_31(state, unused, out_9184320846403129941);
+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_4503132331689013745);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_5519222819843562437);
-void car_H_mod_fun(double *state, double *out_99880963271144866);
-void car_f_fun(double *state, double dt, double *out_4490574509847198287);
-void car_F_fun(double *state, double dt, double *out_5588273031121660281);
-void car_h_25(double *state, double *unused, double *out_4633670035125740311);
-void car_H_25(double *state, double *unused, double *out_9153674884526169513);
-void car_h_24(double *state, double *unused, double *out_4147879785077922233);
-void car_H_24(double *state, double *unused, double *out_7067361405204513541);
-void car_h_30(double *state, double *unused, double *out_8271119563379762661);
-void car_H_30(double *state, double *unused, double *out_2376378847691765348);
-void car_h_26(double *state, double *unused, double *out_749423849060713781);
-void car_H_26(double *state, double *unused, double *out_5412171565652113289);
-void car_h_27(double *state, double *unused, double *out_2801473399302960502);
-void car_H_27(double *state, double *unused, double *out_6849572625582504532);
-void car_h_29(double *state, double *unused, double *out_5173951242668943310);
-void car_H_29(double *state, double *unused, double *out_8912176792012229989);
-void car_h_28(double *state, double *unused, double *out_5994836064963036638);
-void car_H_28(double *state, double *unused, double *out_6948546520446903738);
-void car_h_31(double *state, double *unused, double *out_6352515274334922980);
-void car_H_31(double *state, double *unused, double *out_9184320846403129941);
+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_8799966904452395012);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_1661397671847398073);
-void pose_H_mod_fun(double *state, double *out_2131008325054536789);
-void pose_f_fun(double *state, double dt, double *out_884777716370448931);
-void pose_F_fun(double *state, double dt, double *out_6755798908020795646);
-void pose_h_4(double *state, double *unused, double *out_4561759232303120700);
-void pose_H_4(double *state, double *unused, double *out_5331418226156006813);
-void pose_h_10(double *state, double *unused, double *out_8855709713594721197);
-void pose_H_10(double *state, double *unused, double *out_3758101988975610904);
-void pose_h_13(double *state, double *unused, double *out_6255148116667054704);
-void pose_H_13(double *state, double *unused, double *out_2279212982160694116);
-void pose_h_14(double *state, double *unused, double *out_5422638595254952120);
-void pose_H_14(double *state, double *unused, double *out_8414206658451379109);
+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 "2026.07.20-4574"
+#define SUNNYPILOT_VERSION "2026.002.000"

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_285400171142782786);
-void live_err_fun(double *nom_x, double *delta_x, double *out_2436896259464335423);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_8871984062805370648);
-void live_H_mod_fun(double *state, double *out_8228926511208625476);
-void live_f_fun(double *state, double dt, double *out_4538780046133425309);
-void live_F_fun(double *state, double dt, double *out_417010570473098233);
-void live_h_4(double *state, double *unused, double *out_2309729505615761905);
-void live_H_4(double *state, double *unused, double *out_8886506882666231613);
-void live_h_9(double *state, double *unused, double *out_1348765263594904281);
-void live_H_9(double *state, double *unused, double *out_8645317236036640968);
-void live_h_10(double *state, double *unused, double *out_7251990229046891328);
-void live_H_10(double *state, double *unused, double *out_2812694342253054382);
-void live_h_12(double *state, double *unused, double *out_1162751087914723431);
-void live_H_12(double *state, double *unused, double *out_3867050474634269818);
-void live_h_35(double *state, double *unused, double *out_1137082034917540827);
-void live_H_35(double *state, double *unused, double *out_5519844825293624237);
-void live_h_32(double *state, double *unused, double *out_7169859216053261212);
-void live_H_32(double *state, double *unused, double *out_7164684335004523839);
-void live_h_13(double *state, double *unused, double *out_4721203745943767592);
-void live_H_13(double *state, double *unused, double *out_6086407052825232130);
-void live_h_14(double *state, double *unused, double *out_1348765263594904281);
-void live_H_14(double *state, double *unused, double *out_8645317236036640968);
-void live_h_33(double *state, double *unused, double *out_859896650697914554);
-void live_H_33(double *state, double *unused, double *out_2369287820654766633);
+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);
 }

openpilot/sunnypilot/system/hardware/c3/README.md

@@ -1,3 +0,0 @@
-# C3 specific hardware code
-
-`c3` is known as `tici` and comma three by comma. Not to confuse it with `c3x` which is known as `tizi`.

