dragonpilot 2022-09-01T09:01:29 for EON/C2

version: dragonpilot v0.8.17 beta for EON/C2
date: 2022-09-01T09:01:29
dp-dev(priv2) master commit: 1aee3e0728e47b4789623262fd595a3bccb7fe6e

CHANGELOGS.md

@@ -5,6 +5,7 @@ dragonpilot [latest] - EON/C2 Release
 * TWEAK: Used fused location service on mapd.
 * TWEAK: Used fused location service on gpxd.
 * NEW: Added back auto boot on C2.
+* NEW: TOYOTA - Door auto lock/unlock. (Thanks to @AlexandreSato and @cydia2020)
 
 dragonpilot 2022.08.29 - EON/C2 Release
 ========================

cereal/dp.capnp

@@ -17,14 +17,19 @@ struct DragonConf {
   dpUiVolume @9 :Int8;
   dpUiBrightness @10 :UInt8;
   dpUiDisplayMode @11 :UInt8;
-  dpToyotaSng @12 :Bool;
-  dpAccelProfileCtrl @13 :Bool;
-  dpAccelProfile @14 :UInt8;
-  dpToyotaCruiseOverride @15 :Bool;
-  dpToyotaCruiseOverrideSpeed @16 :UInt8;
-  dpUseLanelines @17 :Bool;
-  dpMapd @18 :Bool;
-  dpDashcamd @19 :Bool;
-  dpMazdaSteerAlert @20 :Bool;
-  dpCameraOffset @21 :Int8;
+  dpUiSpeed @12 :Bool;
+  dpUiEvent @13 :Bool;
+  dpUiFace @14 :Bool;
+  dpToyotaSng @15 :Bool;
+  dpAccelProfileCtrl @16 :Bool;
+  dpAccelProfile @17 :UInt8;
+  dpToyotaCruiseOverride @18 :Bool;
+  dpToyotaCruiseOverrideSpeed @19 :UInt8;
+  dpToyotaAutoLock @20 :Bool;
+  dpToyotaAutoUnlock @21 :Bool;
+  dpUseLanelines @22 :Bool;
+  dpMapd @23 :Bool;
+  dpDashcamd @24 :Bool;
+  dpMazdaSteerAlert @25 :Bool;
+  dpCameraOffset @26 :Int8;
 }

common/dp_conf.py

@@ -61,6 +61,9 @@ confs = [
   {'name': 'dp_ui_volume', 'default': -5, 'type': 'Int8', 'min': -5, 'max': 100, 'conf_type': ['param', 'struct']},
   {'name': 'dp_ui_brightness', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 100, 'conf_type': ['param', 'struct']},
   {'name': 'dp_ui_display_mode', 'default': 0, 'type': 'UInt8', 'min': 0, 'max': 1, 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_speed', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_event', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_ui_face', 'default': True, 'type': 'Bool', 'conf_type': ['param', 'struct']},
 
   #toyota
   {'name': 'dp_toyota_sng', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
@@ -69,6 +72,8 @@ confs = [
   {'name': 'dp_toyota_ap_btn_link', 'default': False, 'type': 'Bool', 'conf_type': ['param']},
   {'name': 'dp_toyota_cruise_override', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_toyota_cruise_override_speed', 'default': 30, 'type': 'UInt8', 'min': 5, 'max': 60, 'depends': [{'name': 'dp_accel_profile_ctrl', 'vals': [True]}], 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_auto_lock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
+  {'name': 'dp_toyota_auto_unlock', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
 
   {'name': 'dp_use_lanelines', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},
   {'name': 'dp_mapd', 'default': False, 'type': 'Bool', 'conf_type': ['param', 'struct']},

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "2022.08.30"
+#define COMMA_VERSION "2022.09.01"

selfdrive/car/toyota/carcontroller.py

@@ -7,6 +7,7 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma
 from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams
 from opendbc.can.packer import CANPacker
+from common.conversions import Conversions as CV
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -14,6 +15,11 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
 MAX_STEER_RATE = 100  # deg/s
 MAX_STEER_RATE_FRAMES = 19
 
+GearShifter = car.CarState.GearShifter
+UNLOCK_CMD = b'\x40\x05\x30\x11\x00\x40\x00\x00'
+LOCK_CMD = b'\x40\x05\x30\x11\x00\x80\x00\x00'
+LOCK_AT_SPEED = 25 * CV.KPH_TO_MS
+
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
@@ -34,10 +40,17 @@ class CarController:
     self.dp_toyota_sng = False
     self.dp_atl = 0
 
+    self.dp_toyota_auto_lock = False
+    self.dp_toyota_auto_unlock = False
+    self.last_gear = GearShifter.park
+    self.lock_once = False
+
   def update(self, CC, CS, dragonconf):
     if dragonconf is not None:
       self.dp_toyota_sng = dragonconf.dpToyotaSng
       self.dp_atl = dragonconf.dpAtl
+      self.dp_toyota_auto_lock = dragonconf.dpToyotaAutoLock
+      self.dp_toyota_auto_unlock = dragonconf.dpToyotaAutoUnlock
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -104,6 +117,21 @@ class CarController:
 
     can_sends = []
 
+    # dp - door auto lock / unlock logic
+    # thanks to AlexandreSato & cydia2020
+    # https://github.com/AlexandreSato/openpilot/blob/personal/doors.py
+    if self.dp_toyota_auto_lock or self.dp_toyota_auto_unlock:
+      gear = CS.out.gearShifter
+      if self.last_gear != gear and gear == GearShifter.park:
+        if self.dp_toyota_auto_unlock:
+          can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
+        if self.dp_toyota_auto_lock:
+          self.lock_once = False
+      elif self.dp_toyota_auto_lock and gear == GearShifter.drive and not self.lock_once and CS.out.vEgo >= LOCK_AT_SPEED:
+        can_sends.append(make_can_msg(0x750, LOCK_CMD, 0))
+        self.lock_once = True
+      self.last_gear = gear
+
     # *** control msgs ***
     # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
 

selfdrive/dragonpilot/dashcamd.py

@@ -31,7 +31,6 @@ DASHCAM_BIT_RATES = 4000000 # max is 4000000
 DASHCAM_MAX_SIZE_PER_FILE = DASHCAM_BIT_RATES/8*DASHCAM_DURATION # 4Mbps / 8 * 180 = 90MB per 180 seconds
 DASHCAM_FREESPACE_LIMIT = 15 # we start cleaning up footage when freespace is below 15%
 DASHCAM_KEPT_MIN_SIZE = DASHCAM_MAX_SIZE_PER_FILE * 240 # 12 hrs of video = 21GB
-DASHCAM_KEPT_MIN_CNT = 10 # keep at least 10 files, ~30 mins / 1GB
 
 class Dashcamd():
   def __init__(self):
@@ -40,7 +39,6 @@ class Dashcamd():
     self.dashcam_next_time = 0
     self.started = False
     self.free_space = 1.
-    self.first_run = True
 
   def run(self, started, free_space):
     self.free_space = free_space
@@ -50,9 +48,7 @@ class Dashcamd():
     self.make_folder()
     if self.dashcam_folder_exists:
       self.start()
-      if not self.first_run:
-        self.clean_up()
-      self.first_run = False
+      self.clean_up()
 
   def stop(self):
     os.system("killall -SIGINT screenrecord")

