From efa12ad224d28326c5edf7e22c34884aa973521b Mon Sep 17 00:00:00 2001
From: Mathieu Bresciani <brescianimathieu@gmail.com>
Date: Tue, 14 Nov 2023 17:22:16 +0100
Subject: [PATCH] EKF2 simplify covariance propagation (#22344)

* ekf2-derivation: optimize before generating cpp code

* update EKF2 change indicator

Slight changes due to simplifications done in the covariance prediction

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
---
 src/modules/ekf2/EKF/covariance.cpp           |   13 +-
 .../EKF/python/ekf_derivation/derivation.py   |   51 +-
 .../generated/predict_covariance.h            | 1028 +++++++----------
 .../test/change_indication/ekf_gsf_reset.csv  |  214 ++--
 .../ekf2/test/change_indication/iris_gps.csv  |   22 +-
 5 files changed, 571 insertions(+), 757 deletions(-)

diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp
index 6983754c5f..aec4082cc1 100644
--- a/src/modules/ekf2/EKF/covariance.cpp
+++ b/src/modules/ekf2/EKF/covariance.cpp
@@ -108,27 +108,28 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 
 	// delta angle noise variance
 	float gyro_noise = math::constrain(_params.gyro_noise, 0.f, 1.f);
-	const float d_ang_var = sq(imu_delayed.delta_ang_dt * gyro_noise);
+	const float gyro_var = sq(gyro_noise);
 
 	// delta velocity noise variance
 	float accel_noise = math::constrain(_params.accel_noise, 0.f, 1.f);
-	Vector3f d_vel_var;
+	Vector3f accel_var;
 
 	for (unsigned i = 0; i < 3; i++) {
 		if (_fault_status.flags.bad_acc_vertical || imu_delayed.delta_vel_clipping[i]) {
 			// Increase accelerometer process noise if bad accel data is detected
-			d_vel_var(i) = sq(imu_delayed.delta_vel_dt * BADACC_BIAS_PNOISE);
+			accel_var(i) = sq(BADACC_BIAS_PNOISE);
 
 		} else {
-			d_vel_var(i) = sq(imu_delayed.delta_vel_dt * accel_noise);
+			accel_var(i) = sq(accel_noise);
 		}
 	}
 
 	// predict the covariance
 	// calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states
 	P = sym::PredictCovariance(_state.vector(), P,
-		imu_delayed.delta_vel, imu_delayed.delta_vel_dt, d_vel_var,
-		imu_delayed.delta_ang, imu_delayed.delta_ang_dt, d_ang_var);
+		imu_delayed.delta_vel / math::max(imu_delayed.delta_vel_dt, FLT_EPSILON), accel_var,
+		imu_delayed.delta_ang / math::max(imu_delayed.delta_ang_dt, FLT_EPSILON), gyro_var,
+		0.5f * (imu_delayed.delta_vel_dt + imu_delayed.delta_ang_dt));
 
 	// Construct the process noise variance diagonal for those states with a stationary process model
 	// These are kinematic states and their error growth is controlled separately by the IMU noise variances
diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
index 67e74569bc..641e7f290d 100755
--- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
+++ b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
@@ -31,6 +31,10 @@
 
 File: derivation.py
 Description:
+    Derivation of an error-state EKF based on
+    Sola, Joan. "Quaternion kinematics for the error-state Kalman filter." arXiv preprint arXiv:1711.02508 (2017).
+    The derivation is directly done in discrete-time as this allows us to define the desired type of discretization
+    for each element while defining the equations (easier than a continuous-time derivation followed by a block-wise discretization).
 """
 
 import argparse
@@ -42,6 +46,8 @@ import symforce.symbolic as sf
 from symforce import typing as T
 from symforce import ops
 from symforce.values import Values
+
+import sympy as sp
 from derivation_utils import *
 
 # Initialize parser
@@ -108,12 +114,11 @@ def vstate_to_state(v: VState):
 def predict_covariance(
     state: VState,
     P: MTangent,
-    d_vel: sf.V3,
-    d_vel_dt: sf.Scalar,
-    d_vel_var: sf.V3,
-    d_ang: sf.V3,
-    d_ang_dt: sf.Scalar,
-    d_ang_var: sf.Scalar
+    accel: sf.V3,
+    accel_var: sf.V3,
+    gyro: sf.V3,
+    gyro_var: sf.Scalar,
+    dt: sf.Scalar
 ) -> MTangent:
 
     state = vstate_to_state(state)
@@ -143,37 +148,37 @@ def predict_covariance(
     for key in state.keys():
         if key == "quat_nominal":
             # Create true quaternion using small angle approximation of the error rotation
-            state_t["quat_nominal"] = state["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(0.5 * state_error["theta"]), w=1))
+            state_t["quat_nominal"] = state["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(state_error["theta"] / 2), w=1))
         else:
             state_t[key] = state[key] + state_error[key]
 
     noise = Values(
-        d_vel = sf.V3.symbolic("a_n"),
-        d_ang = sf.V3.symbolic("w_n"),
+        accel = sf.V3.symbolic("a_n"),
+        gyro = sf.V3.symbolic("w_n"),
     )
 
     input_t = Values(
-        d_vel =  d_vel - state_t["accel_bias"] * d_vel_dt - noise["d_vel"],
-        d_ang = d_ang - state_t["gyro_bias"] * d_ang_dt - noise["d_ang"]
+        accel = accel - state_t["accel_bias"] - noise["accel"],
+        gyro = gyro - state_t["gyro_bias"] - noise["gyro"]
     )
 
     R_t = state_t["quat_nominal"]
     state_t_pred = state_t.copy()
-    state_t_pred["quat_nominal"] = state_t["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(0.5 * input_t["d_ang"]), w=1))
-    state_t_pred["vel"] = state_t["vel"] + R_t * input_t["d_vel"] + sf.V3(0, 0, g) * d_vel_dt
-    state_t_pred["pos"] = state_t["pos"] + state_t["vel"] * d_vel_dt
+    state_t_pred["quat_nominal"] = state_t["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(input_t["gyro"] * dt / 2), w=1))
+    state_t_pred["vel"] = state_t["vel"] + (R_t * input_t["accel"] + sf.V3(0, 0, g)) * dt
+    state_t_pred["pos"] = state_t["pos"] + state_t["vel"] * dt
 
     # Nominal state kinematics
     input = Values(
-        d_vel =  d_vel - state["accel_bias"] * d_vel_dt,
-        d_ang = d_ang - state["gyro_bias"] * d_ang_dt
+        accel = accel - state["accel_bias"],
+        gyro = gyro - state["gyro_bias"]
     )
 
     R = state["quat_nominal"]
     state_pred = state.copy()
-    state_pred["quat_nominal"] = state["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(0.5 * input["d_ang"]), w=1))
-    state_pred["vel"] = state["vel"] + R * input["d_vel"] + sf.V3(0, 0, g) * d_vel_dt
-    state_pred["pos"] = state["pos"] + state["vel"] * d_vel_dt
+    state_pred["quat_nominal"] = state["quat_nominal"] * sf.Rot3(sf.Quaternion(xyz=(input["gyro"] * dt / 2), w=1))
+    state_pred["vel"] = state["vel"] + (R * input["accel"] + sf.V3(0, 0, g)) * dt
+    state_pred["pos"] = state["pos"] + state["vel"] * dt
 
     # Error state kinematics
     state_error_pred = Values()
@@ -184,6 +189,12 @@ def predict_covariance(
         else:
             state_error_pred[key] = state_t_pred[key] - state_pred[key]
 
+    # Simplify angular error state prediction
+    for i in range(state_error_pred["theta"].storage_dim()):
+        state_error_pred["theta"][i] = sp.expand(state_error_pred["theta"][i]).subs(dt**2, 0) # do not consider dt**2 effects in the derivation
+        q_est = sf.Quaternion.from_storage(state["quat_nominal"].to_storage())
+        state_error_pred["theta"][i] = sp.factor(state_error_pred["theta"][i]).subs(q_est.w**2 + q_est.x**2 + q_est.y**2 + q_est.z**2, 1) # unit norm quaternion
+
     zero_state_error = {state_error[key]: state_error[key].zero() for key in state_error.keys()}
     zero_noise = {noise[key]: noise[key].zero() for key in noise.keys()}
 
@@ -192,7 +203,7 @@ def predict_covariance(
     G = VTangent(state_error_pred.to_storage()).jacobian(noise).subs(zero_state_error).subs(zero_noise)
 
     # Covariance propagation
-    var_u = sf.Matrix.diag([d_vel_var[0], d_vel_var[1], d_vel_var[2], d_ang_var, d_ang_var, d_ang_var])
+    var_u = sf.Matrix.diag([accel_var[0], accel_var[1], accel_var[2], gyro_var, gyro_var, gyro_var])
     P_new = A * P * A.T + G * var_u * G.T
 
