From d86c7b7d1585fdcce4b9837a4387e852aba01904 Mon Sep 17 00:00:00 2001
From: George Hotz <geohot@gmail.com>
Date: Thu, 13 Feb 2020 16:13:05 -0800
Subject: [PATCH] build lst_sq_computer 4 and 5

---
 selfdrive/locationd/kalman/SConscript                 | 3 ++-
 selfdrive/locationd/kalman/helpers/lst_sq_computer.py | 7 ++++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/selfdrive/locationd/kalman/SConscript b/selfdrive/locationd/kalman/SConscript
index 1fca255c3c..2a67ad64fe 100644
--- a/selfdrive/locationd/kalman/SConscript
+++ b/selfdrive/locationd/kalman/SConscript
@@ -6,6 +6,7 @@ ekf_sym = "helpers/ekf_sym.py"
 
 to_build = {
     'pos_computer_4': 'helpers/lst_sq_computer.py',
+    'pos_computer_5': 'helpers/lst_sq_computer.py',
     'feature_handler_5': 'helpers/feature_handler.py',
     'gnss': 'models/gnss_kf.py',
     'loc_4': 'models/loc_kf.py',
@@ -24,7 +25,7 @@ for target, command in found.items():
     command_file = File(command)
     env.Command(target_files,
                 [templates, command_file, sympy_helpers, ekf_sym],
-                command_file.get_abspath()
+                command_file.get_abspath()+" "+target
     )
 
     env.SharedLibrary('generated/' + target, target_files[0])
diff --git a/selfdrive/locationd/kalman/helpers/lst_sq_computer.py b/selfdrive/locationd/kalman/helpers/lst_sq_computer.py
index 3f46a7c07c..485458900a 100755
--- a/selfdrive/locationd/kalman/helpers/lst_sq_computer.py
+++ b/selfdrive/locationd/kalman/helpers/lst_sq_computer.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
-
 import os
+import sys
 
 import numpy as np
 import sympy as sp
@@ -174,5 +174,6 @@ def project(poses, ecef_pos):
 
 
 if __name__ == "__main__":
-  # TODO: get K from argparse
-  LstSqComputer.generate_code()
+  K = int(sys.argv[1].split("_")[-1])
+  LstSqComputer.generate_code(K=K)
+