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_6258559787192254109) {
-   out_6258559787192254109[0] = delta_x[0] + nom_x[0];
-   out_6258559787192254109[1] = delta_x[1] + nom_x[1];
-   out_6258559787192254109[2] = delta_x[2] + nom_x[2];
-   out_6258559787192254109[3] = delta_x[3] + nom_x[3];
-   out_6258559787192254109[4] = delta_x[4] + nom_x[4];
-   out_6258559787192254109[5] = delta_x[5] + nom_x[5];
-   out_6258559787192254109[6] = delta_x[6] + nom_x[6];
-   out_6258559787192254109[7] = delta_x[7] + nom_x[7];
-   out_6258559787192254109[8] = delta_x[8] + nom_x[8];
-}
-void inv_err_fun(double *nom_x, double *true_x, double *out_8483442434741396819) {
-   out_8483442434741396819[0] = -nom_x[0] + true_x[0];
-   out_8483442434741396819[1] = -nom_x[1] + true_x[1];
-   out_8483442434741396819[2] = -nom_x[2] + true_x[2];
-   out_8483442434741396819[3] = -nom_x[3] + true_x[3];
-   out_8483442434741396819[4] = -nom_x[4] + true_x[4];
-   out_8483442434741396819[5] = -nom_x[5] + true_x[5];
-   out_8483442434741396819[6] = -nom_x[6] + true_x[6];
-   out_8483442434741396819[7] = -nom_x[7] + true_x[7];
-   out_8483442434741396819[8] = -nom_x[8] + true_x[8];
-}
-void H_mod_fun(double *state, double *out_317258154932342734) {
-   out_317258154932342734[0] = 1.0;
-   out_317258154932342734[1] = 0;
-   out_317258154932342734[2] = 0;
-   out_317258154932342734[3] = 0;
-   out_317258154932342734[4] = 0;
-   out_317258154932342734[5] = 0;
-   out_317258154932342734[6] = 0;
-   out_317258154932342734[7] = 0;
-   out_317258154932342734[8] = 0;
-   out_317258154932342734[9] = 0;
-   out_317258154932342734[10] = 1.0;
-   out_317258154932342734[11] = 0;
-   out_317258154932342734[12] = 0;
-   out_317258154932342734[13] = 0;
-   out_317258154932342734[14] = 0;
-   out_317258154932342734[15] = 0;
-   out_317258154932342734[16] = 0;
-   out_317258154932342734[17] = 0;
-   out_317258154932342734[18] = 0;
-   out_317258154932342734[19] = 0;
-   out_317258154932342734[20] = 1.0;
-   out_317258154932342734[21] = 0;
-   out_317258154932342734[22] = 0;
-   out_317258154932342734[23] = 0;
-   out_317258154932342734[24] = 0;
-   out_317258154932342734[25] = 0;
-   out_317258154932342734[26] = 0;
-   out_317258154932342734[27] = 0;
-   out_317258154932342734[28] = 0;
-   out_317258154932342734[29] = 0;
-   out_317258154932342734[30] = 1.0;
-   out_317258154932342734[31] = 0;
-   out_317258154932342734[32] = 0;
-   out_317258154932342734[33] = 0;
-   out_317258154932342734[34] = 0;
-   out_317258154932342734[35] = 0;
-   out_317258154932342734[36] = 0;
-   out_317258154932342734[37] = 0;
-   out_317258154932342734[38] = 0;
-   out_317258154932342734[39] = 0;
-   out_317258154932342734[40] = 1.0;
-   out_317258154932342734[41] = 0;
-   out_317258154932342734[42] = 0;
-   out_317258154932342734[43] = 0;
-   out_317258154932342734[44] = 0;
-   out_317258154932342734[45] = 0;
-   out_317258154932342734[46] = 0;
-   out_317258154932342734[47] = 0;
-   out_317258154932342734[48] = 0;
-   out_317258154932342734[49] = 0;
-   out_317258154932342734[50] = 1.0;
-   out_317258154932342734[51] = 0;
-   out_317258154932342734[52] = 0;
-   out_317258154932342734[53] = 0;
-   out_317258154932342734[54] = 0;
-   out_317258154932342734[55] = 0;
-   out_317258154932342734[56] = 0;
-   out_317258154932342734[57] = 0;
-   out_317258154932342734[58] = 0;
-   out_317258154932342734[59] = 0;
-   out_317258154932342734[60] = 1.0;
-   out_317258154932342734[61] = 0;
-   out_317258154932342734[62] = 0;
-   out_317258154932342734[63] = 0;
-   out_317258154932342734[64] = 0;
-   out_317258154932342734[65] = 0;
-   out_317258154932342734[66] = 0;
-   out_317258154932342734[67] = 0;
-   out_317258154932342734[68] = 0;
-   out_317258154932342734[69] = 0;
-   out_317258154932342734[70] = 1.0;
-   out_317258154932342734[71] = 0;
-   out_317258154932342734[72] = 0;
-   out_317258154932342734[73] = 0;
-   out_317258154932342734[74] = 0;
-   out_317258154932342734[75] = 0;
-   out_317258154932342734[76] = 0;
-   out_317258154932342734[77] = 0;
-   out_317258154932342734[78] = 0;
-   out_317258154932342734[79] = 0;
-   out_317258154932342734[80] = 1.0;
-}
-void f_fun(double *state, double dt, double *out_5753327761686972465) {
-   out_5753327761686972465[0] = state[0];
-   out_5753327761686972465[1] = state[1];
-   out_5753327761686972465[2] = state[2];
-   out_5753327761686972465[3] = state[3];
-   out_5753327761686972465[4] = state[4];
-   out_5753327761686972465[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_5753327761686972465[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_5753327761686972465[7] = state[7];
-   out_5753327761686972465[8] = state[8];
-}
-void F_fun(double *state, double dt, double *out_8289678864136186323) {
-   out_8289678864136186323[0] = 1;
-   out_8289678864136186323[1] = 0;
-   out_8289678864136186323[2] = 0;
-   out_8289678864136186323[3] = 0;
-   out_8289678864136186323[4] = 0;
-   out_8289678864136186323[5] = 0;
-   out_8289678864136186323[6] = 0;
-   out_8289678864136186323[7] = 0;
-   out_8289678864136186323[8] = 0;
-   out_8289678864136186323[9] = 0;
-   out_8289678864136186323[10] = 1;
-   out_8289678864136186323[11] = 0;
-   out_8289678864136186323[12] = 0;
-   out_8289678864136186323[13] = 0;
-   out_8289678864136186323[14] = 0;
-   out_8289678864136186323[15] = 0;
-   out_8289678864136186323[16] = 0;
-   out_8289678864136186323[17] = 0;
-   out_8289678864136186323[18] = 0;
-   out_8289678864136186323[19] = 0;
-   out_8289678864136186323[20] = 1;
-   out_8289678864136186323[21] = 0;
-   out_8289678864136186323[22] = 0;
-   out_8289678864136186323[23] = 0;
-   out_8289678864136186323[24] = 0;
-   out_8289678864136186323[25] = 0;
-   out_8289678864136186323[26] = 0;
-   out_8289678864136186323[27] = 0;
-   out_8289678864136186323[28] = 0;
-   out_8289678864136186323[29] = 0;
-   out_8289678864136186323[30] = 1;
-   out_8289678864136186323[31] = 0;
-   out_8289678864136186323[32] = 0;
-   out_8289678864136186323[33] = 0;
-   out_8289678864136186323[34] = 0;
-   out_8289678864136186323[35] = 0;
-   out_8289678864136186323[36] = 0;
-   out_8289678864136186323[37] = 0;
-   out_8289678864136186323[38] = 0;
-   out_8289678864136186323[39] = 0;
-   out_8289678864136186323[40] = 1;
-   out_8289678864136186323[41] = 0;
-   out_8289678864136186323[42] = 0;
-   out_8289678864136186323[43] = 0;
-   out_8289678864136186323[44] = 0;
-   out_8289678864136186323[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_8289678864136186323[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_8289678864136186323[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_8289678864136186323[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_8289678864136186323[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_8289678864136186323[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_8289678864136186323[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_8289678864136186323[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_8289678864136186323[53] = -9.8000000000000007*dt;
-   out_8289678864136186323[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_8289678864136186323[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_8289678864136186323[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_8289678864136186323[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_8289678864136186323[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_8289678864136186323[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_8289678864136186323[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_8289678864136186323[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_8289678864136186323[62] = 0;
-   out_8289678864136186323[63] = 0;
-   out_8289678864136186323[64] = 0;
-   out_8289678864136186323[65] = 0;
-   out_8289678864136186323[66] = 0;
-   out_8289678864136186323[67] = 0;
-   out_8289678864136186323[68] = 0;
-   out_8289678864136186323[69] = 0;
-   out_8289678864136186323[70] = 1;
-   out_8289678864136186323[71] = 0;
-   out_8289678864136186323[72] = 0;
-   out_8289678864136186323[73] = 0;
-   out_8289678864136186323[74] = 0;
-   out_8289678864136186323[75] = 0;
-   out_8289678864136186323[76] = 0;
-   out_8289678864136186323[77] = 0;
-   out_8289678864136186323[78] = 0;
-   out_8289678864136186323[79] = 0;
-   out_8289678864136186323[80] = 1;
-}
-void h_25(double *state, double *unused, double *out_5741342572066533641) {
-   out_5741342572066533641[0] = state[6];
-}
-void H_25(double *state, double *unused, double *out_1067105512112888160) {
-   out_1067105512112888160[0] = 0;
-   out_1067105512112888160[1] = 0;
-   out_1067105512112888160[2] = 0;
-   out_1067105512112888160[3] = 0;
-   out_1067105512112888160[4] = 0;
-   out_1067105512112888160[5] = 0;
-   out_1067105512112888160[6] = 1;
-   out_1067105512112888160[7] = 0;
-   out_1067105512112888160[8] = 0;
-}
-void h_24(double *state, double *unused, double *out_3184705636802324409) {
-   out_3184705636802324409[0] = state[4];
-   out_3184705636802324409[1] = state[5];
-}
-void H_24(double *state, double *unused, double *out_3679403814853620874) {
-   out_3679403814853620874[0] = 0;
-   out_3679403814853620874[1] = 0;
-   out_3679403814853620874[2] = 0;
-   out_3679403814853620874[3] = 0;
-   out_3679403814853620874[4] = 1;
-   out_3679403814853620874[5] = 0;
-   out_3679403814853620874[6] = 0;
-   out_3679403814853620874[7] = 0;
-   out_3679403814853620874[8] = 0;
-   out_3679403814853620874[9] = 0;
-   out_3679403814853620874[10] = 0;
-   out_3679403814853620874[11] = 0;
-   out_3679403814853620874[12] = 0;
-   out_3679403814853620874[13] = 0;
-   out_3679403814853620874[14] = 1;
-   out_3679403814853620874[15] = 0;
-   out_3679403814853620874[16] = 0;
-   out_3679403814853620874[17] = 0;
-}
-void h_30(double *state, double *unused, double *out_5619733767201413514) {
-   out_5619733767201413514[0] = state[4];
-}
-void H_30(double *state, double *unused, double *out_3585438470620136787) {
-   out_3585438470620136787[0] = 0;
-   out_3585438470620136787[1] = 0;
-   out_3585438470620136787[2] = 0;
-   out_3585438470620136787[3] = 0;
-   out_3585438470620136787[4] = 1;
-   out_3585438470620136787[5] = 0;
-   out_3585438470620136787[6] = 0;
-   out_3585438470620136787[7] = 0;
-   out_3585438470620136787[8] = 0;
-}
-void h_26(double *state, double *unused, double *out_138251146792324442) {
-   out_138251146792324442[0] = state[7];
-}
-void H_26(double *state, double *unused, double *out_2674397806761168064) {
-   out_2674397806761168064[0] = 0;
-   out_2674397806761168064[1] = 0;
-   out_2674397806761168064[2] = 0;
-   out_2674397806761168064[3] = 0;
-   out_2674397806761168064[4] = 0;
-   out_2674397806761168064[5] = 0;
-   out_2674397806761168064[6] = 0;
-   out_2674397806761168064[7] = 1;
-   out_2674397806761168064[8] = 0;
-}
-void h_27(double *state, double *unused, double *out_7703728233982172330) {
-   out_7703728233982172330[0] = state[3];
-}
-void H_27(double *state, double *unused, double *out_5809032541804080004) {
-   out_5809032541804080004[0] = 0;
-   out_5809032541804080004[1] = 0;
-   out_5809032541804080004[2] = 0;
-   out_5809032541804080004[3] = 1;
-   out_5809032541804080004[4] = 0;
-   out_5809032541804080004[5] = 0;
-   out_5809032541804080004[6] = 0;
-   out_5809032541804080004[7] = 0;
-   out_5809032541804080004[8] = 0;
-}
-void h_29(double *state, double *unused, double *out_3842044757553670678) {
-   out_3842044757553670678[0] = state[1];
-}
-void H_29(double *state, double *unused, double *out_4095669814934528971) {
-   out_4095669814934528971[0] = 0;
-   out_4095669814934528971[1] = 1;
-   out_4095669814934528971[2] = 0;
-   out_4095669814934528971[3] = 0;
-   out_4095669814934528971[4] = 0;
-   out_4095669814934528971[5] = 0;
-   out_4095669814934528971[6] = 0;
-   out_4095669814934528971[7] = 0;
-   out_4095669814934528971[8] = 0;
-}
-void h_28(double *state, double *unused, double *out_3081542204526064016) {
-   out_3081542204526064016[0] = state[0];
-}
-void H_28(double *state, double *unused, double *out_986729202135001603) {
-   out_986729202135001603[0] = 1;
-   out_986729202135001603[1] = 0;
-   out_986729202135001603[2] = 0;
-   out_986729202135001603[3] = 0;
-   out_986729202135001603[4] = 0;
-   out_986729202135001603[5] = 0;
-   out_986729202135001603[6] = 0;
-   out_986729202135001603[7] = 0;
-   out_986729202135001603[8] = 0;
-}
-void h_31(double *state, double *unused, double *out_2103893043812511291) {
-   out_2103893043812511291[0] = state[8];
-}
-void H_31(double *state, double *unused, double *out_1097751473989848588) {
-   out_1097751473989848588[0] = 0;
-   out_1097751473989848588[1] = 0;
-   out_1097751473989848588[2] = 0;
-   out_1097751473989848588[3] = 0;
-   out_1097751473989848588[4] = 0;
-   out_1097751473989848588[5] = 0;
-   out_1097751473989848588[6] = 0;
-   out_1097751473989848588[7] = 0;
-   out_1097751473989848588[8] = 1;
+void err_fun(double *nom_x, double *delta_x, double *out_1694732445564659799) {
+   out_1694732445564659799[0] = delta_x[0] + nom_x[0];
+   out_1694732445564659799[1] = delta_x[1] + nom_x[1];
+   out_1694732445564659799[2] = delta_x[2] + nom_x[2];
+   out_1694732445564659799[3] = delta_x[3] + nom_x[3];
+   out_1694732445564659799[4] = delta_x[4] + nom_x[4];
+   out_1694732445564659799[5] = delta_x[5] + nom_x[5];
+   out_1694732445564659799[6] = delta_x[6] + nom_x[6];
+   out_1694732445564659799[7] = delta_x[7] + nom_x[7];
+   out_1694732445564659799[8] = delta_x[8] + nom_x[8];
+}
+void inv_err_fun(double *nom_x, double *true_x, double *out_425293828362209991) {
+   out_425293828362209991[0] = -nom_x[0] + true_x[0];
+   out_425293828362209991[1] = -nom_x[1] + true_x[1];
+   out_425293828362209991[2] = -nom_x[2] + true_x[2];
+   out_425293828362209991[3] = -nom_x[3] + true_x[3];
+   out_425293828362209991[4] = -nom_x[4] + true_x[4];
+   out_425293828362209991[5] = -nom_x[5] + true_x[5];
+   out_425293828362209991[6] = -nom_x[6] + true_x[6];
+   out_425293828362209991[7] = -nom_x[7] + true_x[7];
+   out_425293828362209991[8] = -nom_x[8] + true_x[8];
+}
+void H_mod_fun(double *state, double *out_7930286674743613659) {
+   out_7930286674743613659[0] = 1.0;
+   out_7930286674743613659[1] = 0;
+   out_7930286674743613659[2] = 0;
+   out_7930286674743613659[3] = 0;
+   out_7930286674743613659[4] = 0;
+   out_7930286674743613659[5] = 0;
+   out_7930286674743613659[6] = 0;
+   out_7930286674743613659[7] = 0;
+   out_7930286674743613659[8] = 0;
+   out_7930286674743613659[9] = 0;
+   out_7930286674743613659[10] = 1.0;
+   out_7930286674743613659[11] = 0;
+   out_7930286674743613659[12] = 0;
+   out_7930286674743613659[13] = 0;
+   out_7930286674743613659[14] = 0;
+   out_7930286674743613659[15] = 0;
+   out_7930286674743613659[16] = 0;
+   out_7930286674743613659[17] = 0;
+   out_7930286674743613659[18] = 0;
+   out_7930286674743613659[19] = 0;
+   out_7930286674743613659[20] = 1.0;
+   out_7930286674743613659[21] = 0;
+   out_7930286674743613659[22] = 0;
+   out_7930286674743613659[23] = 0;
+   out_7930286674743613659[24] = 0;
+   out_7930286674743613659[25] = 0;
+   out_7930286674743613659[26] = 0;
+   out_7930286674743613659[27] = 0;
+   out_7930286674743613659[28] = 0;
+   out_7930286674743613659[29] = 0;
+   out_7930286674743613659[30] = 1.0;
+   out_7930286674743613659[31] = 0;
+   out_7930286674743613659[32] = 0;
+   out_7930286674743613659[33] = 0;
+   out_7930286674743613659[34] = 0;
+   out_7930286674743613659[35] = 0;
+   out_7930286674743613659[36] = 0;
+   out_7930286674743613659[37] = 0;
+   out_7930286674743613659[38] = 0;
+   out_7930286674743613659[39] = 0;
+   out_7930286674743613659[40] = 1.0;
+   out_7930286674743613659[41] = 0;
+   out_7930286674743613659[42] = 0;
+   out_7930286674743613659[43] = 0;
+   out_7930286674743613659[44] = 0;
+   out_7930286674743613659[45] = 0;
+   out_7930286674743613659[46] = 0;
+   out_7930286674743613659[47] = 0;
+   out_7930286674743613659[48] = 0;
+   out_7930286674743613659[49] = 0;
+   out_7930286674743613659[50] = 1.0;
+   out_7930286674743613659[51] = 0;
+   out_7930286674743613659[52] = 0;
+   out_7930286674743613659[53] = 0;
+   out_7930286674743613659[54] = 0;
+   out_7930286674743613659[55] = 0;
+   out_7930286674743613659[56] = 0;
+   out_7930286674743613659[57] = 0;
+   out_7930286674743613659[58] = 0;
+   out_7930286674743613659[59] = 0;
+   out_7930286674743613659[60] = 1.0;
+   out_7930286674743613659[61] = 0;
+   out_7930286674743613659[62] = 0;
+   out_7930286674743613659[63] = 0;
+   out_7930286674743613659[64] = 0;
+   out_7930286674743613659[65] = 0;
+   out_7930286674743613659[66] = 0;
+   out_7930286674743613659[67] = 0;
+   out_7930286674743613659[68] = 0;
+   out_7930286674743613659[69] = 0;
+   out_7930286674743613659[70] = 1.0;
+   out_7930286674743613659[71] = 0;
+   out_7930286674743613659[72] = 0;
+   out_7930286674743613659[73] = 0;
+   out_7930286674743613659[74] = 0;
+   out_7930286674743613659[75] = 0;
+   out_7930286674743613659[76] = 0;
+   out_7930286674743613659[77] = 0;
+   out_7930286674743613659[78] = 0;
+   out_7930286674743613659[79] = 0;
+   out_7930286674743613659[80] = 1.0;
+}
+void f_fun(double *state, double dt, double *out_4344037338675685761) {
+   out_4344037338675685761[0] = state[0];
+   out_4344037338675685761[1] = state[1];
+   out_4344037338675685761[2] = state[2];
+   out_4344037338675685761[3] = state[3];
+   out_4344037338675685761[4] = state[4];
+   out_4344037338675685761[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*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_4344037338675685761[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_4344037338675685761[7] = state[7];
+   out_4344037338675685761[8] = state[8];
+}
+void F_fun(double *state, double dt, double *out_5293371990253890476) {
+   out_5293371990253890476[0] = 1;
+   out_5293371990253890476[1] = 0;
+   out_5293371990253890476[2] = 0;
+   out_5293371990253890476[3] = 0;
+   out_5293371990253890476[4] = 0;
+   out_5293371990253890476[5] = 0;
+   out_5293371990253890476[6] = 0;
+   out_5293371990253890476[7] = 0;
+   out_5293371990253890476[8] = 0;
+   out_5293371990253890476[9] = 0;
+   out_5293371990253890476[10] = 1;
+   out_5293371990253890476[11] = 0;
+   out_5293371990253890476[12] = 0;
+   out_5293371990253890476[13] = 0;
+   out_5293371990253890476[14] = 0;
+   out_5293371990253890476[15] = 0;
+   out_5293371990253890476[16] = 0;
+   out_5293371990253890476[17] = 0;
+   out_5293371990253890476[18] = 0;
+   out_5293371990253890476[19] = 0;
+   out_5293371990253890476[20] = 1;
+   out_5293371990253890476[21] = 0;
+   out_5293371990253890476[22] = 0;
+   out_5293371990253890476[23] = 0;
+   out_5293371990253890476[24] = 0;
+   out_5293371990253890476[25] = 0;
+   out_5293371990253890476[26] = 0;
+   out_5293371990253890476[27] = 0;
+   out_5293371990253890476[28] = 0;
+   out_5293371990253890476[29] = 0;
+   out_5293371990253890476[30] = 1;
+   out_5293371990253890476[31] = 0;
+   out_5293371990253890476[32] = 0;
+   out_5293371990253890476[33] = 0;
+   out_5293371990253890476[34] = 0;
+   out_5293371990253890476[35] = 0;
+   out_5293371990253890476[36] = 0;
+   out_5293371990253890476[37] = 0;
+   out_5293371990253890476[38] = 0;
+   out_5293371990253890476[39] = 0;
+   out_5293371990253890476[40] = 1;
+   out_5293371990253890476[41] = 0;
+   out_5293371990253890476[42] = 0;
+   out_5293371990253890476[43] = 0;
+   out_5293371990253890476[44] = 0;
+   out_5293371990253890476[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_5293371990253890476[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_5293371990253890476[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_5293371990253890476[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_5293371990253890476[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_5293371990253890476[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_5293371990253890476[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_5293371990253890476[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_5293371990253890476[53] = -9.8000000000000007*dt;
+   out_5293371990253890476[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_5293371990253890476[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_5293371990253890476[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_5293371990253890476[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_5293371990253890476[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_5293371990253890476[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_5293371990253890476[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_5293371990253890476[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_5293371990253890476[62] = 0;
+   out_5293371990253890476[63] = 0;
+   out_5293371990253890476[64] = 0;
+   out_5293371990253890476[65] = 0;
+   out_5293371990253890476[66] = 0;
+   out_5293371990253890476[67] = 0;
+   out_5293371990253890476[68] = 0;
+   out_5293371990253890476[69] = 0;
+   out_5293371990253890476[70] = 1;
+   out_5293371990253890476[71] = 0;
+   out_5293371990253890476[72] = 0;
+   out_5293371990253890476[73] = 0;
+   out_5293371990253890476[74] = 0;
+   out_5293371990253890476[75] = 0;
+   out_5293371990253890476[76] = 0;
+   out_5293371990253890476[77] = 0;
+   out_5293371990253890476[78] = 0;
+   out_5293371990253890476[79] = 0;
+   out_5293371990253890476[80] = 1;
+}
+void h_25(double *state, double *unused, double *out_6157449178476545177) {
+   out_6157449178476545177[0] = state[6];
+}
+void H_25(double *state, double *unused, double *out_2441201791329547719) {
+   out_2441201791329547719[0] = 0;
+   out_2441201791329547719[1] = 0;
+   out_2441201791329547719[2] = 0;
+   out_2441201791329547719[3] = 0;
+   out_2441201791329547719[4] = 0;
+   out_2441201791329547719[5] = 0;
+   out_2441201791329547719[6] = 1;
+   out_2441201791329547719[7] = 0;
+   out_2441201791329547719[8] = 0;
+}
+void h_24(double *state, double *unused, double *out_7099854435825100532) {
+   out_7099854435825100532[0] = state[4];
+   out_7099854435825100532[1] = state[5];
+}
+void H_24(double *state, double *unused, double *out_8562867689391287577) {
+   out_8562867689391287577[0] = 0;
+   out_8562867689391287577[1] = 0;
+   out_8562867689391287577[2] = 0;
+   out_8562867689391287577[3] = 0;
+   out_8562867689391287577[4] = 1;
+   out_8562867689391287577[5] = 0;
+   out_8562867689391287577[6] = 0;
+   out_8562867689391287577[7] = 0;
+   out_8562867689391287577[8] = 0;
+   out_8562867689391287577[9] = 0;
+   out_8562867689391287577[10] = 0;
+   out_8562867689391287577[11] = 0;
+   out_8562867689391287577[12] = 0;
+   out_8562867689391287577[13] = 0;
+   out_8562867689391287577[14] = 1;
+   out_8562867689391287577[15] = 0;
+   out_8562867689391287577[16] = 0;
+   out_8562867689391287577[17] = 0;
+}
+void h_30(double *state, double *unused, double *out_8651845366978984089) {
+   out_8651845366978984089[0] = state[4];
+}
+void H_30(double *state, double *unused, double *out_77131167177700908) {
+   out_77131167177700908[0] = 0;
+   out_77131167177700908[1] = 0;
+   out_77131167177700908[2] = 0;
+   out_77131167177700908[3] = 0;
+   out_77131167177700908[4] = 1;
+   out_77131167177700908[5] = 0;
+   out_77131167177700908[6] = 0;
+   out_77131167177700908[7] = 0;
+   out_77131167177700908[8] = 0;
+}
+void h_26(double *state, double *unused, double *out_7484101565902842352) {
+   out_7484101565902842352[0] = state[7];
+}
+void H_26(double *state, double *unused, double *out_6182705110203603943) {
+   out_6182705110203603943[0] = 0;
+   out_6182705110203603943[1] = 0;
+   out_6182705110203603943[2] = 0;
+   out_6182705110203603943[3] = 0;
+   out_6182705110203603943[4] = 0;
+   out_6182705110203603943[5] = 0;
+   out_6182705110203603943[6] = 0;
+   out_6182705110203603943[7] = 1;
+   out_6182705110203603943[8] = 0;
+}
+void h_27(double *state, double *unused, double *out_3701132213428165031) {
+   out_3701132213428165031[0] = state[3];
+}
+void H_27(double *state, double *unused, double *out_9143661433257580828) {
+   out_9143661433257580828[0] = 0;
+   out_9143661433257580828[1] = 0;
+   out_9143661433257580828[2] = 0;
+   out_9143661433257580828[3] = 1;
+   out_9143661433257580828[4] = 0;
+   out_9143661433257580828[5] = 0;
+   out_9143661433257580828[6] = 0;
+   out_9143661433257580828[7] = 0;
+   out_9143661433257580828[8] = 0;
+}
+void h_29(double *state, double *unused, double *out_3425938151143659142) {
+   out_3425938151143659142[0] = state[1];
+}
+void H_29(double *state, double *unused, double *out_6458666777142763733) {
+   out_6458666777142763733[0] = 0;
+   out_6458666777142763733[1] = 1;
+   out_6458666777142763733[2] = 0;
+   out_6458666777142763733[3] = 0;
+   out_6458666777142763733[4] = 0;
+   out_6458666777142763733[5] = 0;
+   out_6458666777142763733[6] = 0;
+   out_6458666777142763733[7] = 0;
+   out_6458666777142763733[8] = 0;
+}
+void h_28(double *state, double *unused, double *out_6305537534236862682) {
+   out_6305537534236862682[0] = state[0];
+}
+void H_28(double *state, double *unused, double *out_4495036505577437482) {
+   out_4495036505577437482[0] = 1;
+   out_4495036505577437482[1] = 0;
+   out_4495036505577437482[2] = 0;
+   out_4495036505577437482[3] = 0;
+   out_4495036505577437482[4] = 0;
+   out_4495036505577437482[5] = 0;
+   out_4495036505577437482[6] = 0;
+   out_4495036505577437482[7] = 0;
+   out_4495036505577437482[8] = 0;
+}
+void h_31(double *state, double *unused, double *out_206144799825270684) {
+   out_206144799825270684[0] = state[8];
+}
+void H_31(double *state, double *unused, double *out_6808913212436955419) {
+   out_6808913212436955419[0] = 0;
+   out_6808913212436955419[1] = 0;
+   out_6808913212436955419[2] = 0;
+   out_6808913212436955419[3] = 0;
+   out_6808913212436955419[4] = 0;
+   out_6808913212436955419[5] = 0;
+   out_6808913212436955419[6] = 0;
+   out_6808913212436955419[7] = 0;
+   out_6808913212436955419[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_6258559787192254109) {
-  err_fun(nom_x, delta_x, out_6258559787192254109);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1694732445564659799) {
+  err_fun(nom_x, delta_x, out_1694732445564659799);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8483442434741396819) {
-  inv_err_fun(nom_x, true_x, out_8483442434741396819);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_425293828362209991) {
+  inv_err_fun(nom_x, true_x, out_425293828362209991);
 }
-void car_H_mod_fun(double *state, double *out_317258154932342734) {
-  H_mod_fun(state, out_317258154932342734);
+void car_H_mod_fun(double *state, double *out_7930286674743613659) {
+  H_mod_fun(state, out_7930286674743613659);
 }
-void car_f_fun(double *state, double dt, double *out_5753327761686972465) {
-  f_fun(state,  dt, out_5753327761686972465);
+void car_f_fun(double *state, double dt, double *out_4344037338675685761) {
+  f_fun(state,  dt, out_4344037338675685761);
 }
-void car_F_fun(double *state, double dt, double *out_8289678864136186323) {
-  F_fun(state,  dt, out_8289678864136186323);
+void car_F_fun(double *state, double dt, double *out_5293371990253890476) {
+  F_fun(state,  dt, out_5293371990253890476);
 }
-void car_h_25(double *state, double *unused, double *out_5741342572066533641) {
-  h_25(state, unused, out_5741342572066533641);
+void car_h_25(double *state, double *unused, double *out_6157449178476545177) {
+  h_25(state, unused, out_6157449178476545177);
 }
-void car_H_25(double *state, double *unused, double *out_1067105512112888160) {
-  H_25(state, unused, out_1067105512112888160);
+void car_H_25(double *state, double *unused, double *out_2441201791329547719) {
+  H_25(state, unused, out_2441201791329547719);
 }
-void car_h_24(double *state, double *unused, double *out_3184705636802324409) {
-  h_24(state, unused, out_3184705636802324409);
+void car_h_24(double *state, double *unused, double *out_7099854435825100532) {
+  h_24(state, unused, out_7099854435825100532);
 }
-void car_H_24(double *state, double *unused, double *out_3679403814853620874) {
-  H_24(state, unused, out_3679403814853620874);
+void car_H_24(double *state, double *unused, double *out_8562867689391287577) {
+  H_24(state, unused, out_8562867689391287577);
 }
-void car_h_30(double *state, double *unused, double *out_5619733767201413514) {
-  h_30(state, unused, out_5619733767201413514);
+void car_h_30(double *state, double *unused, double *out_8651845366978984089) {
+  h_30(state, unused, out_8651845366978984089);
 }
-void car_H_30(double *state, double *unused, double *out_3585438470620136787) {
-  H_30(state, unused, out_3585438470620136787);
+void car_H_30(double *state, double *unused, double *out_77131167177700908) {
+  H_30(state, unused, out_77131167177700908);
 }
-void car_h_26(double *state, double *unused, double *out_138251146792324442) {
-  h_26(state, unused, out_138251146792324442);
+void car_h_26(double *state, double *unused, double *out_7484101565902842352) {
+  h_26(state, unused, out_7484101565902842352);
 }
-void car_H_26(double *state, double *unused, double *out_2674397806761168064) {
-  H_26(state, unused, out_2674397806761168064);
+void car_H_26(double *state, double *unused, double *out_6182705110203603943) {
+  H_26(state, unused, out_6182705110203603943);
 }
-void car_h_27(double *state, double *unused, double *out_7703728233982172330) {
-  h_27(state, unused, out_7703728233982172330);
+void car_h_27(double *state, double *unused, double *out_3701132213428165031) {
+  h_27(state, unused, out_3701132213428165031);
 }
-void car_H_27(double *state, double *unused, double *out_5809032541804080004) {
-  H_27(state, unused, out_5809032541804080004);
+void car_H_27(double *state, double *unused, double *out_9143661433257580828) {
+  H_27(state, unused, out_9143661433257580828);
 }
-void car_h_29(double *state, double *unused, double *out_3842044757553670678) {
-  h_29(state, unused, out_3842044757553670678);
+void car_h_29(double *state, double *unused, double *out_3425938151143659142) {
+  h_29(state, unused, out_3425938151143659142);
 }
-void car_H_29(double *state, double *unused, double *out_4095669814934528971) {
-  H_29(state, unused, out_4095669814934528971);
+void car_H_29(double *state, double *unused, double *out_6458666777142763733) {
+  H_29(state, unused, out_6458666777142763733);
 }
-void car_h_28(double *state, double *unused, double *out_3081542204526064016) {
-  h_28(state, unused, out_3081542204526064016);
+void car_h_28(double *state, double *unused, double *out_6305537534236862682) {
+  h_28(state, unused, out_6305537534236862682);
 }
-void car_H_28(double *state, double *unused, double *out_986729202135001603) {
-  H_28(state, unused, out_986729202135001603);
+void car_H_28(double *state, double *unused, double *out_4495036505577437482) {
+  H_28(state, unused, out_4495036505577437482);
 }
-void car_h_31(double *state, double *unused, double *out_2103893043812511291) {
-  h_31(state, unused, out_2103893043812511291);
+void car_h_31(double *state, double *unused, double *out_206144799825270684) {
+  h_31(state, unused, out_206144799825270684);
 }
-void car_H_31(double *state, double *unused, double *out_1097751473989848588) {
-  H_31(state, unused, out_1097751473989848588);
+void car_H_31(double *state, double *unused, double *out_6808913212436955419) {
+  H_31(state, unused, out_6808913212436955419);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