     # Generate the equations for the upper triangular matrix and the diagonal only
diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h
index d5ab87e38e..338ee277c0 100644
--- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h
+++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h
@@ -18,12 +18,11 @@ namespace sym {
  * Args:
  *     state: Matrix24_1
  *     P: Matrix23_23
- *     d_vel: Matrix31
- *     d_vel_dt: Scalar
- *     d_vel_var: Matrix31
- *     d_ang: Matrix31
- *     d_ang_dt: Scalar
- *     d_ang_var: Scalar
+ *     accel: Matrix31
+ *     accel_var: Matrix31
+ *     gyro: Matrix31
+ *     gyro_var: Scalar
+ *     dt: Scalar
  *
  * Outputs:
  *     res: Matrix23_23
@@ -31,330 +30,176 @@ namespace sym {
 template <typename Scalar>
 matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24, 1>& state,
                                                 const matrix::Matrix<Scalar, 23, 23>& P,
-                                                const matrix::Matrix<Scalar, 3, 1>& d_vel,
-                                                const Scalar d_vel_dt,
-                                                const matrix::Matrix<Scalar, 3, 1>& d_vel_var,
-                                                const matrix::Matrix<Scalar, 3, 1>& d_ang,
-                                                const Scalar d_ang_dt, const Scalar d_ang_var) {
-  // Total ops: 2445
+                                                const matrix::Matrix<Scalar, 3, 1>& accel,
+                                                const matrix::Matrix<Scalar, 3, 1>& accel_var,
+                                                const matrix::Matrix<Scalar, 3, 1>& gyro,
+                                                const Scalar gyro_var, const Scalar dt) {
+  // Total ops: 1793
 