openpilot/sunnypilot/system/hardware/c3/agnos.json

@@ -1,84 +0,0 @@
-[
-  {
-    "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b.img.xz",
-    "hash": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "hash_raw": "effa23294138e2297b85a5b482a885184c437b5ab25d74f2a62d4fce4e68f63b",
-    "size": 3282256,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "ed61a650bea0c56652dd0fc68465d8fc722a4e6489dc8f257630c42c6adcdc89"
-  },
-  {
-    "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c.img.xz",
-    "hash": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "hash_raw": "63d019efed684601f145ef37628e62c8da73f5053a8e51d7de09e72b8b11f97c",
-    "size": 98124,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "b12801ffaa81e58e3cef914488d3b447e35483ba549b28c6cd9deb4814c3265f"
-  },
-  {
-    "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6.img.xz",
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-    "size": 274432,
-    "sparse": false,
-    "full_check": true,
-    "has_ab": true,
-    "ondevice_hash": "32a2174b5f764e95dfc54cf358ba01752943b1b3b90e626149c3da7d5f1830b6"
-  },
-  {
-    "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
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-    "has_ab": true,
-    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
-  },
-  {
-    "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
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-  },
-  {
-    "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-0191529aa97d90d1fa04b472d80230b777606459e1e1e9e2323c9519839827b4.img.xz",
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openpilot/sunnypilot/system/hardware/c3/launch_chffrplus.sh

@@ -1,100 +0,0 @@
-#!/usr/bin/env bash
-
-SP_C3_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-DIR="$( cd "$SP_C3_DIR/../../../../.." >/dev/null 2>&1 && pwd )"
-
-source "$SP_C3_DIR/launch_env.sh"
-
-function agnos_init {
-  # TODO: move this to agnos
-  sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
-
-  # set success flag for current boot slot
-  sudo abctl --set_success
-
-  # TODO: do this without udev in AGNOS
-  # udev does this, but sometimes we startup faster
-  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
-
-
-  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
-    AGNOS_PY="$DIR/openpilot/common/hardware/tici/agnos.py"
-    MANIFEST="$SP_C3_DIR/agnos.json"
-    if $AGNOS_PY --verify $MANIFEST; then
-      sudo reboot
-    fi
-    $DIR/openpilot/common/hardware/tici/updater $AGNOS_PY $MANIFEST
-  fi
-}
-
-function launch {
-  # Remove orphaned git lock if it exists on boot
-  [ -f "$DIR/.git/index.lock" ] && rm -f $DIR/.git/index.lock
-
-  # Check to see if there's a valid overlay-based update available. Conditions
-  # are as follows:
-  #
-  # 1. The DIR init file has to exist, with a newer modtime than anything in
-  #    the DIR Git repo. This checks for local development work or the user
-  #    switching branches/forks, which should not be overwritten.
-  # 2. The FINALIZED consistent file has to exist, indicating there's an update
-  #    that completed successfully and synced to disk.
-
-  if [ -f "${DIR}/.overlay_init" ]; then
-    find ${DIR}/.git -newer ${DIR}/.overlay_init | grep -q '.' 2> /dev/null
-    if [ $? -eq 0 ]; then
-      echo "${DIR} has been modified, skipping overlay update installation"
-    else
-      if [ -f "${STAGING_ROOT}/finalized/.overlay_consistent" ]; then
-        if [ ! -d /data/safe_staging/old_openpilot ]; then
-          echo "Valid overlay update found, installing"
-          LAUNCHER_LOCATION="${BASH_SOURCE[0]}"
-
-          mv $DIR /data/safe_staging/old_openpilot
-          mv "${STAGING_ROOT}/finalized" $DIR
-          cd $DIR
-
-          echo "Restarting launch script ${LAUNCHER_LOCATION}"
-          unset AGNOS_VERSION
-          exec "${LAUNCHER_LOCATION}"
-        else
-          echo "openpilot backup found, not updating"
-          # TODO: restore backup? This means the updater didn't start after swapping
-        fi
-      fi
-    fi
-  fi
-
-  # handle pythonpath
-  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD"
-
-  # submodule package symlinks for PYTHONPATH imports on device.
-  # on PC these come from editable installs via pyproject.toml / uv.
-  ln -sfn msgq_repo/msgq msgq
-  ln -sfn opendbc_repo/opendbc opendbc
-  ln -sfn rednose_repo/rednose rednose
-  ln -sfn teleoprtc_repo/teleoprtc teleoprtc
-  ln -sfn tinygrad_repo/tinygrad tinygrad
-
-  # hardware specific init
-  if [ -f /AGNOS ]; then
-    agnos_init
-  fi
-
-  # write tmux scrollback to a file
-  tmux capture-pane -pq -S-1000 > /tmp/launch_log
-
-  # start manager
-  cd $DIR/openpilot/system/manager
-  if [ ! -f $DIR/prebuilt ]; then
-    ./build.py
-  fi
-  ./manager.py
-
-  # if broken, keep on screen error
-  while true; do sleep 1; done
-}
-
-launch

openpilot/sunnypilot/system/hardware/c3/launch_env.sh

@@ -1,13 +0,0 @@
-#!/usr/bin/env bash
-
-export OMP_NUM_THREADS=1
-export MKL_NUM_THREADS=1
-export NUMEXPR_NUM_THREADS=1
-export OPENBLAS_NUM_THREADS=1
-export VECLIB_MAXIMUM_THREADS=1
-
-if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="12.8"
-fi
-
-export STAGING_ROOT="/data/safe_staging"

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