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_6258559787192254109);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_8483442434741396819);
-void car_H_mod_fun(double *state, double *out_317258154932342734);
-void car_f_fun(double *state, double dt, double *out_5753327761686972465);
-void car_F_fun(double *state, double dt, double *out_8289678864136186323);
-void car_h_25(double *state, double *unused, double *out_5741342572066533641);
-void car_H_25(double *state, double *unused, double *out_1067105512112888160);
-void car_h_24(double *state, double *unused, double *out_3184705636802324409);
-void car_H_24(double *state, double *unused, double *out_3679403814853620874);
-void car_h_30(double *state, double *unused, double *out_5619733767201413514);
-void car_H_30(double *state, double *unused, double *out_3585438470620136787);
-void car_h_26(double *state, double *unused, double *out_138251146792324442);
-void car_H_26(double *state, double *unused, double *out_2674397806761168064);
-void car_h_27(double *state, double *unused, double *out_7703728233982172330);
-void car_H_27(double *state, double *unused, double *out_5809032541804080004);
-void car_h_29(double *state, double *unused, double *out_3842044757553670678);
-void car_H_29(double *state, double *unused, double *out_4095669814934528971);
-void car_h_28(double *state, double *unused, double *out_3081542204526064016);
-void car_H_28(double *state, double *unused, double *out_986729202135001603);
-void car_h_31(double *state, double *unused, double *out_2103893043812511291);
-void car_H_31(double *state, double *unused, double *out_1097751473989848588);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1694732445564659799);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_425293828362209991);
+void car_H_mod_fun(double *state, double *out_7930286674743613659);
+void car_f_fun(double *state, double dt, double *out_4344037338675685761);
+void car_F_fun(double *state, double dt, double *out_5293371990253890476);
+void car_h_25(double *state, double *unused, double *out_6157449178476545177);
+void car_H_25(double *state, double *unused, double *out_2441201791329547719);
+void car_h_24(double *state, double *unused, double *out_7099854435825100532);
+void car_H_24(double *state, double *unused, double *out_8562867689391287577);
+void car_h_30(double *state, double *unused, double *out_8651845366978984089);
+void car_H_30(double *state, double *unused, double *out_77131167177700908);
+void car_h_26(double *state, double *unused, double *out_7484101565902842352);
+void car_H_26(double *state, double *unused, double *out_6182705110203603943);
+void car_h_27(double *state, double *unused, double *out_3701132213428165031);
+void car_H_27(double *state, double *unused, double *out_9143661433257580828);
+void car_h_29(double *state, double *unused, double *out_3425938151143659142);
+void car_H_29(double *state, double *unused, double *out_6458666777142763733);
+void car_h_28(double *state, double *unused, double *out_6305537534236862682);
+void car_H_28(double *state, double *unused, double *out_4495036505577437482);
+void car_h_31(double *state, double *unused, double *out_206144799825270684);
+void car_H_31(double *state, double *unused, double *out_6808913212436955419);
 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);