   // Input arrays
 
-  // Intermediate terms (247)
-  const Scalar _tmp0 = d_ang(1, 0) - d_ang_dt * state(11, 0);
-  const Scalar _tmp1 = Scalar(0.5) * state(2, 0);
-  const Scalar _tmp2 = d_ang(0, 0) - d_ang_dt * state(10, 0);
-  const Scalar _tmp3 = Scalar(0.5) * state(1, 0);
-  const Scalar _tmp4 = d_ang(2, 0) - d_ang_dt * state(12, 0);
-  const Scalar _tmp5 = Scalar(0.5) * state(3, 0);
-  const Scalar _tmp6 = -_tmp0 * _tmp1 - _tmp2 * _tmp3 - _tmp4 * _tmp5 + state(0, 0);
-  const Scalar _tmp7 = Scalar(1.0) * _tmp6;
-  const Scalar _tmp8 = _tmp7 * state(0, 0);
-  const Scalar _tmp9 = Scalar(0.5) * state(0, 0);
-  const Scalar _tmp10 = _tmp0 * _tmp3 - _tmp1 * _tmp2 + _tmp4 * _tmp9 + state(3, 0);
-  const Scalar _tmp11 = Scalar(1.0) * _tmp10;
-  const Scalar _tmp12 = _tmp11 * state(3, 0);
-  const Scalar _tmp13 = _tmp0 * _tmp9 + _tmp2 * _tmp5 - _tmp3 * _tmp4 + state(2, 0);
-  const Scalar _tmp14 = Scalar(1.0) * state(2, 0);
-  const Scalar _tmp15 = _tmp13 * _tmp14;
-  const Scalar _tmp16 = -_tmp0 * _tmp5 + _tmp1 * _tmp4 + _tmp2 * _tmp9 + state(1, 0);
-  const Scalar _tmp17 = Scalar(1.0) * _tmp16;
-  const Scalar _tmp18 = _tmp17 * state(1, 0);
-  const Scalar _tmp19 =
-      -_tmp12 * d_ang_dt - _tmp15 * d_ang_dt - _tmp18 * d_ang_dt - _tmp8 * d_ang_dt;
-  const Scalar _tmp20 = -_tmp5;
-  const Scalar _tmp21 = Scalar(0.25) * _tmp4;
-  const Scalar _tmp22 = _tmp21 * state(0, 0);
-  const Scalar _tmp23 = Scalar(0.25) * _tmp0;
-  const Scalar _tmp24 = _tmp23 * state(1, 0);
-  const Scalar _tmp25 = Scalar(0.25) * _tmp2;
-  const Scalar _tmp26 = -_tmp25 * state(2, 0);
-  const Scalar _tmp27 = -_tmp24 + _tmp26;
-  const Scalar _tmp28 = _tmp20 + _tmp22 + _tmp27;
-  const Scalar _tmp29 = 2 * _tmp6;
-  const Scalar _tmp30 = _tmp25 * state(0, 0);
+  // Intermediate terms (134)
+  const Scalar _tmp0 = dt * gyro(1, 0);
+  const Scalar _tmp1 = dt * state(11, 0);
+  const Scalar _tmp2 = -_tmp0 + _tmp1;
+  const Scalar _tmp3 = dt * gyro(2, 0);
+  const Scalar _tmp4 = dt * state(12, 0);
+  const Scalar _tmp5 = _tmp3 - _tmp4;
+  const Scalar _tmp6 = P(0, 2) + P(1, 2) * _tmp5 + P(2, 2) * _tmp2 - P(9, 2) * dt;
+  const Scalar _tmp7 = P(0, 1) + P(1, 1) * _tmp5 + P(2, 1) * _tmp2 - P(9, 1) * dt;
+  const Scalar _tmp8 = P(0, 9) + P(1, 9) * _tmp5 + P(2, 9) * _tmp2 - P(9, 9) * dt;
+  const Scalar _tmp9 = std::pow(dt, Scalar(2));
+  const Scalar _tmp10 = _tmp9 * gyro_var;
+  const Scalar _tmp11 = P(0, 0) + P(1, 0) * _tmp5 + P(2, 0) * _tmp2 - P(9, 0) * dt;
+  const Scalar _tmp12 = P(0, 10) + P(1, 10) * _tmp5 + P(2, 10) * _tmp2 - P(9, 10) * dt;
+  const Scalar _tmp13 = -_tmp3 + _tmp4;
+  const Scalar _tmp14 = dt * gyro(0, 0);
+  const Scalar _tmp15 = dt * state(10, 0);
+  const Scalar _tmp16 = _tmp14 - _tmp15;
+  const Scalar _tmp17 = P(0, 10) * _tmp13 + P(1, 10) - P(10, 10) * dt + P(2, 10) * _tmp16;
+  const Scalar _tmp18 = P(0, 0) * _tmp13 + P(1, 0) - P(10, 0) * dt + P(2, 0) * _tmp16;
+  const Scalar _tmp19 = P(0, 2) * _tmp13 + P(1, 2) - P(10, 2) * dt + P(2, 2) * _tmp16;
+  const Scalar _tmp20 = P(0, 1) * _tmp13 + P(1, 1) - P(10, 1) * dt + P(2, 1) * _tmp16;
+  const Scalar _tmp21 = P(0, 11) + P(1, 11) * _tmp5 + P(2, 11) * _tmp2 - P(9, 11) * dt;
+  const Scalar _tmp22 = _tmp0 - _tmp1;
+  const Scalar _tmp23 = -_tmp14 + _tmp15;
+  const Scalar _tmp24 = P(0, 11) * _tmp13 + P(1, 11) - P(10, 11) * dt + P(2, 11) * _tmp16;
+  const Scalar _tmp25 = P(0, 11) * _tmp22 + P(1, 11) * _tmp23 - P(11, 11) * dt + P(2, 11);
+  const Scalar _tmp26 = P(0, 1) * _tmp22 + P(1, 1) * _tmp23 - P(11, 1) * dt + P(2, 1);
+  const Scalar _tmp27 = P(0, 0) * _tmp22 + P(1, 0) * _tmp23 - P(11, 0) * dt + P(2, 0);
+  const Scalar _tmp28 = P(0, 2) * _tmp22 + P(1, 2) * _tmp23 - P(11, 2) * dt + P(2, 2);
+  const Scalar _tmp29 = 2 * state(0, 0);
+  const Scalar _tmp30 = _tmp29 * state(3, 0);
   const Scalar _tmp31 = -_tmp30;
-  const Scalar _tmp32 = -_tmp23 * state(3, 0);
-  const Scalar _tmp33 = _tmp21 * state(2, 0);
-  const Scalar _tmp34 = _tmp32 - _tmp33;
-  const Scalar _tmp35 = _tmp3 + _tmp31 + _tmp34;
-  const Scalar _tmp36 = 2 * _tmp13;
-  const Scalar _tmp37 = _tmp23 * state(2, 0);
-  const Scalar _tmp38 = _tmp25 * state(1, 0);
-  const Scalar _tmp39 = _tmp21 * state(3, 0);
-  const Scalar _tmp40 = -_tmp37 + _tmp38 + _tmp39 + _tmp9;
-  const Scalar _tmp41 = 2 * _tmp10;
-  const Scalar _tmp42 = _tmp23 * state(0, 0);
-  const Scalar _tmp43 = -_tmp42;
-  const Scalar _tmp44 = _tmp25 * state(3, 0);
-  const Scalar _tmp45 = -_tmp21 * state(1, 0);
-  const Scalar _tmp46 = -_tmp1 + _tmp45;
-  const Scalar _tmp47 = _tmp43 + _tmp44 + _tmp46;
-  const Scalar _tmp48 = 2 * _tmp16;
-  const Scalar _tmp49 = _tmp28 * _tmp29 - _tmp35 * _tmp36 + _tmp40 * _tmp41 - _tmp47 * _tmp48;
-  const Scalar _tmp50 = -_tmp44;
-  const Scalar _tmp51 = _tmp1 + _tmp43 + _tmp45 + _tmp50;
-  const Scalar _tmp52 = _tmp37 + _tmp9;
-  const Scalar _tmp53 = _tmp38 - _tmp39 + _tmp52;
-  const Scalar _tmp54 = -_tmp3;
-  const Scalar _tmp55 = _tmp30 + _tmp34 + _tmp54;
-  const Scalar _tmp56 = -_tmp22;
-  const Scalar _tmp57 = _tmp20 + _tmp24 + _tmp26 + _tmp56;
-  const Scalar _tmp58 = _tmp29 * _tmp51 - _tmp36 * _tmp53 + _tmp41 * _tmp55 - _tmp48 * _tmp57;
-  const Scalar _tmp59 = -_tmp38 + _tmp39 + _tmp52;
-  const Scalar _tmp60 = _tmp42 + _tmp46 + _tmp50;
-  const Scalar _tmp61 = _tmp27 + _tmp5 + _tmp56;
-  const Scalar _tmp62 = _tmp31 + _tmp32 + _tmp33 + _tmp54;
-  const Scalar _tmp63 = _tmp29 * _tmp59 - _tmp36 * _tmp60 + _tmp41 * _tmp61 - _tmp48 * _tmp62;
-  const Scalar _tmp64 = _tmp14 * _tmp6;
-  const Scalar _tmp65 = _tmp64 * d_ang_dt;
-  const Scalar _tmp66 = _tmp11 * state(1, 0);
-  const Scalar _tmp67 = _tmp66 * d_ang_dt;
-  const Scalar _tmp68 = Scalar(1.0) * _tmp13;
-  const Scalar _tmp69 = _tmp68 * state(0, 0);
-  const Scalar _tmp70 = _tmp69 * d_ang_dt;
-  const Scalar _tmp71 = _tmp17 * state(3, 0);
-  const Scalar _tmp72 = _tmp71 * d_ang_dt;
-  const Scalar _tmp73 = -_tmp65 + _tmp67 + _tmp70 - _tmp72;
-  const Scalar _tmp74 = _tmp7 * state(3, 0);
-  const Scalar _tmp75 = _tmp74 * d_ang_dt;
-  const Scalar _tmp76 = _tmp14 * _tmp16;
-  const Scalar _tmp77 = _tmp76 * d_ang_dt;
-  const Scalar _tmp78 = _tmp11 * state(0, 0);
-  const Scalar _tmp79 = _tmp78 * d_ang_dt;
-  const Scalar _tmp80 = _tmp68 * state(1, 0);
-  const Scalar _tmp81 = _tmp80 * d_ang_dt;
-  const Scalar _tmp82 = _tmp75 - _tmp77 - _tmp79 + _tmp81;
-  const Scalar _tmp83 = P(0, 9) * _tmp63 + P(1, 9) * _tmp49 + P(10, 9) * _tmp82 +
-                        P(11, 9) * _tmp73 + P(2, 9) * _tmp58 + P(9, 9) * _tmp19;
-  const Scalar _tmp84 = -_tmp64 + _tmp66 + _tmp69 - _tmp71;
-  const Scalar _tmp85 = _tmp74 - _tmp76 - _tmp78 + _tmp80;
-  const Scalar _tmp86 = -_tmp12 - _tmp15 - _tmp18 - _tmp8;
-  const Scalar _tmp87 = std::pow(_tmp86, Scalar(2)) * d_ang_var;
-  const Scalar _tmp88 = P(0, 0) * _tmp63 + P(1, 0) * _tmp49 + P(10, 0) * _tmp82 +
-                        P(11, 0) * _tmp73 + P(2, 0) * _tmp58 + P(9, 0) * _tmp19;
-  const Scalar _tmp89 = P(0, 1) * _tmp63 + P(1, 1) * _tmp49 + P(10, 1) * _tmp82 +
-                        P(11, 1) * _tmp73 + P(2, 1) * _tmp58 + P(9, 1) * _tmp19;
-  const Scalar _tmp90 = P(0, 2) * _tmp63 + P(1, 2) * _tmp49 + P(10, 2) * _tmp82 +
-                        P(11, 2) * _tmp73 + P(2, 2) * _tmp58 + P(9, 2) * _tmp19;
-  const Scalar _tmp91 = P(0, 11) * _tmp63 + P(1, 11) * _tmp49 + P(10, 11) * _tmp82 +
-                        P(11, 11) * _tmp73 + P(2, 11) * _tmp58 + P(9, 11) * _tmp19;
-  const Scalar _tmp92 = P(0, 10) * _tmp63 + P(1, 10) * _tmp49 + P(10, 10) * _tmp82 +
-                        P(11, 10) * _tmp73 + P(2, 10) * _tmp58 + P(9, 10) * _tmp19;
-  const Scalar _tmp93 = _tmp17 * state(0, 0);
-  const Scalar _tmp94 = _tmp10 * _tmp14;
-  const Scalar _tmp95 = _tmp68 * state(3, 0);
-  const Scalar _tmp96 = _tmp7 * state(1, 0);
-  const Scalar _tmp97 = -_tmp93 + _tmp94 - _tmp95 + _tmp96;
-  const Scalar _tmp98 = _tmp97 * d_ang_var;
-  const Scalar _tmp99 = _tmp86 * d_ang_var;
-  const Scalar _tmp100 = -_tmp74 + _tmp76 + _tmp78 - _tmp80;
-  const Scalar _tmp101 = -_tmp75 + _tmp77 + _tmp79 - _tmp81;
-  const Scalar _tmp102 = -_tmp28 * _tmp41 + _tmp29 * _tmp40 + _tmp35 * _tmp48 - _tmp36 * _tmp47;
-  const Scalar _tmp103 = _tmp29 * _tmp55 - _tmp36 * _tmp57 - _tmp41 * _tmp51 + _tmp48 * _tmp53;
-  const Scalar _tmp104 = 2 * _tmp62;
-  const Scalar _tmp105 = -_tmp104 * _tmp13 + _tmp29 * _tmp61 - _tmp41 * _tmp59 + _tmp48 * _tmp60;
-  const Scalar _tmp106 = _tmp96 * d_ang_dt;
-  const Scalar _tmp107 = _tmp95 * d_ang_dt;
-  const Scalar _tmp108 = _tmp94 * d_ang_dt;
-  const Scalar _tmp109 = _tmp93 * d_ang_dt;
-  const Scalar _tmp110 = _tmp106 - _tmp107 + _tmp108 - _tmp109;
-  const Scalar _tmp111 = P(0, 9) * _tmp105 + P(1, 9) * _tmp102 + P(10, 9) * _tmp19 +
-                         P(11, 9) * _tmp110 + P(2, 9) * _tmp103 + P(9, 9) * _tmp101;
-  const Scalar _tmp112 = P(0, 2) * _tmp105 + P(1, 2) * _tmp102 + P(10, 2) * _tmp19 +
-                         P(11, 2) * _tmp110 + P(2, 2) * _tmp103 + P(9, 2) * _tmp101;
-  const Scalar _tmp113 = P(0, 1) * _tmp105 + P(1, 1) * _tmp102 + P(10, 1) * _tmp19 +
-                         P(11, 1) * _tmp110 + P(2, 1) * _tmp103 + P(9, 1) * _tmp101;
-  const Scalar _tmp114 = P(0, 0) * _tmp105 + P(1, 0) * _tmp102 + P(10, 0) * _tmp19 +
-                         P(11, 0) * _tmp110 + P(2, 0) * _tmp103 + P(9, 0) * _tmp101;
-  const Scalar _tmp115 = P(0, 10) * _tmp105 + P(1, 10) * _tmp102 + P(10, 10) * _tmp19 +
-                         P(11, 10) * _tmp110 + P(2, 10) * _tmp103 + P(9, 10) * _tmp101;
-  const Scalar _tmp116 = P(0, 11) * _tmp105 + P(1, 11) * _tmp102 + P(10, 11) * _tmp19 +
-                         P(11, 11) * _tmp110 + P(2, 11) * _tmp103 + P(9, 11) * _tmp101;
-  const Scalar _tmp117 = _tmp93 - _tmp94 + _tmp95 - _tmp96;
-  const Scalar _tmp118 = _tmp117 * d_ang_var;
-  const Scalar _tmp119 = _tmp64 - _tmp66 - _tmp69 + _tmp71;
-  const Scalar _tmp120 = _tmp119 * d_ang_var;
-  const Scalar _tmp121 = _tmp65 - _tmp67 - _tmp70 + _tmp72;
-  const Scalar _tmp122 = _tmp29 * _tmp53 + _tmp36 * _tmp51 - _tmp41 * _tmp57 - _tmp48 * _tmp55;
-  const Scalar _tmp123 = _tmp28 * _tmp36 + _tmp29 * _tmp35 - _tmp40 * _tmp48 - _tmp41 * _tmp47;
-  const Scalar _tmp124 = -_tmp10 * _tmp104 + _tmp29 * _tmp60 + _tmp36 * _tmp59 - _tmp48 * _tmp61;
-  const Scalar _tmp125 = -_tmp106 + _tmp107 - _tmp108 + _tmp109;
-  const Scalar _tmp126 = P(0, 2) * _tmp124 + P(1, 2) * _tmp123 + P(10, 2) * _tmp125 +
-                         P(11, 2) * _tmp19 + P(2, 2) * _tmp122 + P(9, 2) * _tmp121;
-  const Scalar _tmp127 = P(0, 9) * _tmp124 + P(1, 9) * _tmp123 + P(10, 9) * _tmp125 +
-                         P(11, 9) * _tmp19 + P(2, 9) * _tmp122 + P(9, 9) * _tmp121;
-  const Scalar _tmp128 = P(0, 11) * _tmp124 + P(1, 11) * _tmp123 + P(10, 11) * _tmp125 +
-                         P(11, 11) * _tmp19 + P(2, 11) * _tmp122 + P(9, 11) * _tmp121;
-  const Scalar _tmp129 = P(0, 10) * _tmp124 + P(1, 10) * _tmp123 + P(10, 10) * _tmp125 +
-                         P(11, 10) * _tmp19 + P(2, 10) * _tmp122 + P(9, 10) * _tmp121;
-  const Scalar _tmp130 = P(0, 0) * _tmp124 + P(1, 0) * _tmp123 + P(10, 0) * _tmp125 +
-                         P(11, 0) * _tmp19 + P(2, 0) * _tmp122 + P(9, 0) * _tmp121;
-  const Scalar _tmp131 = P(0, 1) * _tmp124 + P(1, 1) * _tmp123 + P(10, 1) * _tmp125 +
-                         P(11, 1) * _tmp19 + P(2, 1) * _tmp122 + P(9, 1) * _tmp121;
-  const Scalar _tmp132 = P(0, 13) * _tmp63 + P(1, 13) * _tmp49 + P(10, 13) * _tmp82 +
-                         P(11, 13) * _tmp73 + P(2, 13) * _tmp58 + P(9, 13) * _tmp19;
-  const Scalar _tmp133 = 2 * state(0, 0);
-  const Scalar _tmp134 = _tmp133 * state(3, 0);
-  const Scalar _tmp135 = 2 * state(2, 0);
-  const Scalar _tmp136 = _tmp135 * state(1, 0);
-  const Scalar _tmp137 = -_tmp134 + _tmp136;
-  const Scalar _tmp138 = _tmp137 * d_vel_dt;
-  const Scalar _tmp139 = P(0, 14) * _tmp63 + P(1, 14) * _tmp49 + P(10, 14) * _tmp82 +
-                         P(11, 14) * _tmp73 + P(2, 14) * _tmp58 + P(9, 14) * _tmp19;
-  const Scalar _tmp140 = _tmp135 * state(0, 0);
-  const Scalar _tmp141 = state(1, 0) * state(3, 0);
-  const Scalar _tmp142 = 2 * _tmp141;
-  const Scalar _tmp143 = _tmp140 + _tmp142;
-  const Scalar _tmp144 = _tmp143 * d_vel_dt;
-  const Scalar _tmp145 = Scalar(2.0) * state(0, 0);
-  const Scalar _tmp146 = _tmp145 * state(2, 0);
-  const Scalar _tmp147 = Scalar(2.0) * _tmp141;