selfdrive/locationd/models/generated/gnss.cpp

@@ -17,354 +17,354 @@ const static double MAHA_THRESH_21 = 3.8414588206941227;
  *                                                                            *
  *                         This file is part of 'ekf'                         *
  ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_4640013062227700412) {
-   out_4640013062227700412[0] = delta_x[0] + nom_x[0];
-   out_4640013062227700412[1] = delta_x[1] + nom_x[1];
-   out_4640013062227700412[2] = delta_x[2] + nom_x[2];
-   out_4640013062227700412[3] = delta_x[3] + nom_x[3];
-   out_4640013062227700412[4] = delta_x[4] + nom_x[4];
-   out_4640013062227700412[5] = delta_x[5] + nom_x[5];
-   out_4640013062227700412[6] = delta_x[6] + nom_x[6];
-   out_4640013062227700412[7] = delta_x[7] + nom_x[7];
-   out_4640013062227700412[8] = delta_x[8] + nom_x[8];
-   out_4640013062227700412[9] = delta_x[9] + nom_x[9];
-   out_4640013062227700412[10] = delta_x[10] + nom_x[10];
-}
-void inv_err_fun(double *nom_x, double *true_x, double *out_4915148707996812550) {
-   out_4915148707996812550[0] = -nom_x[0] + true_x[0];
-   out_4915148707996812550[1] = -nom_x[1] + true_x[1];
-   out_4915148707996812550[2] = -nom_x[2] + true_x[2];
-   out_4915148707996812550[3] = -nom_x[3] + true_x[3];
-   out_4915148707996812550[4] = -nom_x[4] + true_x[4];
-   out_4915148707996812550[5] = -nom_x[5] + true_x[5];
-   out_4915148707996812550[6] = -nom_x[6] + true_x[6];
-   out_4915148707996812550[7] = -nom_x[7] + true_x[7];
-   out_4915148707996812550[8] = -nom_x[8] + true_x[8];
-   out_4915148707996812550[9] = -nom_x[9] + true_x[9];
-   out_4915148707996812550[10] = -nom_x[10] + true_x[10];
-}
-void H_mod_fun(double *state, double *out_8574237875034322764) {
-   out_8574237875034322764[0] = 1.0;
-   out_8574237875034322764[1] = 0;
-   out_8574237875034322764[2] = 0;
-   out_8574237875034322764[3] = 0;
-   out_8574237875034322764[4] = 0;
-   out_8574237875034322764[5] = 0;
-   out_8574237875034322764[6] = 0;
-   out_8574237875034322764[7] = 0;
-   out_8574237875034322764[8] = 0;
-   out_8574237875034322764[9] = 0;
-   out_8574237875034322764[10] = 0;
-   out_8574237875034322764[11] = 0;
-   out_8574237875034322764[12] = 1.0;
-   out_8574237875034322764[13] = 0;
-   out_8574237875034322764[14] = 0;
-   out_8574237875034322764[15] = 0;
-   out_8574237875034322764[16] = 0;
-   out_8574237875034322764[17] = 0;
-   out_8574237875034322764[18] = 0;
-   out_8574237875034322764[19] = 0;
-   out_8574237875034322764[20] = 0;
-   out_8574237875034322764[21] = 0;
-   out_8574237875034322764[22] = 0;
-   out_8574237875034322764[23] = 0;
-   out_8574237875034322764[24] = 1.0;
-   out_8574237875034322764[25] = 0;
-   out_8574237875034322764[26] = 0;
-   out_8574237875034322764[27] = 0;
-   out_8574237875034322764[28] = 0;
-   out_8574237875034322764[29] = 0;
-   out_8574237875034322764[30] = 0;
-   out_8574237875034322764[31] = 0;
-   out_8574237875034322764[32] = 0;
-   out_8574237875034322764[33] = 0;
-   out_8574237875034322764[34] = 0;
-   out_8574237875034322764[35] = 0;
-   out_8574237875034322764[36] = 1.0;
-   out_8574237875034322764[37] = 0;
-   out_8574237875034322764[38] = 0;
-   out_8574237875034322764[39] = 0;
-   out_8574237875034322764[40] = 0;
-   out_8574237875034322764[41] = 0;
-   out_8574237875034322764[42] = 0;
-   out_8574237875034322764[43] = 0;
-   out_8574237875034322764[44] = 0;
-   out_8574237875034322764[45] = 0;
-   out_8574237875034322764[46] = 0;
-   out_8574237875034322764[47] = 0;
-   out_8574237875034322764[48] = 1.0;
-   out_8574237875034322764[49] = 0;
-   out_8574237875034322764[50] = 0;
-   out_8574237875034322764[51] = 0;
-   out_8574237875034322764[52] = 0;
-   out_8574237875034322764[53] = 0;
-   out_8574237875034322764[54] = 0;
-   out_8574237875034322764[55] = 0;
-   out_8574237875034322764[56] = 0;
-   out_8574237875034322764[57] = 0;
-   out_8574237875034322764[58] = 0;
-   out_8574237875034322764[59] = 0;
-   out_8574237875034322764[60] = 1.0;
-   out_8574237875034322764[61] = 0;
-   out_8574237875034322764[62] = 0;
-   out_8574237875034322764[63] = 0;
-   out_8574237875034322764[64] = 0;
-   out_8574237875034322764[65] = 0;
-   out_8574237875034322764[66] = 0;
-   out_8574237875034322764[67] = 0;
-   out_8574237875034322764[68] = 0;
-   out_8574237875034322764[69] = 0;
-   out_8574237875034322764[70] = 0;
-   out_8574237875034322764[71] = 0;
-   out_8574237875034322764[72] = 1.0;
-   out_8574237875034322764[73] = 0;
-   out_8574237875034322764[74] = 0;
-   out_8574237875034322764[75] = 0;
-   out_8574237875034322764[76] = 0;
-   out_8574237875034322764[77] = 0;
-   out_8574237875034322764[78] = 0;
-   out_8574237875034322764[79] = 0;
-   out_8574237875034322764[80] = 0;
-   out_8574237875034322764[81] = 0;
-   out_8574237875034322764[82] = 0;
-   out_8574237875034322764[83] = 0;
-   out_8574237875034322764[84] = 1.0;
-   out_8574237875034322764[85] = 0;
-   out_8574237875034322764[86] = 0;
-   out_8574237875034322764[87] = 0;
-   out_8574237875034322764[88] = 0;
-   out_8574237875034322764[89] = 0;
-   out_8574237875034322764[90] = 0;
-   out_8574237875034322764[91] = 0;
-   out_8574237875034322764[92] = 0;
-   out_8574237875034322764[93] = 0;
-   out_8574237875034322764[94] = 0;
-   out_8574237875034322764[95] = 0;
-   out_8574237875034322764[96] = 1.0;
-   out_8574237875034322764[97] = 0;
-   out_8574237875034322764[98] = 0;
-   out_8574237875034322764[99] = 0;
-   out_8574237875034322764[100] = 0;
-   out_8574237875034322764[101] = 0;
-   out_8574237875034322764[102] = 0;
-   out_8574237875034322764[103] = 0;
-   out_8574237875034322764[104] = 0;
-   out_8574237875034322764[105] = 0;
-   out_8574237875034322764[106] = 0;
-   out_8574237875034322764[107] = 0;
-   out_8574237875034322764[108] = 1.0;
-   out_8574237875034322764[109] = 0;
-   out_8574237875034322764[110] = 0;
-   out_8574237875034322764[111] = 0;
-   out_8574237875034322764[112] = 0;
-   out_8574237875034322764[113] = 0;
-   out_8574237875034322764[114] = 0;
-   out_8574237875034322764[115] = 0;
-   out_8574237875034322764[116] = 0;
-   out_8574237875034322764[117] = 0;
-   out_8574237875034322764[118] = 0;
-   out_8574237875034322764[119] = 0;
-   out_8574237875034322764[120] = 1.0;
-}
-void f_fun(double *state, double dt, double *out_5636831905979297775) {
-   out_5636831905979297775[0] = dt*state[3] + state[0];
-   out_5636831905979297775[1] = dt*state[4] + state[1];
-   out_5636831905979297775[2] = dt*state[5] + state[2];
-   out_5636831905979297775[3] = state[3];
-   out_5636831905979297775[4] = state[4];
-   out_5636831905979297775[5] = state[5];
-   out_5636831905979297775[6] = dt*state[7] + state[6];
-   out_5636831905979297775[7] = dt*state[8] + state[7];
-   out_5636831905979297775[8] = state[8];
-   out_5636831905979297775[9] = state[9];
-   out_5636831905979297775[10] = state[10];
-}
-void F_fun(double *state, double dt, double *out_2727942986966876467) {
-   out_2727942986966876467[0] = 1;
-   out_2727942986966876467[1] = 0;
-   out_2727942986966876467[2] = 0;
-   out_2727942986966876467[3] = dt;
-   out_2727942986966876467[4] = 0;
-   out_2727942986966876467[5] = 0;
-   out_2727942986966876467[6] = 0;
-   out_2727942986966876467[7] = 0;
-   out_2727942986966876467[8] = 0;
-   out_2727942986966876467[9] = 0;
-   out_2727942986966876467[10] = 0;
-   out_2727942986966876467[11] = 0;
-   out_2727942986966876467[12] = 1;
-   out_2727942986966876467[13] = 0;
-   out_2727942986966876467[14] = 0;
-   out_2727942986966876467[15] = dt;
-   out_2727942986966876467[16] = 0;
-   out_2727942986966876467[17] = 0;
-   out_2727942986966876467[18] = 0;
-   out_2727942986966876467[19] = 0;
-   out_2727942986966876467[20] = 0;
-   out_2727942986966876467[21] = 0;
-   out_2727942986966876467[22] = 0;
-   out_2727942986966876467[23] = 0;
-   out_2727942986966876467[24] = 1;
-   out_2727942986966876467[25] = 0;
-   out_2727942986966876467[26] = 0;
-   out_2727942986966876467[27] = dt;
-   out_2727942986966876467[28] = 0;
-   out_2727942986966876467[29] = 0;
-   out_2727942986966876467[30] = 0;
-   out_2727942986966876467[31] = 0;
-   out_2727942986966876467[32] = 0;
-   out_2727942986966876467[33] = 0;
-   out_2727942986966876467[34] = 0;
-   out_2727942986966876467[35] = 0;
-   out_2727942986966876467[36] = 1;
-   out_2727942986966876467[37] = 0;
-   out_2727942986966876467[38] = 0;
-   out_2727942986966876467[39] = 0;
-   out_2727942986966876467[40] = 0;
-   out_2727942986966876467[41] = 0;
-   out_2727942986966876467[42] = 0;
-   out_2727942986966876467[43] = 0;
-   out_2727942986966876467[44] = 0;
-   out_2727942986966876467[45] = 0;
-   out_2727942986966876467[46] = 0;
-   out_2727942986966876467[47] = 0;
-   out_2727942986966876467[48] = 1;
-   out_2727942986966876467[49] = 0;
-   out_2727942986966876467[50] = 0;
-   out_2727942986966876467[51] = 0;
-   out_2727942986966876467[52] = 0;
-   out_2727942986966876467[53] = 0;
-   out_2727942986966876467[54] = 0;
-   out_2727942986966876467[55] = 0;
-   out_2727942986966876467[56] = 0;
-   out_2727942986966876467[57] = 0;
-   out_2727942986966876467[58] = 0;
-   out_2727942986966876467[59] = 0;
-   out_2727942986966876467[60] = 1;
-   out_2727942986966876467[61] = 0;
-   out_2727942986966876467[62] = 0;
-   out_2727942986966876467[63] = 0;
-   out_2727942986966876467[64] = 0;
-   out_2727942986966876467[65] = 0;
-   out_2727942986966876467[66] = 0;
-   out_2727942986966876467[67] = 0;
-   out_2727942986966876467[68] = 0;
-   out_2727942986966876467[69] = 0;
-   out_2727942986966876467[70] = 0;
-   out_2727942986966876467[71] = 0;
-   out_2727942986966876467[72] = 1;
-   out_2727942986966876467[73] = dt;
-   out_2727942986966876467[74] = 0;
-   out_2727942986966876467[75] = 0;
-   out_2727942986966876467[76] = 0;
-   out_2727942986966876467[77] = 0;
-   out_2727942986966876467[78] = 0;
-   out_2727942986966876467[79] = 0;
-   out_2727942986966876467[80] = 0;
-   out_2727942986966876467[81] = 0;
-   out_2727942986966876467[82] = 0;
-   out_2727942986966876467[83] = 0;
-   out_2727942986966876467[84] = 1;
-   out_2727942986966876467[85] = dt;
-   out_2727942986966876467[86] = 0;
-   out_2727942986966876467[87] = 0;
-   out_2727942986966876467[88] = 0;
-   out_2727942986966876467[89] = 0;
-   out_2727942986966876467[90] = 0;
-   out_2727942986966876467[91] = 0;
-   out_2727942986966876467[92] = 0;
-   out_2727942986966876467[93] = 0;
-   out_2727942986966876467[94] = 0;
-   out_2727942986966876467[95] = 0;
-   out_2727942986966876467[96] = 1;
-   out_2727942986966876467[97] = 0;
-   out_2727942986966876467[98] = 0;
-   out_2727942986966876467[99] = 0;
-   out_2727942986966876467[100] = 0;
-   out_2727942986966876467[101] = 0;
-   out_2727942986966876467[102] = 0;
-   out_2727942986966876467[103] = 0;
-   out_2727942986966876467[104] = 0;
-   out_2727942986966876467[105] = 0;
-   out_2727942986966876467[106] = 0;
-   out_2727942986966876467[107] = 0;
-   out_2727942986966876467[108] = 1;
-   out_2727942986966876467[109] = 0;
-   out_2727942986966876467[110] = 0;
-   out_2727942986966876467[111] = 0;
-   out_2727942986966876467[112] = 0;
-   out_2727942986966876467[113] = 0;
-   out_2727942986966876467[114] = 0;
-   out_2727942986966876467[115] = 0;
-   out_2727942986966876467[116] = 0;
-   out_2727942986966876467[117] = 0;
-   out_2727942986966876467[118] = 0;
-   out_2727942986966876467[119] = 0;
-   out_2727942986966876467[120] = 1;
-}
-void h_6(double *state, double *sat_pos, double *out_4554215930920042575) {
-   out_4554215930920042575[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
-}
-void H_6(double *state, double *sat_pos, double *out_895428558576169950) {
-   out_895428558576169950[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
-   out_895428558576169950[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
-   out_895428558576169950[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
-   out_895428558576169950[3] = 0;
-   out_895428558576169950[4] = 0;
-   out_895428558576169950[5] = 0;
-   out_895428558576169950[6] = 1;
-   out_895428558576169950[7] = 0;
-   out_895428558576169950[8] = 0;
-   out_895428558576169950[9] = 0;
-   out_895428558576169950[10] = 0;
-}
-void h_20(double *state, double *sat_pos, double *out_6704926246356191984) {
-   out_6704926246356191984[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
-}
-void H_20(double *state, double *sat_pos, double *out_3575717658219428128) {
-   out_3575717658219428128[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
-   out_3575717658219428128[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
-   out_3575717658219428128[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
-   out_3575717658219428128[3] = 0;
-   out_3575717658219428128[4] = 0;
-   out_3575717658219428128[5] = 0;
-   out_3575717658219428128[6] = 1;
-   out_3575717658219428128[7] = 0;
-   out_3575717658219428128[8] = 0;
-   out_3575717658219428128[9] = 1;
-   out_3575717658219428128[10] = sat_pos[3];
-}
-void h_7(double *state, double *sat_pos_vel, double *out_6430340606903371855) {
-   out_6430340606903371855[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
-}
-void H_7(double *state, double *sat_pos_vel, double *out_4789129994195662485) {
-   out_4789129994195662485[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[6] = 0;
-   out_4789129994195662485[7] = 1;
-   out_4789129994195662485[8] = 0;
-   out_4789129994195662485[9] = 0;
-   out_4789129994195662485[10] = 0;
-}
-void h_21(double *state, double *sat_pos_vel, double *out_6430340606903371855) {
-   out_6430340606903371855[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
-}
-void H_21(double *state, double *sat_pos_vel, double *out_4789129994195662485) {
-   out_4789129994195662485[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
-   out_4789129994195662485[6] = 0;
-   out_4789129994195662485[7] = 1;
-   out_4789129994195662485[8] = 0;
-   out_4789129994195662485[9] = 0;
-   out_4789129994195662485[10] = 0;
+void err_fun(double *nom_x, double *delta_x, double *out_7861368562585023949) {
+   out_7861368562585023949[0] = delta_x[0] + nom_x[0];
+   out_7861368562585023949[1] = delta_x[1] + nom_x[1];
+   out_7861368562585023949[2] = delta_x[2] + nom_x[2];
+   out_7861368562585023949[3] = delta_x[3] + nom_x[3];
+   out_7861368562585023949[4] = delta_x[4] + nom_x[4];
+   out_7861368562585023949[5] = delta_x[5] + nom_x[5];
+   out_7861368562585023949[6] = delta_x[6] + nom_x[6];
+   out_7861368562585023949[7] = delta_x[7] + nom_x[7];
+   out_7861368562585023949[8] = delta_x[8] + nom_x[8];
+   out_7861368562585023949[9] = delta_x[9] + nom_x[9];
+   out_7861368562585023949[10] = delta_x[10] + nom_x[10];
+}
+void inv_err_fun(double *nom_x, double *true_x, double *out_6509090499931839816) {
+   out_6509090499931839816[0] = -nom_x[0] + true_x[0];
+   out_6509090499931839816[1] = -nom_x[1] + true_x[1];
+   out_6509090499931839816[2] = -nom_x[2] + true_x[2];
+   out_6509090499931839816[3] = -nom_x[3] + true_x[3];
+   out_6509090499931839816[4] = -nom_x[4] + true_x[4];
+   out_6509090499931839816[5] = -nom_x[5] + true_x[5];
+   out_6509090499931839816[6] = -nom_x[6] + true_x[6];
+   out_6509090499931839816[7] = -nom_x[7] + true_x[7];
+   out_6509090499931839816[8] = -nom_x[8] + true_x[8];
+   out_6509090499931839816[9] = -nom_x[9] + true_x[9];
+   out_6509090499931839816[10] = -nom_x[10] + true_x[10];
+}
+void H_mod_fun(double *state, double *out_475664012759985504) {
+   out_475664012759985504[0] = 1.0;
+   out_475664012759985504[1] = 0;
+   out_475664012759985504[2] = 0;
+   out_475664012759985504[3] = 0;
+   out_475664012759985504[4] = 0;
+   out_475664012759985504[5] = 0;
+   out_475664012759985504[6] = 0;
+   out_475664012759985504[7] = 0;
+   out_475664012759985504[8] = 0;
+   out_475664012759985504[9] = 0;
+   out_475664012759985504[10] = 0;
+   out_475664012759985504[11] = 0;
+   out_475664012759985504[12] = 1.0;
+   out_475664012759985504[13] = 0;
+   out_475664012759985504[14] = 0;
+   out_475664012759985504[15] = 0;
+   out_475664012759985504[16] = 0;
+   out_475664012759985504[17] = 0;
+   out_475664012759985504[18] = 0;
+   out_475664012759985504[19] = 0;
+   out_475664012759985504[20] = 0;
+   out_475664012759985504[21] = 0;
+   out_475664012759985504[22] = 0;
+   out_475664012759985504[23] = 0;
+   out_475664012759985504[24] = 1.0;
+   out_475664012759985504[25] = 0;
+   out_475664012759985504[26] = 0;