-  const Scalar _tmp148 = d_vel(1, 0) - d_vel_dt * state(14, 0);
-  const Scalar _tmp149 = d_vel(2, 0) - d_vel_dt * state(15, 0);
-  const Scalar _tmp150 = _tmp145 * state(3, 0);
-  const Scalar _tmp151 = Scalar(2.0) * state(2, 0);
-  const Scalar _tmp152 = _tmp151 * state(1, 0);
-  const Scalar _tmp153 = -_tmp152;
-  const Scalar _tmp154 = _tmp148 * (_tmp146 + _tmp147) + _tmp149 * (_tmp150 + _tmp153);
-  const Scalar _tmp155 = Scalar(1.0) * std::pow(state(0, 0), Scalar(2));
-  const Scalar _tmp156 = std::pow(state(2, 0), Scalar(2));
-  const Scalar _tmp157 = Scalar(1.0) * _tmp156;
-  const Scalar _tmp158 = -_tmp157;
-  const Scalar _tmp159 = _tmp155 + _tmp158;
-  const Scalar _tmp160 = std::pow(state(1, 0), Scalar(2));
-  const Scalar _tmp161 = Scalar(1.0) * _tmp160;
-  const Scalar _tmp162 = std::pow(state(3, 0), Scalar(2));
-  const Scalar _tmp163 = Scalar(1.0) * _tmp162;
-  const Scalar _tmp164 = -_tmp163;
-  const Scalar _tmp165 = _tmp161 + _tmp164;
-  const Scalar _tmp166 = -_tmp146;
-  const Scalar _tmp167 = -_tmp147;
-  const Scalar _tmp168 = d_vel(0, 0) - d_vel_dt * state(13, 0);
-  const Scalar _tmp169 = _tmp149 * (_tmp159 + _tmp165) + _tmp168 * (_tmp166 + _tmp167);
-  const Scalar _tmp170 = -_tmp150;
-  const Scalar _tmp171 = -_tmp161;
-  const Scalar _tmp172 = _tmp163 + _tmp171;
-  const Scalar _tmp173 = -_tmp155;
-  const Scalar _tmp174 = _tmp157 + _tmp173;
-  const Scalar _tmp175 = _tmp148 * (_tmp172 + _tmp174) + _tmp168 * (_tmp152 + _tmp170);
-  const Scalar _tmp176 = P(0, 12) * _tmp63 + P(1, 12) * _tmp49 + P(10, 12) * _tmp82 +
-                         P(11, 12) * _tmp73 + P(2, 12) * _tmp58 + P(9, 12) * _tmp19;
-  const Scalar _tmp177 = -2 * _tmp162;
-  const Scalar _tmp178 = 1 - 2 * _tmp156;
-  const Scalar _tmp179 = _tmp177 + _tmp178;
-  const Scalar _tmp180 = _tmp179 * d_vel_dt;
-  const Scalar _tmp181 = P(0, 3) * _tmp63 + P(1, 3) * _tmp49 + P(10, 3) * _tmp82 +
-                         P(11, 3) * _tmp73 + P(2, 3) * _tmp58 + P(9, 3) * _tmp19;
-  const Scalar _tmp182 = P(0, 12) * _tmp105 + P(1, 12) * _tmp102 + P(10, 12) * _tmp19 +
-                         P(11, 12) * _tmp110 + P(2, 12) * _tmp103 + P(9, 12) * _tmp101;
-  const Scalar _tmp183 = P(0, 14) * _tmp105 + P(1, 14) * _tmp102 + P(10, 14) * _tmp19 +
-                         P(11, 14) * _tmp110 + P(2, 14) * _tmp103 + P(9, 14) * _tmp101;
-  const Scalar _tmp184 = P(0, 13) * _tmp105 + P(1, 13) * _tmp102 + P(10, 13) * _tmp19 +
-                         P(11, 13) * _tmp110 + P(2, 13) * _tmp103 + P(9, 13) * _tmp101;
-  const Scalar _tmp185 = P(0, 3) * _tmp105 + P(1, 3) * _tmp102 + P(10, 3) * _tmp19 +
-                         P(11, 3) * _tmp110 + P(2, 3) * _tmp103 + P(9, 3) * _tmp101;
-  const Scalar _tmp186 = P(0, 14) * _tmp124 + P(1, 14) * _tmp123 + P(10, 14) * _tmp125 +
-                         P(11, 14) * _tmp19 + P(2, 14) * _tmp122 + P(9, 14) * _tmp121;
-  const Scalar _tmp187 = P(0, 13) * _tmp124 + P(1, 13) * _tmp123 + P(10, 13) * _tmp125 +
-                         P(11, 13) * _tmp19 + P(2, 13) * _tmp122 + P(9, 13) * _tmp121;
-  const Scalar _tmp188 = P(0, 12) * _tmp124 + P(1, 12) * _tmp123 + P(10, 12) * _tmp125 +
-                         P(11, 12) * _tmp19 + P(2, 12) * _tmp122 + P(9, 12) * _tmp121;
-  const Scalar _tmp189 = P(0, 3) * _tmp124 + P(1, 3) * _tmp123 + P(10, 3) * _tmp125 +
-                         P(11, 3) * _tmp19 + P(2, 3) * _tmp122 + P(9, 3) * _tmp121;
-  const Scalar _tmp190 = P(0, 2) * _tmp154 + P(1, 2) * _tmp169 - P(12, 2) * _tmp180 -
-                         P(13, 2) * _tmp138 - P(14, 2) * _tmp144 + P(2, 2) * _tmp175 + P(3, 2);
-  const Scalar _tmp191 = P(0, 1) * _tmp154 + P(1, 1) * _tmp169 - P(12, 1) * _tmp180 -
-                         P(13, 1) * _tmp138 - P(14, 1) * _tmp144 + P(2, 1) * _tmp175 + P(3, 1);
-  const Scalar _tmp192 = P(0, 0) * _tmp154 + P(1, 0) * _tmp169 - P(12, 0) * _tmp180 -
-                         P(13, 0) * _tmp138 - P(14, 0) * _tmp144 + P(2, 0) * _tmp175 + P(3, 0);
-  const Scalar _tmp193 = P(0, 12) * _tmp154 + P(1, 12) * _tmp169 - P(12, 12) * _tmp180 -
-                         P(13, 12) * _tmp138 - P(14, 12) * _tmp144 + P(2, 12) * _tmp175 + P(3, 12);
-  const Scalar _tmp194 = P(0, 13) * _tmp154 + P(1, 13) * _tmp169 - P(12, 13) * _tmp180 -
-                         P(13, 13) * _tmp138 - P(14, 13) * _tmp144 + P(2, 13) * _tmp175 + P(3, 13);
-  const Scalar _tmp195 = _tmp194 * d_vel_dt;
-  const Scalar _tmp196 = P(0, 14) * _tmp154 + P(1, 14) * _tmp169 - P(12, 14) * _tmp180 -
-                         P(13, 14) * _tmp138 - P(14, 14) * _tmp144 + P(2, 14) * _tmp175 + P(3, 14);
-  const Scalar _tmp197 = P(0, 3) * _tmp154 + P(1, 3) * _tmp169 - P(12, 3) * _tmp180 -
-                         P(13, 3) * _tmp138 - P(14, 3) * _tmp144 + P(2, 3) * _tmp175 + P(3, 3);
-  const Scalar _tmp198 = _tmp135 * state(3, 0);
-  const Scalar _tmp199 = _tmp133 * state(1, 0);
-  const Scalar _tmp200 = _tmp198 - _tmp199;
-  const Scalar _tmp201 = _tmp200 * d_vel_dt;
-  const Scalar _tmp202 = _tmp151 * state(3, 0);
-  const Scalar _tmp203 = _tmp145 * state(1, 0);
-  const Scalar _tmp204 = -_tmp203;
-  const Scalar _tmp205 =
-      _tmp148 * (_tmp202 + _tmp204) + _tmp149 * (_tmp158 + _tmp161 + _tmp163 + _tmp173);
-  const Scalar _tmp206 = _tmp134 + _tmp136;
-  const Scalar _tmp207 = _tmp206 * d_vel_dt;
-  const Scalar _tmp208 =
-      _tmp148 * (_tmp153 + _tmp170) + _tmp168 * (_tmp155 + _tmp157 + _tmp164 + _tmp171);
-  const Scalar _tmp209 = -_tmp202;
-  const Scalar _tmp210 = _tmp149 * (_tmp150 + _tmp152) + _tmp168 * (_tmp203 + _tmp209);
-  const Scalar _tmp211 = -2 * _tmp160;
-  const Scalar _tmp212 = _tmp177 + _tmp211 + 1;
-  const Scalar _tmp213 = _tmp212 * d_vel_dt;
-  const Scalar _tmp214 = P(0, 4) * _tmp63 + P(1, 4) * _tmp49 + P(10, 4) * _tmp82 +
-                         P(11, 4) * _tmp73 + P(2, 4) * _tmp58 + P(9, 4) * _tmp19;
-  const Scalar _tmp215 = P(0, 4) * _tmp105 + P(1, 4) * _tmp102 + P(10, 4) * _tmp19 +
-                         P(11, 4) * _tmp110 + P(2, 4) * _tmp103 + P(9, 4) * _tmp101;
-  const Scalar _tmp216 = P(0, 4) * _tmp124 + P(1, 4) * _tmp123 + P(10, 4) * _tmp125 +
-                         P(11, 4) * _tmp19 + P(2, 4) * _tmp122 + P(9, 4) * _tmp121;
-  const Scalar _tmp217 = _tmp212 * d_vel_var(1, 0);
-  const Scalar _tmp218 = _tmp193 * d_vel_dt;
-  const Scalar _tmp219 = P(0, 4) * _tmp154 + P(1, 4) * _tmp169 - P(12, 4) * _tmp180 -
-                         P(13, 4) * _tmp138 - P(14, 4) * _tmp144 + P(2, 4) * _tmp175 + P(3, 4);
-  const Scalar _tmp220 = P(0, 1) * _tmp205 + P(1, 1) * _tmp210 - P(12, 1) * _tmp207 -
-                         P(13, 1) * _tmp213 - P(14, 1) * _tmp201 + P(2, 1) * _tmp208 + P(4, 1);
-  const Scalar _tmp221 = P(0, 12) * _tmp205 + P(1, 12) * _tmp210 - P(12, 12) * _tmp207 -
-                         P(13, 12) * _tmp213 - P(14, 12) * _tmp201 + P(2, 12) * _tmp208 + P(4, 12);
-  const Scalar _tmp222 = P(0, 13) * _tmp205 + P(1, 13) * _tmp210 - P(12, 13) * _tmp207 -
-                         P(13, 13) * _tmp213 - P(14, 13) * _tmp201 + P(2, 13) * _tmp208 + P(4, 13);
-  const Scalar _tmp223 = P(0, 2) * _tmp205 + P(1, 2) * _tmp210 - P(12, 2) * _tmp207 -
-                         P(13, 2) * _tmp213 - P(14, 2) * _tmp201 + P(2, 2) * _tmp208 + P(4, 2);
-  const Scalar _tmp224 = P(0, 14) * _tmp205 + P(1, 14) * _tmp210 - P(12, 14) * _tmp207 -
-                         P(13, 14) * _tmp213 - P(14, 14) * _tmp201 + P(2, 14) * _tmp208 + P(4, 14);
-  const Scalar _tmp225 = P(0, 0) * _tmp205 + P(1, 0) * _tmp210 - P(12, 0) * _tmp207 -
-                         P(13, 0) * _tmp213 - P(14, 0) * _tmp201 + P(2, 0) * _tmp208 + P(4, 0);
-  const Scalar _tmp226 = P(0, 4) * _tmp205 + P(1, 4) * _tmp210 - P(12, 4) * _tmp207 -
-                         P(13, 4) * _tmp213 - P(14, 4) * _tmp201 + P(2, 4) * _tmp208 + P(4, 4);
-  const Scalar _tmp227 = _tmp198 + _tmp199;
-  const Scalar _tmp228 = _tmp227 * d_vel_dt;
-  const Scalar _tmp229 = -_tmp140 + _tmp142;
-  const Scalar _tmp230 = _tmp229 * d_vel_dt;
-  const Scalar _tmp231 = _tmp148 * (_tmp146 + _tmp167) + _tmp168 * (_tmp202 + _tmp203);
-  const Scalar _tmp232 = _tmp149 * (_tmp147 + _tmp166) + _tmp168 * (_tmp165 + _tmp174);
-  const Scalar _tmp233 = _tmp148 * (_tmp159 + _tmp172) + _tmp149 * (_tmp204 + _tmp209);
-  const Scalar _tmp234 = _tmp178 + _tmp211;
-  const Scalar _tmp235 = _tmp234 * d_vel_dt;
-  const Scalar _tmp236 = P(0, 5) * _tmp63 + P(1, 5) * _tmp49 + P(10, 5) * _tmp82 +
-                         P(11, 5) * _tmp73 + P(2, 5) * _tmp58 + P(9, 5) * _tmp19;
-  const Scalar _tmp237 = P(0, 5) * _tmp105 + P(1, 5) * _tmp102 + P(10, 5) * _tmp19 +
-                         P(11, 5) * _tmp110 + P(2, 5) * _tmp103 + P(9, 5) * _tmp101;
-  const Scalar _tmp238 = P(0, 5) * _tmp124 + P(1, 5) * _tmp123 + P(10, 5) * _tmp125 +
-                         P(11, 5) * _tmp19 + P(2, 5) * _tmp122 + P(9, 5) * _tmp121;
-  const Scalar _tmp239 = _tmp229 * d_vel_var(0, 0);
-  const Scalar _tmp240 = _tmp234 * d_vel_var(2, 0);
-  const Scalar _tmp241 = P(0, 5) * _tmp154 + P(1, 5) * _tmp169 - P(12, 5) * _tmp180 -
-                         P(13, 5) * _tmp138 - P(14, 5) * _tmp144 + P(2, 5) * _tmp175 + P(3, 5);
-  const Scalar _tmp242 = P(0, 5) * _tmp205 + P(1, 5) * _tmp210 - P(12, 5) * _tmp207 -
-                         P(13, 5) * _tmp213 - P(14, 5) * _tmp201 + P(2, 5) * _tmp208 + P(4, 5);
-  const Scalar _tmp243 = P(0, 14) * _tmp233 + P(1, 14) * _tmp232 - P(12, 14) * _tmp230 -
-                         P(13, 14) * _tmp228 - P(14, 14) * _tmp235 + P(2, 14) * _tmp231 + P(5, 14);
-  const Scalar _tmp244 = P(0, 12) * _tmp233 + P(1, 12) * _tmp232 - P(12, 12) * _tmp230 -
-                         P(13, 12) * _tmp228 - P(14, 12) * _tmp235 + P(2, 12) * _tmp231 + P(5, 12);
-  const Scalar _tmp245 = P(0, 13) * _tmp233 + P(1, 13) * _tmp232 - P(12, 13) * _tmp230 -
-                         P(13, 13) * _tmp228 - P(14, 13) * _tmp235 + P(2, 13) * _tmp231 + P(5, 13);
-  const Scalar _tmp246 = P(0, 5) * _tmp233 + P(1, 5) * _tmp232 - P(12, 5) * _tmp230 -
-                         P(13, 5) * _tmp228 - P(14, 5) * _tmp235 + P(2, 5) * _tmp231 + P(5, 5);
+  const Scalar _tmp32 = 2 * state(1, 0);
+  const Scalar _tmp33 = _tmp32 * state(2, 0);
+  const Scalar _tmp34 = _tmp31 + _tmp33;
+  const Scalar _tmp35 = accel(0, 0) - state(13, 0);
+  const Scalar _tmp36 = std::pow(state(2, 0), Scalar(2));
+  const Scalar _tmp37 = std::pow(state(1, 0), Scalar(2));
+  const Scalar _tmp38 = -_tmp37;
+  const Scalar _tmp39 = _tmp36 + _tmp38;
+  const Scalar _tmp40 = std::pow(state(0, 0), Scalar(2));
+  const Scalar _tmp41 = -_tmp40;
+  const Scalar _tmp42 = std::pow(state(3, 0), Scalar(2));
+  const Scalar _tmp43 = _tmp41 + _tmp42;
+  const Scalar _tmp44 = accel(1, 0) - state(14, 0);
+  const Scalar _tmp45 = dt * (_tmp34 * _tmp35 + _tmp44 * (_tmp39 + _tmp43));
+  const Scalar _tmp46 = P(0, 12) + P(1, 12) * _tmp5 + P(2, 12) * _tmp2 - P(9, 12) * dt;
+  const Scalar _tmp47 = -2 * _tmp42;
+  const Scalar _tmp48 = -2 * _tmp36;
+  const Scalar _tmp49 = _tmp47 + _tmp48 + 1;
+  const Scalar _tmp50 = _tmp49 * dt;
+  const Scalar _tmp51 = _tmp29 * state(2, 0);
+  const Scalar _tmp52 = -_tmp51;
+  const Scalar _tmp53 = _tmp32 * state(3, 0);
+  const Scalar _tmp54 = -_tmp53;
+  const Scalar _tmp55 = -_tmp42;
+  const Scalar _tmp56 = _tmp40 + _tmp55;
+  const Scalar _tmp57 = -_tmp36;
+  const Scalar _tmp58 = _tmp37 + _tmp57;
+  const Scalar _tmp59 = accel(2, 0) - state(15, 0);
+  const Scalar _tmp60 = dt * (_tmp35 * (_tmp52 + _tmp54) + _tmp59 * (_tmp56 + _tmp58));
+  const Scalar _tmp61 = _tmp51 + _tmp53;
+  const Scalar _tmp62 = -_tmp33;
+  const Scalar _tmp63 = dt * (_tmp44 * _tmp61 + _tmp59 * (_tmp30 + _tmp62));
+  const Scalar _tmp64 = P(0, 13) + P(1, 13) * _tmp5 + P(2, 13) * _tmp2 - P(9, 13) * dt;
+  const Scalar _tmp65 = _tmp34 * dt;
+  const Scalar _tmp66 = P(0, 14) + P(1, 14) * _tmp5 + P(2, 14) * _tmp2 - P(9, 14) * dt;
+  const Scalar _tmp67 = _tmp61 * dt;
+  const Scalar _tmp68 = P(0, 3) + P(1, 3) * _tmp5 + P(2, 3) * _tmp2 - P(9, 3) * dt;
+  const Scalar _tmp69 = P(0, 13) * _tmp13 + P(1, 13) - P(10, 13) * dt + P(2, 13) * _tmp16;
+  const Scalar _tmp70 = P(0, 14) * _tmp13 + P(1, 14) - P(10, 14) * dt + P(2, 14) * _tmp16;
+  const Scalar _tmp71 = P(0, 12) * _tmp13 + P(1, 12) - P(10, 12) * dt + P(2, 12) * _tmp16;
+  const Scalar _tmp72 = P(0, 3) * _tmp13 + P(1, 3) - P(10, 3) * dt + P(2, 3) * _tmp16;
+  const Scalar _tmp73 = P(0, 14) * _tmp22 + P(1, 14) * _tmp23 - P(11, 14) * dt + P(2, 14);