+   out_475664012759985504[27] = 0;
+   out_475664012759985504[28] = 0;
+   out_475664012759985504[29] = 0;
+   out_475664012759985504[30] = 0;
+   out_475664012759985504[31] = 0;
+   out_475664012759985504[32] = 0;
+   out_475664012759985504[33] = 0;
+   out_475664012759985504[34] = 0;
+   out_475664012759985504[35] = 0;
+   out_475664012759985504[36] = 1.0;
+   out_475664012759985504[37] = 0;
+   out_475664012759985504[38] = 0;
+   out_475664012759985504[39] = 0;
+   out_475664012759985504[40] = 0;
+   out_475664012759985504[41] = 0;
+   out_475664012759985504[42] = 0;
+   out_475664012759985504[43] = 0;
+   out_475664012759985504[44] = 0;
+   out_475664012759985504[45] = 0;
+   out_475664012759985504[46] = 0;
+   out_475664012759985504[47] = 0;
+   out_475664012759985504[48] = 1.0;
+   out_475664012759985504[49] = 0;
+   out_475664012759985504[50] = 0;
+   out_475664012759985504[51] = 0;
+   out_475664012759985504[52] = 0;
+   out_475664012759985504[53] = 0;
+   out_475664012759985504[54] = 0;
+   out_475664012759985504[55] = 0;
+   out_475664012759985504[56] = 0;
+   out_475664012759985504[57] = 0;
+   out_475664012759985504[58] = 0;
+   out_475664012759985504[59] = 0;
+   out_475664012759985504[60] = 1.0;
+   out_475664012759985504[61] = 0;
+   out_475664012759985504[62] = 0;
+   out_475664012759985504[63] = 0;
+   out_475664012759985504[64] = 0;
+   out_475664012759985504[65] = 0;
+   out_475664012759985504[66] = 0;
+   out_475664012759985504[67] = 0;
+   out_475664012759985504[68] = 0;
+   out_475664012759985504[69] = 0;
+   out_475664012759985504[70] = 0;
+   out_475664012759985504[71] = 0;
+   out_475664012759985504[72] = 1.0;
+   out_475664012759985504[73] = 0;
+   out_475664012759985504[74] = 0;
+   out_475664012759985504[75] = 0;
+   out_475664012759985504[76] = 0;
+   out_475664012759985504[77] = 0;
+   out_475664012759985504[78] = 0;
+   out_475664012759985504[79] = 0;
+   out_475664012759985504[80] = 0;
+   out_475664012759985504[81] = 0;
+   out_475664012759985504[82] = 0;
+   out_475664012759985504[83] = 0;
+   out_475664012759985504[84] = 1.0;
+   out_475664012759985504[85] = 0;
+   out_475664012759985504[86] = 0;
+   out_475664012759985504[87] = 0;
+   out_475664012759985504[88] = 0;
+   out_475664012759985504[89] = 0;
+   out_475664012759985504[90] = 0;
+   out_475664012759985504[91] = 0;
+   out_475664012759985504[92] = 0;
+   out_475664012759985504[93] = 0;
+   out_475664012759985504[94] = 0;
+   out_475664012759985504[95] = 0;
+   out_475664012759985504[96] = 1.0;
+   out_475664012759985504[97] = 0;
+   out_475664012759985504[98] = 0;
+   out_475664012759985504[99] = 0;
+   out_475664012759985504[100] = 0;
+   out_475664012759985504[101] = 0;
+   out_475664012759985504[102] = 0;
+   out_475664012759985504[103] = 0;
+   out_475664012759985504[104] = 0;
+   out_475664012759985504[105] = 0;
+   out_475664012759985504[106] = 0;
+   out_475664012759985504[107] = 0;
+   out_475664012759985504[108] = 1.0;
+   out_475664012759985504[109] = 0;
+   out_475664012759985504[110] = 0;
+   out_475664012759985504[111] = 0;
+   out_475664012759985504[112] = 0;
+   out_475664012759985504[113] = 0;
+   out_475664012759985504[114] = 0;
+   out_475664012759985504[115] = 0;
+   out_475664012759985504[116] = 0;
+   out_475664012759985504[117] = 0;
+   out_475664012759985504[118] = 0;
+   out_475664012759985504[119] = 0;
+   out_475664012759985504[120] = 1.0;
+}
+void f_fun(double *state, double dt, double *out_4292385048460003663) {
+   out_4292385048460003663[0] = dt*state[3] + state[0];
+   out_4292385048460003663[1] = dt*state[4] + state[1];
+   out_4292385048460003663[2] = dt*state[5] + state[2];
+   out_4292385048460003663[3] = state[3];
+   out_4292385048460003663[4] = state[4];
+   out_4292385048460003663[5] = state[5];
+   out_4292385048460003663[6] = dt*state[7] + state[6];
+   out_4292385048460003663[7] = dt*state[8] + state[7];
+   out_4292385048460003663[8] = state[8];
+   out_4292385048460003663[9] = state[9];
+   out_4292385048460003663[10] = state[10];
+}
+void F_fun(double *state, double dt, double *out_7071174528671579157) {
+   out_7071174528671579157[0] = 1;
+   out_7071174528671579157[1] = 0;
+   out_7071174528671579157[2] = 0;
+   out_7071174528671579157[3] = dt;
+   out_7071174528671579157[4] = 0;
+   out_7071174528671579157[5] = 0;
+   out_7071174528671579157[6] = 0;
+   out_7071174528671579157[7] = 0;
+   out_7071174528671579157[8] = 0;
+   out_7071174528671579157[9] = 0;
+   out_7071174528671579157[10] = 0;
+   out_7071174528671579157[11] = 0;
+   out_7071174528671579157[12] = 1;
+   out_7071174528671579157[13] = 0;
+   out_7071174528671579157[14] = 0;
+   out_7071174528671579157[15] = dt;
+   out_7071174528671579157[16] = 0;
+   out_7071174528671579157[17] = 0;
+   out_7071174528671579157[18] = 0;
+   out_7071174528671579157[19] = 0;
+   out_7071174528671579157[20] = 0;
+   out_7071174528671579157[21] = 0;
+   out_7071174528671579157[22] = 0;
+   out_7071174528671579157[23] = 0;
+   out_7071174528671579157[24] = 1;
+   out_7071174528671579157[25] = 0;
+   out_7071174528671579157[26] = 0;
+   out_7071174528671579157[27] = dt;
+   out_7071174528671579157[28] = 0;
+   out_7071174528671579157[29] = 0;
+   out_7071174528671579157[30] = 0;
+   out_7071174528671579157[31] = 0;
+   out_7071174528671579157[32] = 0;
+   out_7071174528671579157[33] = 0;
+   out_7071174528671579157[34] = 0;
+   out_7071174528671579157[35] = 0;
+   out_7071174528671579157[36] = 1;
+   out_7071174528671579157[37] = 0;
+   out_7071174528671579157[38] = 0;
+   out_7071174528671579157[39] = 0;
+   out_7071174528671579157[40] = 0;
+   out_7071174528671579157[41] = 0;
+   out_7071174528671579157[42] = 0;
+   out_7071174528671579157[43] = 0;
+   out_7071174528671579157[44] = 0;
+   out_7071174528671579157[45] = 0;
+   out_7071174528671579157[46] = 0;
+   out_7071174528671579157[47] = 0;
+   out_7071174528671579157[48] = 1;
+   out_7071174528671579157[49] = 0;
+   out_7071174528671579157[50] = 0;
+   out_7071174528671579157[51] = 0;
+   out_7071174528671579157[52] = 0;
+   out_7071174528671579157[53] = 0;
+   out_7071174528671579157[54] = 0;
+   out_7071174528671579157[55] = 0;
+   out_7071174528671579157[56] = 0;
+   out_7071174528671579157[57] = 0;
+   out_7071174528671579157[58] = 0;
+   out_7071174528671579157[59] = 0;
+   out_7071174528671579157[60] = 1;
+   out_7071174528671579157[61] = 0;
+   out_7071174528671579157[62] = 0;
+   out_7071174528671579157[63] = 0;
+   out_7071174528671579157[64] = 0;
+   out_7071174528671579157[65] = 0;
+   out_7071174528671579157[66] = 0;
+   out_7071174528671579157[67] = 0;
+   out_7071174528671579157[68] = 0;
+   out_7071174528671579157[69] = 0;
+   out_7071174528671579157[70] = 0;
+   out_7071174528671579157[71] = 0;
+   out_7071174528671579157[72] = 1;
+   out_7071174528671579157[73] = dt;
+   out_7071174528671579157[74] = 0;
+   out_7071174528671579157[75] = 0;
+   out_7071174528671579157[76] = 0;
+   out_7071174528671579157[77] = 0;
+   out_7071174528671579157[78] = 0;
+   out_7071174528671579157[79] = 0;
+   out_7071174528671579157[80] = 0;
+   out_7071174528671579157[81] = 0;
+   out_7071174528671579157[82] = 0;
+   out_7071174528671579157[83] = 0;
+   out_7071174528671579157[84] = 1;
+   out_7071174528671579157[85] = dt;
+   out_7071174528671579157[86] = 0;
+   out_7071174528671579157[87] = 0;
+   out_7071174528671579157[88] = 0;
+   out_7071174528671579157[89] = 0;
+   out_7071174528671579157[90] = 0;
+   out_7071174528671579157[91] = 0;
+   out_7071174528671579157[92] = 0;
+   out_7071174528671579157[93] = 0;
+   out_7071174528671579157[94] = 0;
+   out_7071174528671579157[95] = 0;
+   out_7071174528671579157[96] = 1;
+   out_7071174528671579157[97] = 0;
+   out_7071174528671579157[98] = 0;
+   out_7071174528671579157[99] = 0;
+   out_7071174528671579157[100] = 0;
+   out_7071174528671579157[101] = 0;
+   out_7071174528671579157[102] = 0;
+   out_7071174528671579157[103] = 0;
+   out_7071174528671579157[104] = 0;
+   out_7071174528671579157[105] = 0;
+   out_7071174528671579157[106] = 0;
+   out_7071174528671579157[107] = 0;
+   out_7071174528671579157[108] = 1;
+   out_7071174528671579157[109] = 0;
+   out_7071174528671579157[110] = 0;
+   out_7071174528671579157[111] = 0;
+   out_7071174528671579157[112] = 0;
+   out_7071174528671579157[113] = 0;
+   out_7071174528671579157[114] = 0;
+   out_7071174528671579157[115] = 0;
+   out_7071174528671579157[116] = 0;
+   out_7071174528671579157[117] = 0;
+   out_7071174528671579157[118] = 0;
+   out_7071174528671579157[119] = 0;
+   out_7071174528671579157[120] = 1;
+}
+void h_6(double *state, double *sat_pos, double *out_2481230479465319936) {
+   out_2481230479465319936[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + state[6];
+}
+void H_6(double *state, double *sat_pos, double *out_7645196925630164082) {
+   out_7645196925630164082[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
+   out_7645196925630164082[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
+   out_7645196925630164082[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
+   out_7645196925630164082[3] = 0;
+   out_7645196925630164082[4] = 0;
+   out_7645196925630164082[5] = 0;
+   out_7645196925630164082[6] = 1;
+   out_7645196925630164082[7] = 0;
+   out_7645196925630164082[8] = 0;
+   out_7645196925630164082[9] = 0;
+   out_7645196925630164082[10] = 0;
+}
+void h_20(double *state, double *sat_pos, double *out_7507301208942135576) {
+   out_7507301208942135576[0] = sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2)) + sat_pos[3]*state[10] + state[6] + state[9];
+}
+void H_20(double *state, double *sat_pos, double *out_1693366137112332184) {
+   out_1693366137112332184[0] = (-sat_pos[0] + state[0])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
+   out_1693366137112332184[1] = (-sat_pos[1] + state[1])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
+   out_1693366137112332184[2] = (-sat_pos[2] + state[2])/sqrt(pow(-sat_pos[0] + state[0], 2) + pow(-sat_pos[1] + state[1], 2) + pow(-sat_pos[2] + state[2], 2));
+   out_1693366137112332184[3] = 0;
+   out_1693366137112332184[4] = 0;
+   out_1693366137112332184[5] = 0;
+   out_1693366137112332184[6] = 1;
+   out_1693366137112332184[7] = 0;
+   out_1693366137112332184[8] = 0;
+   out_1693366137112332184[9] = 1;
+   out_1693366137112332184[10] = sat_pos[3];
+}
+void h_7(double *state, double *sat_pos_vel, double *out_2861812996390348550) {
+   out_2861812996390348550[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
+}
+void H_7(double *state, double *sat_pos_vel, double *out_1823365369839474784) {
+   out_1823365369839474784[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[6] = 0;
+   out_1823365369839474784[7] = 1;
+   out_1823365369839474784[8] = 0;
+   out_1823365369839474784[9] = 0;
+   out_1823365369839474784[10] = 0;
+}
+void h_21(double *state, double *sat_pos_vel, double *out_2861812996390348550) {
+   out_2861812996390348550[0] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + (sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2)) + state[7];
+}
+void H_21(double *state, double *sat_pos_vel, double *out_1823365369839474784) {
+   out_1823365369839474784[0] = pow(sat_pos_vel[0] - state[0], 2)*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[3] - state[3])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[1] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[1] - state[1])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[1] - state[1], 2)*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[4] - state[4])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[2] = (sat_pos_vel[0] - state[0])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[3] - state[3])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + (sat_pos_vel[1] - state[1])*(sat_pos_vel[2] - state[2])*(sat_pos_vel[4] - state[4])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) + pow(sat_pos_vel[2] - state[2], 2)*(sat_pos_vel[5] - state[5])/pow(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2), 3.0/2.0) - (sat_pos_vel[5] - state[5])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[3] = -(sat_pos_vel[0] - state[0])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[4] = -(sat_pos_vel[1] - state[1])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[5] = -(sat_pos_vel[2] - state[2])/sqrt(pow(sat_pos_vel[0] - state[0], 2) + pow(sat_pos_vel[1] - state[1], 2) + pow(sat_pos_vel[2] - state[2], 2));
+   out_1823365369839474784[6] = 0;
+   out_1823365369839474784[7] = 1;
+   out_1823365369839474784[8] = 0;
+   out_1823365369839474784[9] = 0;
+   out_1823365369839474784[10] = 0;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -506,44 +506,44 @@ void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
   update<1, 3, 0>(in_x, in_P, h_21, H_21, NULL, in_z, in_R, in_ea, MAHA_THRESH_21);
 }
-void gnss_err_fun(double *nom_x, double *delta_x, double *out_4640013062227700412) {
-  err_fun(nom_x, delta_x, out_4640013062227700412);
+void gnss_err_fun(double *nom_x, double *delta_x, double *out_7861368562585023949) {
+  err_fun(nom_x, delta_x, out_7861368562585023949);
 }
-void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_4915148707996812550) {
-  inv_err_fun(nom_x, true_x, out_4915148707996812550);
+void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6509090499931839816) {
+  inv_err_fun(nom_x, true_x, out_6509090499931839816);
 }
-void gnss_H_mod_fun(double *state, double *out_8574237875034322764) {
-  H_mod_fun(state, out_8574237875034322764);
+void gnss_H_mod_fun(double *state, double *out_475664012759985504) {
+  H_mod_fun(state, out_475664012759985504);
 }
-void gnss_f_fun(double *state, double dt, double *out_5636831905979297775) {
-  f_fun(state,  dt, out_5636831905979297775);
+void gnss_f_fun(double *state, double dt, double *out_4292385048460003663) {
+  f_fun(state,  dt, out_4292385048460003663);
 }
-void gnss_F_fun(double *state, double dt, double *out_2727942986966876467) {
-  F_fun(state,  dt, out_2727942986966876467);
+void gnss_F_fun(double *state, double dt, double *out_7071174528671579157) {
+  F_fun(state,  dt, out_7071174528671579157);
 }
-void gnss_h_6(double *state, double *sat_pos, double *out_4554215930920042575) {
-  h_6(state, sat_pos, out_4554215930920042575);
+void gnss_h_6(double *state, double *sat_pos, double *out_2481230479465319936) {
+  h_6(state, sat_pos, out_2481230479465319936);
 }
-void gnss_H_6(double *state, double *sat_pos, double *out_895428558576169950) {
-  H_6(state, sat_pos, out_895428558576169950);
+void gnss_H_6(double *state, double *sat_pos, double *out_7645196925630164082) {
+  H_6(state, sat_pos, out_7645196925630164082);
 }
-void gnss_h_20(double *state, double *sat_pos, double *out_6704926246356191984) {
-  h_20(state, sat_pos, out_6704926246356191984);
+void gnss_h_20(double *state, double *sat_pos, double *out_7507301208942135576) {
+  h_20(state, sat_pos, out_7507301208942135576);
 }
-void gnss_H_20(double *state, double *sat_pos, double *out_3575717658219428128) {
-  H_20(state, sat_pos, out_3575717658219428128);
+void gnss_H_20(double *state, double *sat_pos, double *out_1693366137112332184) {
+  H_20(state, sat_pos, out_1693366137112332184);
 }
-void gnss_h_7(double *state, double *sat_pos_vel, double *out_6430340606903371855) {
-  h_7(state, sat_pos_vel, out_6430340606903371855);
+void gnss_h_7(double *state, double *sat_pos_vel, double *out_2861812996390348550) {
+  h_7(state, sat_pos_vel, out_2861812996390348550);
 }
-void gnss_H_7(double *state, double *sat_pos_vel, double *out_4789129994195662485) {
-  H_7(state, sat_pos_vel, out_4789129994195662485);
+void gnss_H_7(double *state, double *sat_pos_vel, double *out_1823365369839474784) {
+  H_7(state, sat_pos_vel, out_1823365369839474784);
 }
-void gnss_h_21(double *state, double *sat_pos_vel, double *out_6430340606903371855) {
-  h_21(state, sat_pos_vel, out_6430340606903371855);
+void gnss_h_21(double *state, double *sat_pos_vel, double *out_2861812996390348550) {
+  h_21(state, sat_pos_vel, out_2861812996390348550);
 }
-void gnss_H_21(double *state, double *sat_pos_vel, double *out_4789129994195662485) {
-  H_21(state, sat_pos_vel, out_4789129994195662485);
+void gnss_H_21(double *state, double *sat_pos_vel, double *out_1823365369839474784) {
+  H_21(state, sat_pos_vel, out_1823365369839474784);
 }
 void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt) {
   predict(in_x, in_P, in_Q, dt);