+  const Scalar _tmp74 = P(0, 13) * _tmp22 + P(1, 13) * _tmp23 - P(11, 13) * dt + P(2, 13);
+  const Scalar _tmp75 = P(0, 12) * _tmp22 + P(1, 12) * _tmp23 - P(11, 12) * dt + P(2, 12);
+  const Scalar _tmp76 = P(0, 3) * _tmp22 + P(1, 3) * _tmp23 - P(11, 3) * dt + P(2, 3);
+  const Scalar _tmp77 = P(0, 1) * _tmp63 + P(1, 1) * _tmp60 - P(12, 1) * _tmp50 -
+                        P(13, 1) * _tmp65 - P(14, 1) * _tmp67 + P(2, 1) * _tmp45 + P(3, 1);
+  const Scalar _tmp78 = P(0, 14) * _tmp63 + P(1, 14) * _tmp60 - P(12, 14) * _tmp50 -
+                        P(13, 14) * _tmp65 - P(14, 14) * _tmp67 + P(2, 14) * _tmp45 + P(3, 14);
+  const Scalar _tmp79 = P(0, 13) * _tmp63 + P(1, 13) * _tmp60 - P(12, 13) * _tmp50 -
+                        P(13, 13) * _tmp65 - P(14, 13) * _tmp67 + P(2, 13) * _tmp45 + P(3, 13);
+  const Scalar _tmp80 = P(0, 0) * _tmp63 + P(1, 0) * _tmp60 - P(12, 0) * _tmp50 -
+                        P(13, 0) * _tmp65 - P(14, 0) * _tmp67 + P(2, 0) * _tmp45 + P(3, 0);
+  const Scalar _tmp81 = _tmp9 * accel_var(0, 0);
+  const Scalar _tmp82 = P(0, 2) * _tmp63 + P(1, 2) * _tmp60 - P(12, 2) * _tmp50 -
+                        P(13, 2) * _tmp65 - P(14, 2) * _tmp67 + P(2, 2) * _tmp45 + P(3, 2);
+  const Scalar _tmp83 = _tmp9 * accel_var(1, 0);
+  const Scalar _tmp84 = _tmp9 * accel_var(2, 0);
+  const Scalar _tmp85 = P(0, 12) * _tmp63 + P(1, 12) * _tmp60 - P(12, 12) * _tmp50 -
+                        P(13, 12) * _tmp65 - P(14, 12) * _tmp67 + P(2, 12) * _tmp45 + P(3, 12);
+  const Scalar _tmp86 = P(0, 3) * _tmp63 + P(1, 3) * _tmp60 - P(12, 3) * _tmp50 -
+                        P(13, 3) * _tmp65 - P(14, 3) * _tmp67 + P(2, 3) * _tmp45 + P(3, 3);
+  const Scalar _tmp87 = 2 * state(2, 0) * state(3, 0);
+  const Scalar _tmp88 = _tmp29 * state(1, 0);
+  const Scalar _tmp89 = -_tmp88;
+  const Scalar _tmp90 = _tmp87 + _tmp89;
+  const Scalar _tmp91 = dt * (_tmp44 * _tmp90 + _tmp59 * (_tmp43 + _tmp58));
+  const Scalar _tmp92 = dt * (_tmp35 * (_tmp39 + _tmp56) + _tmp44 * (_tmp31 + _tmp62));
+  const Scalar _tmp93 = 1 - 2 * _tmp37;
+  const Scalar _tmp94 = _tmp47 + _tmp93;
+  const Scalar _tmp95 = _tmp94 * dt;
+  const Scalar _tmp96 = _tmp90 * dt;
+  const Scalar _tmp97 = _tmp30 + _tmp33;
+  const Scalar _tmp98 = -_tmp87;
+  const Scalar _tmp99 = dt * (_tmp35 * (_tmp88 + _tmp98) + _tmp59 * _tmp97);
+  const Scalar _tmp100 = _tmp97 * dt;
+  const Scalar _tmp101 = P(0, 4) + P(1, 4) * _tmp5 + P(2, 4) * _tmp2 - P(9, 4) * dt;
+  const Scalar _tmp102 = P(0, 4) * _tmp13 + P(1, 4) - P(10, 4) * dt + P(2, 4) * _tmp16;
+  const Scalar _tmp103 = _tmp74 * dt;
+  const Scalar _tmp104 = P(0, 4) * _tmp22 + P(1, 4) * _tmp23 - P(11, 4) * dt + P(2, 4);
+  const Scalar _tmp105 = _tmp81 * _tmp97;
+  const Scalar _tmp106 = _tmp84 * _tmp90;
+  const Scalar _tmp107 = P(0, 4) * _tmp63 + P(1, 4) * _tmp60 - P(12, 4) * _tmp50 -
+                         P(13, 4) * _tmp65 - P(14, 4) * _tmp67 + P(2, 4) * _tmp45 + P(3, 4);
+  const Scalar _tmp108 = P(0, 14) * _tmp91 + P(1, 14) * _tmp99 - P(12, 14) * _tmp100 -
+                         P(13, 14) * _tmp95 - P(14, 14) * _tmp96 + P(2, 14) * _tmp92 + P(4, 14);
+  const Scalar _tmp109 = P(0, 0) * _tmp91 + P(1, 0) * _tmp99 - P(12, 0) * _tmp100 -
+                         P(13, 0) * _tmp95 - P(14, 0) * _tmp96 + P(2, 0) * _tmp92 + P(4, 0);
+  const Scalar _tmp110 = P(0, 13) * _tmp91 + P(1, 13) * _tmp99 - P(12, 13) * _tmp100 -
+                         P(13, 13) * _tmp95 - P(14, 13) * _tmp96 + P(2, 13) * _tmp92 + P(4, 13);
+  const Scalar _tmp111 = P(0, 12) * _tmp91 + P(1, 12) * _tmp99 - P(12, 12) * _tmp100 -
+                         P(13, 12) * _tmp95 - P(14, 12) * _tmp96 + P(2, 12) * _tmp92 + P(4, 12);
+  const Scalar _tmp112 = P(0, 1) * _tmp91 + P(1, 1) * _tmp99 - P(12, 1) * _tmp100 -
+                         P(13, 1) * _tmp95 - P(14, 1) * _tmp96 + P(2, 1) * _tmp92 + P(4, 1);
+  const Scalar _tmp113 = P(0, 2) * _tmp91 + P(1, 2) * _tmp99 - P(12, 2) * _tmp100 -
+                         P(13, 2) * _tmp95 - P(14, 2) * _tmp96 + P(2, 2) * _tmp92 + P(4, 2);
+  const Scalar _tmp114 = P(0, 4) * _tmp91 + P(1, 4) * _tmp99 - P(12, 4) * _tmp100 -
+                         P(13, 4) * _tmp95 - P(14, 4) * _tmp96 + P(2, 4) * _tmp92 + P(4, 4);
+  const Scalar _tmp115 =
+      dt * (_tmp44 * (_tmp38 + _tmp40 + _tmp42 + _tmp57) + _tmp59 * (_tmp89 + _tmp98));
+  const Scalar _tmp116 = _tmp48 + _tmp93;
+  const Scalar _tmp117 = _tmp116 * dt;
+  const Scalar _tmp118 = _tmp87 + _tmp88;
+  const Scalar _tmp119 = _tmp118 * dt;
+  const Scalar _tmp120 = dt * (_tmp118 * _tmp35 + _tmp44 * (_tmp51 + _tmp54));
+  const Scalar _tmp121 = _tmp52 + _tmp53;
+  const Scalar _tmp122 = dt * (_tmp121 * _tmp59 + _tmp35 * (_tmp36 + _tmp37 + _tmp41 + _tmp55));
+  const Scalar _tmp123 = _tmp121 * dt;
+  const Scalar _tmp124 = P(0, 5) + P(1, 5) * _tmp5 + P(2, 5) * _tmp2 - P(9, 5) * dt;
+  const Scalar _tmp125 = P(0, 5) * _tmp13 + P(1, 5) - P(10, 5) * dt + P(2, 5) * _tmp16;
+  const Scalar _tmp126 = P(0, 5) * _tmp22 + P(1, 5) * _tmp23 - P(11, 5) * dt + P(2, 5);
+  const Scalar _tmp127 = _tmp118 * _tmp83;
+  const Scalar _tmp128 = P(0, 5) * _tmp63 + P(1, 5) * _tmp60 - P(12, 5) * _tmp50 -
+                         P(13, 5) * _tmp65 - P(14, 5) * _tmp67 + P(2, 5) * _tmp45 + P(3, 5);
+  const Scalar _tmp129 = P(0, 5) * _tmp91 + P(1, 5) * _tmp99 - P(12, 5) * _tmp100 -
+                         P(13, 5) * _tmp95 - P(14, 5) * _tmp96 + P(2, 5) * _tmp92 + P(4, 5);
+  const Scalar _tmp130 = P(0, 13) * _tmp115 + P(1, 13) * _tmp122 - P(12, 13) * _tmp123 -
+                         P(13, 13) * _tmp119 - P(14, 13) * _tmp117 + P(2, 13) * _tmp120 + P(5, 13);
+  const Scalar _tmp131 = P(0, 14) * _tmp115 + P(1, 14) * _tmp122 - P(12, 14) * _tmp123 -
+                         P(13, 14) * _tmp119 - P(14, 14) * _tmp117 + P(2, 14) * _tmp120 + P(5, 14);
+  const Scalar _tmp132 = P(0, 12) * _tmp115 + P(1, 12) * _tmp122 - P(12, 12) * _tmp123 -
+                         P(13, 12) * _tmp119 - P(14, 12) * _tmp117 + P(2, 12) * _tmp120 + P(5, 12);
+  const Scalar _tmp133 = P(0, 5) * _tmp115 + P(1, 5) * _tmp122 - P(12, 5) * _tmp123 -
+                         P(13, 5) * _tmp119 - P(14, 5) * _tmp117 + P(2, 5) * _tmp120 + P(5, 5);
 