selfdrive/locationd/models/generated/gnss.h

@@ -5,18 +5,18 @@ void gnss_update_6(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void gnss_update_20(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void gnss_update_7(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void gnss_update_21(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void gnss_err_fun(double *nom_x, double *delta_x, double *out_4640013062227700412);
-void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_4915148707996812550);
-void gnss_H_mod_fun(double *state, double *out_8574237875034322764);
-void gnss_f_fun(double *state, double dt, double *out_5636831905979297775);
-void gnss_F_fun(double *state, double dt, double *out_2727942986966876467);
-void gnss_h_6(double *state, double *sat_pos, double *out_4554215930920042575);
-void gnss_H_6(double *state, double *sat_pos, double *out_895428558576169950);
-void gnss_h_20(double *state, double *sat_pos, double *out_6704926246356191984);
-void gnss_H_20(double *state, double *sat_pos, double *out_3575717658219428128);
-void gnss_h_7(double *state, double *sat_pos_vel, double *out_6430340606903371855);
-void gnss_H_7(double *state, double *sat_pos_vel, double *out_4789129994195662485);
-void gnss_h_21(double *state, double *sat_pos_vel, double *out_6430340606903371855);
-void gnss_H_21(double *state, double *sat_pos_vel, double *out_4789129994195662485);
+void gnss_err_fun(double *nom_x, double *delta_x, double *out_7861368562585023949);
+void gnss_inv_err_fun(double *nom_x, double *true_x, double *out_6509090499931839816);
+void gnss_H_mod_fun(double *state, double *out_475664012759985504);
+void gnss_f_fun(double *state, double dt, double *out_4292385048460003663);
+void gnss_F_fun(double *state, double dt, double *out_7071174528671579157);
+void gnss_h_6(double *state, double *sat_pos, double *out_2481230479465319936);
+void gnss_H_6(double *state, double *sat_pos, double *out_7645196925630164082);
+void gnss_h_20(double *state, double *sat_pos, double *out_7507301208942135576);
+void gnss_H_20(double *state, double *sat_pos, double *out_1693366137112332184);
+void gnss_h_7(double *state, double *sat_pos_vel, double *out_2861812996390348550);
+void gnss_H_7(double *state, double *sat_pos_vel, double *out_1823365369839474784);
+void gnss_h_21(double *state, double *sat_pos_vel, double *out_2861812996390348550);
+void gnss_H_21(double *state, double *sat_pos_vel, double *out_1823365369839474784);
 void gnss_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

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_6240008686817713408);
-void live_err_fun(double *nom_x, double *delta_x, double *out_3690665086918622964);
-void live_inv_err_fun(double *nom_x, double *true_x, double *out_8615868703535681088);
-void live_H_mod_fun(double *state, double *out_1988291488770769521);
-void live_f_fun(double *state, double dt, double *out_3263988285527381505);
-void live_F_fun(double *state, double dt, double *out_4332092747232242913);
-void live_h_4(double *state, double *unused, double *out_6582152946104087701);
-void live_H_4(double *state, double *unused, double *out_8426954437225368770);
-void live_h_9(double *state, double *unused, double *out_7444569565063482614);
-void live_H_9(double *state, double *unused, double *out_7130928084204103504);
-void live_h_10(double *state, double *unused, double *out_1939752611965379146);
-void live_H_10(double *state, double *unused, double *out_6385265893824183484);
-void live_h_12(double *state, double *unused, double *out_7296993372404775801);
-void live_H_12(double *state, double *unused, double *out_2352661322801732354);
-void live_h_35(double *state, double *unused, double *out_947171662528612088);
-void live_H_35(double *state, double *unused, double *out_392901709523281355);
-void live_h_32(double *state, double *unused, double *out_2929900686975731664);
-void live_H_32(double *state, double *unused, double *out_8907135071749521650);
-void live_h_13(double *state, double *unused, double *out_4581312559012542837);
-void live_H_13(double *state, double *unused, double *out_569470278268388809);
-void live_h_14(double *state, double *unused, double *out_7444569565063482614);
-void live_H_14(double *state, double *unused, double *out_7130928084204103504);
-void live_h_33(double *state, double *unused, double *out_7317084925230058116);
-void live_H_33(double *state, double *unused, double *out_3543458714162138959);
+void live_H(double *in_vec, double *out_734965431798586088);
+void live_err_fun(double *nom_x, double *delta_x, double *out_7867135572176938343);
+void live_inv_err_fun(double *nom_x, double *true_x, double *out_4469849344899012791);
+void live_H_mod_fun(double *state, double *out_482044005104989923);
+void live_f_fun(double *state, double dt, double *out_5277401503139322236);
+void live_F_fun(double *state, double dt, double *out_6716422747633413136);
+void live_h_4(double *state, double *unused, double *out_7766204740505938751);
+void live_H_4(double *state, double *unused, double *out_5987995952750113477);
+void live_h_9(double *state, double *unused, double *out_2388230207696517986);
+void live_H_9(double *state, double *unused, double *out_6229185599379704122);
+void live_h_10(double *state, double *unused, double *out_9053893872496357561);
+void live_H_10(double *state, double *unused, double *out_140518164600154776);
+void live_h_12(double *state, double *unused, double *out_835136029362175519);
+void live_H_12(double *state, double *unused, double *out_6609094977797707144);
+void live_h_35(double *state, double *unused, double *out_93555897102822674);
+void live_H_35(double *state, double *unused, double *out_9092086063586830763);
+void live_h_32(double *state, double *unused, double *out_6290965057558394135);
+void live_H_32(double *state, double *unused, double *out_2439793506428604497);
+void live_h_13(double *state, double *unused, double *out_8490099498842921417);
+void live_H_13(double *state, double *unused, double *out_8653375813311677152);
+void live_h_14(double *state, double *unused, double *out_2388230207696517986);
+void live_H_14(double *state, double *unused, double *out_6229185599379704122);
+void live_h_33(double *state, double *unused, double *out_3386383232379514061);
+void live_H_33(double *state, double *unused, double *out_5941529058947973159);
 void live_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }

selfdrive/ui/translations/main_ja.ts

@@ -114,87 +114,109 @@
 <context>
     <name>DPCarPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override Speed When Below</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override feature will be enabled when set cruise speed is lower than this value.
 1 km/h = 0.62 mph.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source> km/h</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>Turn On Cruise Speed Override</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="403"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="412"/>
         <source>Toyota / Lexus</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable SnG Mod</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable this to fix stop and go (SnG) issue on some models.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable AM Physical Button Ctrl</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable Door Auto Lock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable this to lock doors when drive above 25 km/h.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable Door Auto Unlock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable this to unlock doors when shift to gear P.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="441"/>
         <source>Honda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable EPS Mod Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="448"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="461"/>
         <source>Mazda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Display Below Steer Speed Alert</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Enable this will show below steer speed alert.
 Thanks to @TheCrowd</source>
         <translation type="unfinished"></translation>
@@ -203,118 +225,118 @@ Thanks to @TheCrowd</source>
 <context>
     <name>DPControlPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>ALCA Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source> secs</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
         <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source> mph</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>Lateral Ctrl Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>1 = Lane Change Assist (LCA)
 2 = Auto Lane Change Assist (ALCA)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="223"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="232"/>
         <source>Longitudinal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Manually Control Accel Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="228"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="237"/>
         <source>Enable vision based turn control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="229"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="238"/>
         <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="283"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="292"/>
         <source>Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Use Lane Lines</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Enable this if you wish to use lane lines mode.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Use LQR Controller</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Enable this if you wish to use LQR instead of PID or INDI controller.
 WORKS WELL ONLY ON SOME VEHICLES.
 More linear steering experience.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Always On Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Use at your own risk!
 1 = Stock Long
 2 = OP Long
@@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Camera Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Adjust your camera position if your device is not mounted as per guidance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DPGeneralPanel</name>
@@ -445,9 +477,12 @@ The device should reboot once if it finish updating.</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="131"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
-        <source>Are you sure?</source>
+        <source>Are you sure you want to flash the panda?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="158"/>
+        <source>Are you sure delete all media?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -465,18 +500,44 @@ The device should reboot once if it finish updating.</source>
         <source>Tap the button ONLY if your panda ran into issue.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
+        <source>Are you sure you want to run recover panda script?</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
-        <source>Delete All Driving Log</source>
+        <source>Reset dragonpilot conf</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>RESET</source>
+        <translation type="unfinished">ﾘｾｯﾄ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>Tap the button to reset all your dragonpilot congiration to default value.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
+        <source>Are you sure you want to reset dp params?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
+        <source>Delete All Driving Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>DELETE</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
         <translation type="unfinished"></translation>
     </message>
@@ -484,34 +545,34 @@ The device should reboot once if it finish updating.</source>
 <context>
     <name>DPMapsPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>Show Full Screen Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>This will show navigation in full screen.
 Please tap green boarder if you wish to switch back drive view.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>Search Destination using Google Map</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>This will allow you to search destination in google map api.
 You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>Enable Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>This will let use the build in Navigation.
 Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
 You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -520,52 +581,52 @@ Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="538"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="551"/>
         <source>Enable Speed Limit Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="539"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="552"/>
         <source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="543"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="556"/>
         <source>Enable Speed Limit Offset</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="544"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="557"/>
         <source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="548"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="561"/>
         <source>Enable Map Data Turn Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="549"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="562"/>
         <source>Use curvature info from map data to define speed limits to take turns ahead</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="553"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="566"/>
         <source>Show debug UI elements</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="554"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="567"/>
         <source>Show UI elements that aid debugging.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Enable MapD</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Use OSM to assist lateral/longitudinal control.
 Please note:
 1. This feature will works only when your car support OP longitudinal.
@@ -578,69 +639,95 @@ Please note:
 <context>
     <name>DPUIPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>Display Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>0 = Default
 1 = Screen Off While Driving</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Screen Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Adjust your screen brightness.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>AUTO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Alert Volume</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Adjust your alert volume.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Quiet Drive</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Display Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Enable this to display your current speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <source>Display Event / Steer Icon</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Enable this to display the icon.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Display Driver Monitor Indicator</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Display Side Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Enable this to display steering angle / lead car distance / engine RPM.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Display Top Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Enable this to display time / system temp / battery level.</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1048,70 +1135,70 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="426"/>
-        <location filename="../qt/onroad.cc" line="429"/>
+        <location filename="../qt/onroad.cc" line="434"/>
+        <location filename="../qt/onroad.cc" line="437"/>
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="479"/>
-        <location filename="../qt/onroad.cc" line="482"/>
+        <location filename="../qt/onroad.cc" line="487"/>
+        <location filename="../qt/onroad.cc" line="490"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="485"/>
-        <location filename="../qt/onroad.cc" line="488"/>
+        <location filename="../qt/onroad.cc" line="493"/>
+        <location filename="../qt/onroad.cc" line="496"/>
         <source>LIMIT</source>
         <translation>制限速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="951"/>
+        <location filename="../qt/onroad.cc" line="963"/>
         <source>REAL STEER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="959"/>
+        <location filename="../qt/onroad.cc" line="971"/>
         <source>RAM PER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="971"/>
+        <location filename="../qt/onroad.cc" line="983"/>
         <source>OFF</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="974"/>
+        <location filename="../qt/onroad.cc" line="986"/>
         <source>ENG RPM</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1007"/>
+        <location filename="../qt/onroad.cc" line="1019"/>
         <source>NOR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1010"/>
+        <location filename="../qt/onroad.cc" line="1022"/>
         <source>SPT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1013"/>
+        <location filename="../qt/onroad.cc" line="1025"/>
         <source>ECO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1015"/>
+        <location filename="../qt/onroad.cc" line="1027"/>
         <source>ACCEL</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1501,31 +1588,31 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>接続</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>オフライン</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>ONLINE</source>
         <translation>オンライン</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>エラー</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="79"/>
-        <location filename="../qt/sidebar.cc" line="81"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="88"/>
         <source>TEMP</source>
         <translation>温度</translation>
     </message>
@@ -1542,27 +1629,27 @@ location set</source>
         <translation type="vanished">OK</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>VEHICLE</source>
         <translation>車両</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>NO</source>
         <translation>NO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>SEARCH</source>
         <translation>検索</translation>
     </message>

selfdrive/ui/translations/main_ko.ts

@@ -114,87 +114,109 @@
 <context>
     <name>DPCarPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override Speed When Below</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override feature will be enabled when set cruise speed is lower than this value.
 1 km/h = 0.62 mph.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source> km/h</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>Turn On Cruise Speed Override</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="403"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="412"/>
         <source>Toyota / Lexus</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable SnG Mod</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable this to fix stop and go (SnG) issue on some models.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable AM Physical Button Ctrl</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable Door Auto Lock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable this to lock doors when drive above 25 km/h.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable Door Auto Unlock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable this to unlock doors when shift to gear P.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="441"/>
         <source>Honda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable EPS Mod Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="448"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="461"/>
         <source>Mazda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Display Below Steer Speed Alert</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Enable this will show below steer speed alert.
 Thanks to @TheCrowd</source>
         <translation type="unfinished"></translation>
@@ -203,118 +225,118 @@ Thanks to @TheCrowd</source>
 <context>
     <name>DPControlPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>ALCA Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source> secs</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
         <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source> mph</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>Lateral Ctrl Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>1 = Lane Change Assist (LCA)
 2 = Auto Lane Change Assist (ALCA)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="223"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="232"/>
         <source>Longitudinal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Manually Control Accel Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="228"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="237"/>
         <source>Enable vision based turn control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="229"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="238"/>
         <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="283"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="292"/>
         <source>Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Use Lane Lines</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Enable this if you wish to use lane lines mode.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Use LQR Controller</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Enable this if you wish to use LQR instead of PID or INDI controller.
 WORKS WELL ONLY ON SOME VEHICLES.
 More linear steering experience.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Always On Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Use at your own risk!
 1 = Stock Long
 2 = OP Long
@@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Camera Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Adjust your camera position if your device is not mounted as per guidance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DPGeneralPanel</name>
@@ -445,9 +477,12 @@ The device should reboot once if it finish updating.</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="131"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
-        <source>Are you sure?</source>
+        <source>Are you sure you want to flash the panda?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="158"/>
+        <source>Are you sure delete all media?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -465,18 +500,44 @@ The device should reboot once if it finish updating.</source>
         <source>Tap the button ONLY if your panda ran into issue.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
+        <source>Are you sure you want to run recover panda script?</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
-        <source>Delete All Driving Log</source>
+        <source>Reset dragonpilot conf</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>RESET</source>
+        <translation type="unfinished">재설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>Tap the button to reset all your dragonpilot congiration to default value.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
+        <source>Are you sure you want to reset dp params?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
+        <source>Delete All Driving Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>DELETE</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
         <translation type="unfinished"></translation>
     </message>
@@ -484,34 +545,34 @@ The device should reboot once if it finish updating.</source>
 <context>
     <name>DPMapsPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>Show Full Screen Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>This will show navigation in full screen.
 Please tap green boarder if you wish to switch back drive view.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>Search Destination using Google Map</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>This will allow you to search destination in google map api.
 You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>Enable Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>This will let use the build in Navigation.
 Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
 You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -520,52 +581,52 @@ Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="538"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="551"/>
         <source>Enable Speed Limit Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="539"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="552"/>
         <source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="543"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="556"/>
         <source>Enable Speed Limit Offset</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="544"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="557"/>
         <source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="548"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="561"/>
         <source>Enable Map Data Turn Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="549"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="562"/>
         <source>Use curvature info from map data to define speed limits to take turns ahead</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="553"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="566"/>
         <source>Show debug UI elements</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="554"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="567"/>
         <source>Show UI elements that aid debugging.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Enable MapD</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Use OSM to assist lateral/longitudinal control.
 Please note:
 1. This feature will works only when your car support OP longitudinal.
@@ -578,69 +639,95 @@ Please note:
 <context>
     <name>DPUIPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>Display Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>0 = Default
 1 = Screen Off While Driving</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Screen Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Adjust your screen brightness.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>AUTO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Alert Volume</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Adjust your alert volume.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Quiet Drive</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Display Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Enable this to display your current speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <source>Display Event / Steer Icon</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Enable this to display the icon.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Display Driver Monitor Indicator</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Display Side Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Enable this to display steering angle / lead car distance / engine RPM.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Display Top Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Enable this to display time / system temp / battery level.</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1048,70 +1135,70 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="426"/>
-        <location filename="../qt/onroad.cc" line="429"/>
+        <location filename="../qt/onroad.cc" line="434"/>
+        <location filename="../qt/onroad.cc" line="437"/>
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="479"/>
-        <location filename="../qt/onroad.cc" line="482"/>
+        <location filename="../qt/onroad.cc" line="487"/>
+        <location filename="../qt/onroad.cc" line="490"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="485"/>
-        <location filename="../qt/onroad.cc" line="488"/>
+        <location filename="../qt/onroad.cc" line="493"/>
+        <location filename="../qt/onroad.cc" line="496"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="951"/>
+        <location filename="../qt/onroad.cc" line="963"/>
         <source>REAL STEER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="959"/>
+        <location filename="../qt/onroad.cc" line="971"/>
         <source>RAM PER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="971"/>
+        <location filename="../qt/onroad.cc" line="983"/>
         <source>OFF</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="974"/>
+        <location filename="../qt/onroad.cc" line="986"/>
         <source>ENG RPM</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1007"/>
+        <location filename="../qt/onroad.cc" line="1019"/>
         <source>NOR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1010"/>
+        <location filename="../qt/onroad.cc" line="1022"/>
         <source>SPT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1013"/>
+        <location filename="../qt/onroad.cc" line="1025"/>
         <source>ECO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1015"/>
+        <location filename="../qt/onroad.cc" line="1027"/>
         <source>ACCEL</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1501,31 +1588,31 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>연결</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>오프라인</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>ONLINE</source>
         <translation>온라인</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>오류</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="79"/>
-        <location filename="../qt/sidebar.cc" line="81"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="88"/>
         <source>TEMP</source>
         <translation>온도</translation>
     </message>
@@ -1542,27 +1629,27 @@ location set</source>
         <translation type="vanished">경고</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>VEHICLE</source>
         <translation>차량</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>NO</source>
         <translation>NO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>SEARCH</source>
         <translation>검색중</translation>
     </message>

selfdrive/ui/translations/main_pt-BR.ts

@@ -114,87 +114,109 @@
 <context>
     <name>DPCarPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override Speed When Below</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override feature will be enabled when set cruise speed is lower than this value.
 1 km/h = 0.62 mph.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source> km/h</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>Turn On Cruise Speed Override</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="403"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="412"/>
         <source>Toyota / Lexus</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable SnG Mod</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable this to fix stop and go (SnG) issue on some models.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable AM Physical Button Ctrl</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable Door Auto Lock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable this to lock doors when drive above 25 km/h.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable Door Auto Unlock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable this to unlock doors when shift to gear P.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="441"/>
         <source>Honda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable EPS Mod Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="448"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="461"/>
         <source>Mazda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Display Below Steer Speed Alert</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Enable this will show below steer speed alert.
 Thanks to @TheCrowd</source>
         <translation type="unfinished"></translation>
@@ -203,118 +225,118 @@ Thanks to @TheCrowd</source>
 <context>
     <name>DPControlPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>ALCA Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source> secs</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
         <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source> mph</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>Lateral Ctrl Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>1 = Lane Change Assist (LCA)
 2 = Auto Lane Change Assist (ALCA)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="223"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="232"/>
         <source>Longitudinal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Manually Control Accel Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="228"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="237"/>
         <source>Enable vision based turn control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="229"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="238"/>
         <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="283"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="292"/>
         <source>Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Use Lane Lines</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Enable this if you wish to use lane lines mode.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Use LQR Controller</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Enable this if you wish to use LQR instead of PID or INDI controller.
 WORKS WELL ONLY ON SOME VEHICLES.
 More linear steering experience.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Always On Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Use at your own risk!
 1 = Stock Long
 2 = OP Long
@@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Camera Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Adjust your camera position if your device is not mounted as per guidance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DPGeneralPanel</name>
@@ -445,9 +477,12 @@ The device should reboot once if it finish updating.</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="131"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
-        <source>Are you sure?</source>
+        <source>Are you sure you want to flash the panda?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="158"/>
+        <source>Are you sure delete all media?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -465,18 +500,44 @@ The device should reboot once if it finish updating.</source>
         <source>Tap the button ONLY if your panda ran into issue.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
+        <source>Are you sure you want to run recover panda script?</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
-        <source>Delete All Driving Log</source>
+        <source>Reset dragonpilot conf</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>RESET</source>
+        <translation type="unfinished">RESET</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>Tap the button to reset all your dragonpilot congiration to default value.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
+        <source>Are you sure you want to reset dp params?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
+        <source>Delete All Driving Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>DELETE</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
         <translation type="unfinished"></translation>
     </message>
@@ -484,34 +545,34 @@ The device should reboot once if it finish updating.</source>
 <context>
     <name>DPMapsPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>Show Full Screen Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>This will show navigation in full screen.
 Please tap green boarder if you wish to switch back drive view.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>Search Destination using Google Map</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>This will allow you to search destination in google map api.
 You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>Enable Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>This will let use the build in Navigation.
 Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
 You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -520,52 +581,52 @@ Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="538"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="551"/>
         <source>Enable Speed Limit Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="539"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="552"/>
         <source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="543"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="556"/>
         <source>Enable Speed Limit Offset</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="544"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="557"/>
         <source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="548"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="561"/>
         <source>Enable Map Data Turn Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="549"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="562"/>
         <source>Use curvature info from map data to define speed limits to take turns ahead</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="553"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="566"/>
         <source>Show debug UI elements</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="554"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="567"/>
         <source>Show UI elements that aid debugging.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Enable MapD</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Use OSM to assist lateral/longitudinal control.
 Please note:
 1. This feature will works only when your car support OP longitudinal.
@@ -578,69 +639,95 @@ Please note:
 <context>
     <name>DPUIPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>Display Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>0 = Default
 1 = Screen Off While Driving</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Screen Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Adjust your screen brightness.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>AUTO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Alert Volume</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Adjust your alert volume.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Quiet Drive</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Display Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Enable this to display your current speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <source>Display Event / Steer Icon</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Enable this to display the icon.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Display Driver Monitor Indicator</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Display Side Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Enable this to display steering angle / lead car distance / engine RPM.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Display Top Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Enable this to display time / system temp / battery level.</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1049,70 +1136,70 @@ trabalho definido</translation>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="426"/>
-        <location filename="../qt/onroad.cc" line="429"/>
+        <location filename="../qt/onroad.cc" line="434"/>
+        <location filename="../qt/onroad.cc" line="437"/>
         <source>MAX</source>
         <translation>LIMITE</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="479"/>
-        <location filename="../qt/onroad.cc" line="482"/>
+        <location filename="../qt/onroad.cc" line="487"/>
+        <location filename="../qt/onroad.cc" line="490"/>
         <source>SPEED</source>
         <translation>MAX</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="485"/>
-        <location filename="../qt/onroad.cc" line="488"/>
+        <location filename="../qt/onroad.cc" line="493"/>
+        <location filename="../qt/onroad.cc" line="496"/>
         <source>LIMIT</source>
         <translation>VELO</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="951"/>
+        <location filename="../qt/onroad.cc" line="963"/>
         <source>REAL STEER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="959"/>
+        <location filename="../qt/onroad.cc" line="971"/>
         <source>RAM PER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="971"/>
+        <location filename="../qt/onroad.cc" line="983"/>
         <source>OFF</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="974"/>
+        <location filename="../qt/onroad.cc" line="986"/>
         <source>ENG RPM</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1007"/>
+        <location filename="../qt/onroad.cc" line="1019"/>
         <source>NOR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1010"/>
+        <location filename="../qt/onroad.cc" line="1022"/>
         <source>SPT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1013"/>
+        <location filename="../qt/onroad.cc" line="1025"/>
         <source>ECO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1015"/>
+        <location filename="../qt/onroad.cc" line="1027"/>
         <source>ACCEL</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1505,31 +1592,31 @@ trabalho definido</translation>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>CONEXÃO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>DESCONEC</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>ONLINE</source>
         <translation>CONECTADO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>ERRO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="79"/>
-        <location filename="../qt/sidebar.cc" line="81"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="88"/>
         <source>TEMP</source>
         <translation>TEMP</translation>
     </message>
@@ -1546,27 +1633,27 @@ trabalho definido</translation>
         <translation type="vanished">OK</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>VEHICLE</source>
         <translation>VEÍCULO</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>NO</source>
         <translation>SEM</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>SEARCH</source>
         <translation>PROCURA</translation>
     </message>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -114,87 +114,109 @@
 <context>
     <name>DPCarPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override Speed When Below</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override feature will be enabled when set cruise speed is lower than this value.
 1 km/h = 0.62 mph.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source> km/h</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>Turn On Cruise Speed Override</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="403"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="412"/>
         <source>Toyota / Lexus</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable SnG Mod</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable this to fix stop and go (SnG) issue on some models.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable AM Physical Button Ctrl</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable Door Auto Lock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable this to lock doors when drive above 25 km/h.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable Door Auto Unlock</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable this to unlock doors when shift to gear P.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="441"/>
         <source>Honda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable EPS Mod Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="448"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="461"/>
         <source>Mazda</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Display Below Steer Speed Alert</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Enable this will show below steer speed alert.
 Thanks to @TheCrowd</source>
         <translation type="unfinished"></translation>
@@ -203,118 +225,118 @@ Thanks to @TheCrowd</source>
 <context>
     <name>DPControlPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>ALCA Delay</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source> secs</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
         <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source> mph</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA Min Speed</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>Lateral Ctrl Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>1 = Lane Change Assist (LCA)
 2 = Auto Lane Change Assist (ALCA)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="223"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="232"/>
         <source>Longitudinal</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Manually Control Accel Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="228"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="237"/>
         <source>Enable vision based turn control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="229"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="238"/>
         <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="283"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="292"/>
         <source>Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Use Lane Lines</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Enable this if you wish to use lane lines mode.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Use LQR Controller</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Enable this if you wish to use LQR instead of PID or INDI controller.
 WORKS WELL ONLY ON SOME VEHICLES.
 More linear steering experience.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Always On Lateral</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Use at your own risk!
 1 = Stock Long
 2 = OP Long
@@ -322,6 +344,16 @@ Run Panda Recovery if Panda is not detected after reboot.
 Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Camera Offset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Adjust your camera position if your device is not mounted as per guidance.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DPGeneralPanel</name>
@@ -445,9 +477,12 @@ The device should reboot once if it finish updating.</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="131"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
-        <source>Are you sure?</source>
+        <source>Are you sure you want to flash the panda?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="158"/>
+        <source>Are you sure delete all media?</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -465,18 +500,44 @@ The device should reboot once if it finish updating.</source>
         <source>Tap the button ONLY if your panda ran into issue.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
+        <source>Are you sure you want to run recover panda script?</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
-        <source>Delete All Driving Log</source>
+        <source>Reset dragonpilot conf</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>RESET</source>
+        <translation type="unfinished">重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>Tap the button to reset all your dragonpilot congiration to default value.
+Reboot required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
+        <source>Are you sure you want to reset dp params?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
+        <source>Delete All Driving Log</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>DELETE</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
         <translation type="unfinished"></translation>
     </message>
@@ -484,34 +545,34 @@ The device should reboot once if it finish updating.</source>
 <context>
     <name>DPMapsPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>Show Full Screen Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>This will show navigation in full screen.
 Please tap green boarder if you wish to switch back drive view.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>Search Destination using Google Map</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>This will allow you to search destination in google map api.
 You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>Enable Nav.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>This will let use the build in Navigation.
 Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
 You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -520,52 +581,52 @@ Reboot required.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="538"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="551"/>
         <source>Enable Speed Limit Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="539"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="552"/>
         <source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="543"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="556"/>
         <source>Enable Speed Limit Offset</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="544"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="557"/>
         <source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="548"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="561"/>
         <source>Enable Map Data Turn Control</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="549"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="562"/>
         <source>Use curvature info from map data to define speed limits to take turns ahead</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="553"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="566"/>
         <source>Show debug UI elements</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="554"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="567"/>
         <source>Show UI elements that aid debugging.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Enable MapD</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Use OSM to assist lateral/longitudinal control.
 Please note:
 1. This feature will works only when your car support OP longitudinal.
@@ -578,69 +639,95 @@ Please note:
 <context>
     <name>DPUIPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>Display Mode</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>0 = Default
 1 = Screen Off While Driving</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Screen Brightness</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Adjust your screen brightness.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>AUTO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Alert Volume</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Adjust your alert volume.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Quiet Drive</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Display Speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Enable this to display your current speed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <source>Display Event / Steer Icon</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Enable this to display the icon.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Display Driver Monitor Indicator</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Display Side Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Enable this to display steering angle / lead car distance / engine RPM.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Display Top Info</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Enable this to display time / system temp / battery level.</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1046,70 +1133,70 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="426"/>
-        <location filename="../qt/onroad.cc" line="429"/>
+        <location filename="../qt/onroad.cc" line="434"/>
+        <location filename="../qt/onroad.cc" line="437"/>
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="479"/>
-        <location filename="../qt/onroad.cc" line="482"/>
+        <location filename="../qt/onroad.cc" line="487"/>
+        <location filename="../qt/onroad.cc" line="490"/>
         <source>SPEED</source>
         <translation>SPEED</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="485"/>
-        <location filename="../qt/onroad.cc" line="488"/>
+        <location filename="../qt/onroad.cc" line="493"/>
+        <location filename="../qt/onroad.cc" line="496"/>
         <source>LIMIT</source>
         <translation>LIMIT</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="951"/>
+        <location filename="../qt/onroad.cc" line="963"/>
         <source>REAL STEER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="959"/>
+        <location filename="../qt/onroad.cc" line="971"/>
         <source>RAM PER</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="971"/>
+        <location filename="../qt/onroad.cc" line="983"/>
         <source>OFF</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="974"/>
+        <location filename="../qt/onroad.cc" line="986"/>
         <source>ENG RPM</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1007"/>
+        <location filename="../qt/onroad.cc" line="1019"/>
         <source>NOR</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1010"/>
+        <location filename="../qt/onroad.cc" line="1022"/>
         <source>SPT</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1013"/>
+        <location filename="../qt/onroad.cc" line="1025"/>
         <source>ECO</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1015"/>
+        <location filename="../qt/onroad.cc" line="1027"/>
         <source>ACCEL</source>
         <translation type="unfinished"></translation>
     </message>
@@ -1499,31 +1586,31 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>CONNECT</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>离线</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>ONLINE</source>
         <translation>在线</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>连接出错</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="79"/>
-        <location filename="../qt/sidebar.cc" line="81"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="88"/>
         <source>TEMP</source>
         <translation>设备温度</translation>
     </message>
@@ -1540,27 +1627,27 @@ location set</source>
         <translation type="vanished">一般</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>VEHICLE</source>
         <translation>车辆连接</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>NO</source>
         <translation>无</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>PANDA</source>
         <translation>PANDA</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>SEARCH</source>
         <translation>搜索中</translation>
     </message>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -114,56 +114,56 @@
 <context>
     <name>DPCarPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override Speed When Below</source>
         <translation>改寫定速當定速值低於：</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source>Override feature will be enabled when set cruise speed is lower than this value.
 1 km/h = 0.62 mph.</source>
         <translation>系統將會改寫定速值當低於此指定的值。
 1 km/h = 0.62 mph。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="381"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="390"/>
         <source> km/h</source>
-        <translation></translation>
+        <translation> 公里</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>Turn On Cruise Speed Override</source>
         <translation>啟用巡航速度改寫</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="385"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="394"/>
         <source>This feature will let you set your cruise speed below vehicle standard. (usually at 26~40 km/h)</source>
         <translation>開啟這個選項後，您將可以把定速至最低 5km/hr (一般最低為 26～40km/h)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="403"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="412"/>
         <source>Toyota / Lexus</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable SnG Mod</source>
         <translation>啟用 SnG 協助</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="409"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="418"/>
         <source>Enable this to fix stop and go (SnG) issue on some models.
 Reboot required.</source>
         <translation>開啟這個選項可以解決某些車型無法跟車到停後再啟動（SnG）的問題
 需要重新啟動。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable AM Physical Button Ctrl</source>
         <translation>啟用加速模式和方向盤實體按鈕關聯</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="415"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="424"/>
         <source>Enable this to link Accel Mode (AM) control to the physical button (TSS2).
 ONLY WORK ON SOME OF TSS1 VEHICLES.
 Reboot required.</source>
@@ -172,33 +172,58 @@ Reboot required.</source>
 需重新啟動。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="428"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable Door Auto Lock</source>
+        <translation>啟用車門自動上鎖</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="437"/>
+        <source>Enable this to lock doors when drive above 25 km/h.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation>開啟這個選項後，車子在行駛超過 25 km/h 時會自動上鎖。
+並不適用所有的車型。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable Door Auto Unlock</source>
+        <translation>啟用車門自動上鎖</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="439"/>
+        <source>Enable this to unlock doors when shift to gear P.
+ONLY WORK ON SOME VEHICLES.</source>
+        <translation>開啟這個選項後，車子在打入 P 檔時會自動解鎖。
+並不適用所有的車型。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="441"/>
         <source>Honda</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable EPS Mod Mode</source>
-        <translation></translation>
+        <translation>啟用 EPS 破解支持</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="430"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="443"/>
         <source>Enable this will increase steering, USE IT ONLY if you have a modded EPS firmware.
 Reboot required.</source>
-        <translation></translation>
+        <translation>啟用這個選項後 openpilot 將可以使用更廣的方向盤控制值。註：您的方向盤需要刷過修改過的 EPS 固件。
+需重新啟動。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="448"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="461"/>
         <source>Mazda</source>
         <translation></translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Display Below Steer Speed Alert</source>
         <translation>顯示低速轉向失效提示</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="450"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="463"/>
         <source>Enable this will show below steer speed alert.
 Thanks to @TheCrowd</source>
         <translation>啟用這個選項後，將在車速低於可輔助轉向的速度時，顯示提示</translation>
@@ -207,109 +232,109 @@ Thanks to @TheCrowd</source>
 <context>
     <name>DPControlPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>ALCA Delay</source>
         <translation>設置自動換道延遲時間</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source>Once the vehicle meets all ALCA criteria, it will wait for the seconds set here before peforming lane change automatically.</source>
         <translation>一旦車輛滿足所有自動換道的啟動需求，它將會等待設定的秒數後再執行換道。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="161"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="170"/>
         <source> secs</source>
         <translation> 秒</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA Min Speed</source>
         <translation>自動換道最低啟用速度</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
         <source>ALCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation>自動換道啟用速度 (單位為每小時英里)。
 1 英里 (mph) 約等於 1.61 公里 (km/h)。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="163"/>
         <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source> mph</source>
         <translation> 英里</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA Min Speed</source>
         <translation>輔助換道最低啟用速度</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="172"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="181"/>
         <source>LCA minimum engage speed in mph.
 1 mph = 1.61 km/h.</source>
         <translation>輔助換道啟用速度 (單位為每小時英里)。
 1 英里 (mph) 約等於 1.61 公里 (km/h)。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>Lateral Ctrl Mode</source>
         <translation>橫向控制模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="183"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="192"/>
         <source>1 = Lane Change Assist (LCA)
 2 = Auto Lane Change Assist (ALCA)</source>
         <translation>1 = 輔助換道 (LCA)
 2 = 自動換道 (ALCA)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="223"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="232"/>
         <source>Longitudinal</source>
         <translation>縱向控制 (油門/剎車)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Manually Control Accel Mode</source>
         <translation>手動控制加速模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="225"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="234"/>
         <source>Enable this if you wish to adjust openpilot&apos;s acceleration control.</source>
         <translation>啟用這個選項後您可以調整 openpilot 的加速模式 (節能、一般、運動)。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="228"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="237"/>
         <source>Enable vision based turn control</source>
         <translation>啟用視覺模型路徑控制車速</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="229"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="238"/>
         <source>Use vision path predictions to estimate the appropriate speed to drive through turns ahead.</source>
         <translation>使用視覺模型預測的路徑來判斷前方的過彎速度。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="283"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="292"/>
         <source>Lateral</source>
         <translation>橫向控制 (方向盤)</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Use Lane Lines</source>
         <translation>使用車道線</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="288"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="297"/>
         <source>Enable this if you wish to use lane lines mode.</source>
         <translation>啟用這個選項後，模型將會以車道線判斷行駛路線。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Use LQR Controller</source>
         <translation>使用 LQR 控制器</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="291"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="300"/>
         <source>Enable this if you wish to use LQR instead of PID or INDI controller.
 WORKS WELL ONLY ON SOME VEHICLES.
 More linear steering experience.</source>
@@ -318,12 +343,12 @@ More linear steering experience.</source>
 LQR 提供比 PID、INDI 更線性的控制。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Always On Lateral</source>
         <translation>全時置中</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="296"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="305"/>
         <source>Use at your own risk!
 1 = Stock Long
 2 = OP Long
@@ -334,6 +359,16 @@ Reboot required.</source>
 2 = 使用 op ACC
 需重新啟動，如果遇到不能連線問題請使用恢復恢復 Panda 韌體功能。</translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Camera Offset</source>
+        <translation>相機偏移</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="313"/>
+        <source>Adjust your camera position if your device is not mounted as per guidance.</source>
+        <translation>如果您的裝置並非依照安裝說明安裝，您可以用這個設定來微調您裝置的相機與 ADAS 相機的間距。</translation>
+    </message>
 </context>
 <context>
     <name>DPGeneralPanel</name>
@@ -464,10 +499,17 @@ The device should reboot once if it finish updating.</source>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="131"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
+        <source>Are you sure you want to flash the panda?</source>
+        <translation>您確定要刷寫 Panda 嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="158"/>
+        <source>Are you sure delete all media?</source>
+        <translation>您確定要刪除所有的行車記錄嗎？</translation>
+    </message>
+    <message>
         <source>Are you sure?</source>
-        <translation>您確定嗎？</translation>
+        <translation type="vanished">您確定嗎？</translation>
     </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="138"/>
@@ -484,18 +526,45 @@ The device should reboot once if it finish updating.</source>
         <source>Tap the button ONLY if your panda ran into issue.</source>
         <translation>僅當您的 Panda 遇到問題時才點擊按鈕。</translation>
     </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="140"/>
+        <source>Are you sure you want to run recover panda script?</source>
+        <translation>您確定要執行 Panda 恢復的動作嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>Reset dragonpilot conf</source>
+        <translation>重置所有 dragonpilot 的設定值</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>RESET</source>
+        <translation>重置</translation>
+    </message>
     <message>
         <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <source>Tap the button to reset all your dragonpilot congiration to default value.
+Reboot required.</source>
+        <translation>點擊右方按鈕來重置所有的 dragonpilot 相關的設定值。
+需重新啟動。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="149"/>
+        <source>Are you sure you want to reset dp params?</source>
+        <translation>您確定要重置嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>Delete All Driving Log</source>
         <translation>刪除所有的行駛記錄</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>DELETE</source>
         <translation>刪除</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="147"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="156"/>
         <source>Tap the button to delete ALL your driving logs (including dashcam / gpx / driving logs).</source>
         <translation>點擊按鈕來清空您所有的行駛記錄（包含 dashcam / gpx 等等）。</translation>
     </message>
@@ -503,36 +572,36 @@ The device should reboot once if it finish updating.</source>
 <context>
     <name>DPMapsPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>Show Full Screen Nav.</source>
         <translation>啟用全螢幕道航</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="509"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="522"/>
         <source>This will show navigation in full screen.
 Please tap green boarder if you wish to switch back drive view.</source>
         <translation>這將會把導航畫面擴展至全螢幕。
 如果想切換回行車畫面，請點擊或滑動綠色邊框區域。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>Search Destination using Google Map</source>
         <translation>使用 Google Map 搜尋目的地</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="511"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="524"/>
         <source>This will allow you to search destination in google map api.
 You will need to apply your own google map api key.<byte value="x8"/>Enter your key detail in web interface once it&apos;s enabled.</source>
         <translation>這將讓您使用 google map API 來搜尋目的地。
 您將需要申請自已的 google map api 密鑰，申請完後進入網頁介面輸入即可。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>Enable Nav.</source>
         <translation>啟用導航服務</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="515"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="528"/>
         <source>This will let use the build in Navigation.
 Use web interface to control it: *http://&lt;device_ip&gt;:8082*.
 You will need to apply your own mapbox token at https://www.mapbox.com/.
@@ -545,53 +614,53 @@ Reboot required.</source>
 需要重新開機。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="538"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="551"/>
         <source>Enable Speed Limit Control</source>
         <translation>啟用速限控制</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="539"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="552"/>
         <source>Use speed limit signs information from map data and car interface to automatically adapt cruise speed to road limits.</source>
         <translation>依照圖資上的速限控制您的車速。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="543"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="556"/>
         <source>Enable Speed Limit Offset</source>
         <translation>啟用限速控制偏移</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="544"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="557"/>
         <source>Set speed limit slightly higher than actual speed limit for a more natural drive.</source>
         <translation>將速度限製設置為略高於實際速度限制，實現更自然的駕駛。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="548"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="561"/>
         <source>Enable Map Data Turn Control</source>
         <translation>啟用圖資路徑控制車速</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="549"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="562"/>
         <source>Use curvature info from map data to define speed limits to take turns ahead</source>
         <translation>使用圖資上的路徑來判斷前方的過彎速度
 使用速度顯示為UI中左下方三角形內數值</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="553"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="566"/>
         <source>Show debug UI elements</source>
         <translation>顯示除錯用圖示</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="554"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="567"/>
         <source>Show UI elements that aid debugging.</source>
         <translation>於右上方顯示除錯用訊息</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Enable MapD</source>
         <translation>啟用 MapD 服務</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="559"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="572"/>
         <source>Use OSM to assist lateral/longitudinal control.
 Please note:
 1. This feature will works only when your car support OP longitudinal.
@@ -609,70 +678,96 @@ Please note:
 <context>
     <name>DPUIPanel</name>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>Display Mode</source>
         <translation>顯示模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="320"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="329"/>
         <source>0 = Default
 1 = Screen Off While Driving</source>
         <translation>0 = 預設
 1 = 行駛時關閉畫面</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Screen Brightness</source>
         <translation>螢幕亮度</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
         <source>Adjust your screen brightness.</source>
         <translation>調整螢幕的亮度。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="322"/>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="331"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>AUTO</source>
         <translation>自動</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Alert Volume</source>
         <translation>提示音量</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="324"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="333"/>
         <source>Adjust your alert volume.</source>
         <translation>調整設備的提示音量。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Quiet Drive</source>
         <translation>靜音模式</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="326"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="335"/>
         <source>Display alert and play important warning sound. Thanks @sunnyhaibin.</source>
         <translation>開啟這個選項後，設備只會在重要的警示時顯示和發出聲響。謝謝 @sunnyhaibin.</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Display Speed</source>
+        <translation>顯示車速</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="337"/>
+        <source>Enable this to display your current speed.</source>
+        <translation>啟用這個選項來顯示目前車速。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <source>Display Event / Steer Icon</source>
+        <translation>顯示事件圖示</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="345"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Enable this to display the icon.</source>
+        <translation>啟用UI右上角顯示事件/轉向圖標。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="349"/>
+        <source>Display Driver Monitor Indicator</source>
+        <translation>顯示駕駛監控圖示</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Display Side Info</source>
         <translation>顯示側邊資訊欄</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="342"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="351"/>
         <source>Enable this to display steering angle / lead car distance / engine RPM.</source>
         <translation>開啟這個選項後，畫面側邊將會顯示額外的訊息。</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Display Top Info</source>
         <translation>顯示上方資訊欄</translation>
     </message>
     <message>
-        <location filename="../qt/offroad/settings_dp.cc" line="344"/>
+        <location filename="../qt/offroad/settings_dp.cc" line="353"/>
         <source>Enable this to display time / system temp / battery level.</source>
         <translation>開啟這個選項後，畫面將會顯示額外的訊息。</translation>
     </message>
@@ -1080,70 +1175,70 @@ location set</source>
 <context>
     <name>NvgWindow</name>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>km/h</source>
         <translation>km/h</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="289"/>
+        <location filename="../qt/onroad.cc" line="292"/>
         <source>mph</source>
         <translation>mph</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="426"/>
-        <location filename="../qt/onroad.cc" line="429"/>
+        <location filename="../qt/onroad.cc" line="434"/>
+        <location filename="../qt/onroad.cc" line="437"/>
         <source>MAX</source>
         <translation>最高</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="479"/>
-        <location filename="../qt/onroad.cc" line="482"/>
+        <location filename="../qt/onroad.cc" line="487"/>
+        <location filename="../qt/onroad.cc" line="490"/>
         <source>SPEED</source>
         <translation>速度</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="485"/>
-        <location filename="../qt/onroad.cc" line="488"/>
+        <location filename="../qt/onroad.cc" line="493"/>
+        <location filename="../qt/onroad.cc" line="496"/>
         <source>LIMIT</source>
         <translation>速限</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="951"/>
+        <location filename="../qt/onroad.cc" line="963"/>
         <source>REAL STEER</source>
         <translation>實際轉角</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="959"/>
+        <location filename="../qt/onroad.cc" line="971"/>
         <source>RAM PER</source>
         <translation>記憶體用量</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="971"/>
+        <location filename="../qt/onroad.cc" line="983"/>
         <source>OFF</source>
         <translation>停止</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="974"/>
+        <location filename="../qt/onroad.cc" line="986"/>
         <source>ENG RPM</source>
         <translation>引擎轉速</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1007"/>
+        <location filename="../qt/onroad.cc" line="1019"/>
         <source>NOR</source>
         <translation>一般</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1010"/>
+        <location filename="../qt/onroad.cc" line="1022"/>
         <source>SPT</source>
         <translation>運動</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1013"/>
+        <location filename="../qt/onroad.cc" line="1025"/>
         <source>ECO</source>
         <translation>節能</translation>
     </message>
     <message>
-        <location filename="../qt/onroad.cc" line="1015"/>
+        <location filename="../qt/onroad.cc" line="1027"/>
         <source>ACCEL</source>
         <translation>加速</translation>
     </message>
@@ -1533,31 +1628,31 @@ location set</source>
 <context>
     <name>Sidebar</name>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>CONNECT</source>
         <translation>雲端服務</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="74"/>
         <source>OFFLINE</source>
         <translation>已離線</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>ONLINE</source>
         <translation>已連線</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
         <source>ERROR</source>
         <translation>錯誤</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="76"/>
-        <location filename="../qt/sidebar.cc" line="79"/>
-        <location filename="../qt/sidebar.cc" line="81"/>
+        <location filename="../qt/sidebar.cc" line="83"/>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <location filename="../qt/sidebar.cc" line="88"/>
         <source>TEMP</source>
         <translation>溫度</translation>
     </message>
@@ -1574,27 +1669,27 @@ location set</source>
         <translation type="vanished">一般</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="85"/>
+        <location filename="../qt/sidebar.cc" line="92"/>
         <source>VEHICLE</source>
         <translation>車輛通訊</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>NO</source>
         <translation>未連線</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="87"/>
+        <location filename="../qt/sidebar.cc" line="94"/>
         <source>PANDA</source>
         <translation>車輛通訊</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>GPS</source>
         <translation>GPS</translation>
     </message>
     <message>
-        <location filename="../qt/sidebar.cc" line="89"/>
+        <location filename="../qt/sidebar.cc" line="96"/>
         <source>SEARCH</source>
         <translation>車輛通訊</translation>
     </message>