   // Output terms (1)
   matrix::Matrix<Scalar, 23, 23> _res;
 
-  _res(0, 0) = _tmp19 * _tmp83 + _tmp49 * _tmp89 + _tmp58 * _tmp90 + _tmp63 * _tmp88 +
-               _tmp73 * _tmp91 + _tmp82 * _tmp92 + std::pow(_tmp84, Scalar(2)) * d_ang_var +
-               std::pow(_tmp85, Scalar(2)) * d_ang_var + _tmp87;
+  _res(0, 0) = _tmp10 + _tmp11 + _tmp2 * _tmp6 + _tmp5 * _tmp7 - _tmp8 * dt;
   _res(1, 0) = 0;
   _res(2, 0) = 0;
   _res(3, 0) = 0;
@@ -377,12 +222,8 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 0) = 0;
   _res(21, 0) = 0;
   _res(22, 0) = 0;
-  _res(0, 1) = _tmp100 * _tmp99 + _tmp101 * _tmp83 + _tmp102 * _tmp89 + _tmp103 * _tmp90 +
-               _tmp105 * _tmp88 + _tmp110 * _tmp91 + _tmp19 * _tmp92 + _tmp84 * _tmp98 +
-               _tmp85 * _tmp99;
-  _res(1, 1) = std::pow(_tmp100, Scalar(2)) * d_ang_var + _tmp101 * _tmp111 + _tmp102 * _tmp113 +
-               _tmp103 * _tmp112 + _tmp105 * _tmp114 + _tmp110 * _tmp116 + _tmp115 * _tmp19 +
-               _tmp87 + std::pow(_tmp97, Scalar(2)) * d_ang_var;
+  _res(0, 1) = _tmp11 * _tmp13 - _tmp12 * dt + _tmp16 * _tmp6 + _tmp7;
+  _res(1, 1) = _tmp10 + _tmp13 * _tmp18 + _tmp16 * _tmp19 - _tmp17 * dt + _tmp20;
   _res(2, 1) = 0;
   _res(3, 1) = 0;
   _res(4, 1) = 0;
@@ -404,15 +245,9 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 1) = 0;
   _res(21, 1) = 0;
   _res(22, 1) = 0;
-  _res(0, 2) = _tmp118 * _tmp85 + _tmp120 * _tmp86 + _tmp121 * _tmp83 + _tmp122 * _tmp90 +
-               _tmp123 * _tmp89 + _tmp124 * _tmp88 + _tmp125 * _tmp92 + _tmp19 * _tmp91 +
-               _tmp84 * _tmp99;
-  _res(1, 2) = _tmp100 * _tmp120 + _tmp111 * _tmp121 + _tmp112 * _tmp122 + _tmp113 * _tmp123 +
-               _tmp114 * _tmp124 + _tmp115 * _tmp125 + _tmp116 * _tmp19 + _tmp118 * _tmp86 +
-               _tmp86 * _tmp98;
-  _res(2, 2) = std::pow(_tmp117, Scalar(2)) * d_ang_var + std::pow(_tmp119, Scalar(2)) * d_ang_var +
-               _tmp121 * _tmp127 + _tmp122 * _tmp126 + _tmp123 * _tmp131 + _tmp124 * _tmp130 +
-               _tmp125 * _tmp129 + _tmp128 * _tmp19 + _tmp87;
+  _res(0, 2) = _tmp11 * _tmp22 - _tmp21 * dt + _tmp23 * _tmp7 + _tmp6;
+  _res(1, 2) = _tmp18 * _tmp22 + _tmp19 + _tmp20 * _tmp23 - _tmp24 * dt;
+  _res(2, 2) = _tmp10 + _tmp22 * _tmp27 + _tmp23 * _tmp26 - _tmp25 * dt + _tmp28;
   _res(3, 2) = 0;
   _res(4, 2) = 0;
   _res(5, 2) = 0;
@@ -433,16 +268,16 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 2) = 0;
   _res(21, 2) = 0;
   _res(22, 2) = 0;
-  _res(0, 3) = -_tmp132 * _tmp138 - _tmp139 * _tmp144 + _tmp154 * _tmp88 + _tmp169 * _tmp89 +
-               _tmp175 * _tmp90 - _tmp176 * _tmp180 + _tmp181;
-  _res(1, 3) = _tmp112 * _tmp175 + _tmp113 * _tmp169 + _tmp114 * _tmp154 - _tmp138 * _tmp184 -
-               _tmp144 * _tmp183 - _tmp180 * _tmp182 + _tmp185;
-  _res(2, 3) = _tmp126 * _tmp175 + _tmp130 * _tmp154 + _tmp131 * _tmp169 - _tmp138 * _tmp187 -
-               _tmp144 * _tmp186 - _tmp180 * _tmp188 + _tmp189;
-  _res(3, 3) = std::pow(_tmp137, Scalar(2)) * d_vel_var(1, 0) - _tmp137 * _tmp195 +
-               std::pow(_tmp143, Scalar(2)) * d_vel_var(2, 0) - _tmp144 * _tmp196 +
-               _tmp154 * _tmp192 + _tmp169 * _tmp191 + _tmp175 * _tmp190 +
-               std::pow(_tmp179, Scalar(2)) * d_vel_var(0, 0) - _tmp180 * _tmp193 + _tmp197;
+  _res(0, 3) = _tmp11 * _tmp63 + _tmp45 * _tmp6 - _tmp46 * _tmp50 + _tmp60 * _tmp7 -
+               _tmp64 * _tmp65 - _tmp66 * _tmp67 + _tmp68;
+  _res(1, 3) = _tmp18 * _tmp63 + _tmp19 * _tmp45 + _tmp20 * _tmp60 - _tmp50 * _tmp71 -
+               _tmp65 * _tmp69 - _tmp67 * _tmp70 + _tmp72;
+  _res(2, 3) = _tmp26 * _tmp60 + _tmp27 * _tmp63 + _tmp28 * _tmp45 - _tmp50 * _tmp75 -
+               _tmp65 * _tmp74 - _tmp67 * _tmp73 + _tmp76;
+  _res(3, 3) = std::pow(_tmp34, Scalar(2)) * _tmp83 + _tmp45 * _tmp82 +
+               std::pow(_tmp49, Scalar(2)) * _tmp81 - _tmp50 * _tmp85 + _tmp60 * _tmp77 +
+               std::pow(_tmp61, Scalar(2)) * _tmp84 + _tmp63 * _tmp80 - _tmp65 * _tmp79 -
+               _tmp67 * _tmp78 + _tmp86;
   _res(4, 3) = 0;
   _res(5, 3) = 0;
   _res(6, 3) = 0;
@@ -462,20 +297,19 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 3) = 0;
   _res(21, 3) = 0;
   _res(22, 3) = 0;
-  _res(0, 4) = -_tmp132 * _tmp213 - _tmp139 * _tmp201 - _tmp176 * _tmp207 + _tmp205 * _tmp88 +
-               _tmp208 * _tmp90 + _tmp210 * _tmp89 + _tmp214;
-  _res(1, 4) = _tmp112 * _tmp208 + _tmp113 * _tmp210 + _tmp114 * _tmp205 - _tmp182 * _tmp207 -
-               _tmp183 * _tmp201 - _tmp184 * _tmp213 + _tmp215;
-  _res(2, 4) = _tmp126 * _tmp208 + _tmp130 * _tmp205 + _tmp131 * _tmp210 - _tmp186 * _tmp201 -
-               _tmp187 * _tmp213 - _tmp188 * _tmp207 + _tmp216;
-  _res(3, 4) = _tmp137 * _tmp217 + _tmp143 * _tmp200 * d_vel_var(2, 0) +
-               _tmp179 * _tmp206 * d_vel_var(0, 0) + _tmp190 * _tmp208 + _tmp191 * _tmp210 +
-               _tmp192 * _tmp205 - _tmp194 * _tmp213 - _tmp196 * _tmp201 - _tmp206 * _tmp218 +
-               _tmp219;
-  _res(4, 4) = std::pow(_tmp200, Scalar(2)) * d_vel_var(2, 0) - _tmp201 * _tmp224 +
-               _tmp205 * _tmp225 + std::pow(_tmp206, Scalar(2)) * d_vel_var(0, 0) -
-               _tmp207 * _tmp221 + _tmp208 * _tmp223 + _tmp210 * _tmp220 +
-               std::pow(_tmp212, Scalar(2)) * d_vel_var(1, 0) - _tmp213 * _tmp222 + _tmp226;
+  _res(0, 4) = -_tmp100 * _tmp46 + _tmp101 + _tmp11 * _tmp91 + _tmp6 * _tmp92 - _tmp64 * _tmp95 -
+               _tmp66 * _tmp96 + _tmp7 * _tmp99;
+  _res(1, 4) = -_tmp100 * _tmp71 + _tmp102 + _tmp18 * _tmp91 + _tmp19 * _tmp92 + _tmp20 * _tmp99 -
+               _tmp69 * _tmp95 - _tmp70 * _tmp96;
+  _res(2, 4) = -_tmp100 * _tmp75 - _tmp103 * _tmp94 + _tmp104 + _tmp26 * _tmp99 + _tmp27 * _tmp91 +
+               _tmp28 * _tmp92 - _tmp73 * _tmp96;
+  _res(3, 4) = -_tmp100 * _tmp85 + _tmp105 * _tmp49 + _tmp106 * _tmp61 + _tmp107 +
+               _tmp34 * _tmp83 * _tmp94 + _tmp77 * _tmp99 - _tmp78 * _tmp96 - _tmp79 * _tmp95 +
+               _tmp80 * _tmp91 + _tmp82 * _tmp92;
+  _res(4, 4) = -_tmp100 * _tmp111 - _tmp108 * _tmp96 + _tmp109 * _tmp91 - _tmp110 * _tmp95 +
+               _tmp112 * _tmp99 + _tmp113 * _tmp92 + _tmp114 +
+               _tmp81 * std::pow(_tmp97, Scalar(2)) + _tmp83 * std::pow(_tmp94, Scalar(2)) +
+               _tmp84 * std::pow(_tmp90, Scalar(2));
   _res(5, 4) = 0;
   _res(6, 4) = 0;
   _res(7, 4) = 0;
@@ -494,27 +328,28 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 4) = 0;
   _res(21, 4) = 0;
   _res(22, 4) = 0;
-  _res(0, 5) = -_tmp132 * _tmp228 - _tmp139 * _tmp235 - _tmp176 * _tmp230 + _tmp231 * _tmp90 +
-               _tmp232 * _tmp89 + _tmp233 * _tmp88 + _tmp236;
-  _res(1, 5) = _tmp112 * _tmp231 + _tmp113 * _tmp232 + _tmp114 * _tmp233 - _tmp182 * _tmp230 -
-               _tmp183 * _tmp235 - _tmp184 * _tmp228 + _tmp237;
-  _res(2, 5) = _tmp126 * _tmp231 + _tmp130 * _tmp233 + _tmp131 * _tmp232 - _tmp186 * _tmp235 -
-               _tmp187 * _tmp228 - _tmp188 * _tmp230 + _tmp238;
-  _res(3, 5) = _tmp137 * _tmp227 * d_vel_var(1, 0) + _tmp143 * _tmp240 + _tmp179 * _tmp239 +
-               _tmp190 * _tmp231 + _tmp191 * _tmp232 + _tmp192 * _tmp233 - _tmp195 * _tmp227 -
-               _tmp196 * _tmp235 - _tmp218 * _tmp229 + _tmp241;
-  _res(4, 5) = _tmp200 * _tmp240 + _tmp206 * _tmp239 + _tmp217 * _tmp227 + _tmp220 * _tmp232 -
-               _tmp221 * _tmp230 - _tmp222 * _tmp228 + _tmp223 * _tmp231 - _tmp224 * _tmp235 +
-               _tmp225 * _tmp233 + _tmp242;
-  _res(5, 5) = std::pow(_tmp227, Scalar(2)) * d_vel_var(1, 0) - _tmp228 * _tmp245 +
-               std::pow(_tmp229, Scalar(2)) * d_vel_var(0, 0) - _tmp230 * _tmp244 +
-               _tmp231 * (P(0, 2) * _tmp233 + P(1, 2) * _tmp232 - P(12, 2) * _tmp230 -
-                          P(13, 2) * _tmp228 - P(14, 2) * _tmp235 + P(2, 2) * _tmp231 + P(5, 2)) +
-               _tmp232 * (P(0, 1) * _tmp233 + P(1, 1) * _tmp232 - P(12, 1) * _tmp230 -
-                          P(13, 1) * _tmp228 - P(14, 1) * _tmp235 + P(2, 1) * _tmp231 + P(5, 1)) +
-               _tmp233 * (P(0, 0) * _tmp233 + P(1, 0) * _tmp232 - P(12, 0) * _tmp230 -
-                          P(13, 0) * _tmp228 - P(14, 0) * _tmp235 + P(2, 0) * _tmp231 + P(5, 0)) +
-               std::pow(_tmp234, Scalar(2)) * d_vel_var(2, 0) - _tmp235 * _tmp243 + _tmp246;
+  _res(0, 5) = _tmp11 * _tmp115 - _tmp117 * _tmp66 - _tmp119 * _tmp64 + _tmp120 * _tmp6 +
+               _tmp122 * _tmp7 - _tmp123 * _tmp46 + _tmp124;
+  _res(1, 5) = _tmp115 * _tmp18 - _tmp117 * _tmp70 - _tmp119 * _tmp69 + _tmp120 * _tmp19 +
+               _tmp122 * _tmp20 - _tmp123 * _tmp71 + _tmp125;
+  _res(2, 5) = -_tmp103 * _tmp118 + _tmp115 * _tmp27 - _tmp117 * _tmp73 + _tmp120 * _tmp28 +
+               _tmp122 * _tmp26 - _tmp123 * _tmp75 + _tmp126;
+  _res(3, 5) = _tmp115 * _tmp80 + _tmp116 * _tmp61 * _tmp84 - _tmp117 * _tmp78 - _tmp119 * _tmp79 +
+               _tmp120 * _tmp82 + _tmp121 * _tmp49 * _tmp81 + _tmp122 * _tmp77 - _tmp123 * _tmp85 +
+               _tmp127 * _tmp34 + _tmp128;
+  _res(4, 5) = _tmp105 * _tmp121 + _tmp106 * _tmp116 - _tmp108 * _tmp117 + _tmp109 * _tmp115 -
+               _tmp110 * _tmp119 - _tmp111 * _tmp123 + _tmp112 * _tmp122 + _tmp113 * _tmp120 +
+               _tmp127 * _tmp94 + _tmp129;
+  _res(5, 5) = _tmp115 * (P(0, 0) * _tmp115 + P(1, 0) * _tmp122 - P(12, 0) * _tmp123 -
+                          P(13, 0) * _tmp119 - P(14, 0) * _tmp117 + P(2, 0) * _tmp120 + P(5, 0)) +
+               std::pow(_tmp116, Scalar(2)) * _tmp84 - _tmp117 * _tmp131 +
+               std::pow(_tmp118, Scalar(2)) * _tmp83 - _tmp119 * _tmp130 +
+               _tmp120 * (P(0, 2) * _tmp115 + P(1, 2) * _tmp122 - P(12, 2) * _tmp123 -
+                          P(13, 2) * _tmp119 - P(14, 2) * _tmp117 + P(2, 2) * _tmp120 + P(5, 2)) +
+               std::pow(_tmp121, Scalar(2)) * _tmp81 +
+               _tmp122 * (P(0, 1) * _tmp115 + P(1, 1) * _tmp122 - P(12, 1) * _tmp123 -
+                          P(13, 1) * _tmp119 - P(14, 1) * _tmp117 + P(2, 1) * _tmp120 + P(5, 1)) -
+               _tmp123 * _tmp132 + _tmp133;
   _res(6, 5) = 0;
   _res(7, 5) = 0;
   _res(8, 5) = 0;
@@ -532,23 +367,20 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 5) = 0;
   _res(21, 5) = 0;
   _res(22, 5) = 0;
-  _res(0, 6) = P(0, 6) * _tmp63 + P(1, 6) * _tmp49 + P(10, 6) * _tmp82 + P(11, 6) * _tmp73 +
-               P(2, 6) * _tmp58 + P(9, 6) * _tmp19 + _tmp181 * d_vel_dt;
-  _res(1, 6) = P(0, 6) * _tmp105 + P(1, 6) * _tmp102 + P(10, 6) * _tmp19 + P(11, 6) * _tmp110 +
-               P(2, 6) * _tmp103 + P(9, 6) * _tmp101 + _tmp185 * d_vel_dt;
-  _res(2, 6) = P(0, 6) * _tmp124 + P(1, 6) * _tmp123 + P(10, 6) * _tmp125 + P(11, 6) * _tmp19 +
-               P(2, 6) * _tmp122 + P(9, 6) * _tmp121 + _tmp189 * d_vel_dt;
-  _res(3, 6) = P(0, 6) * _tmp154 + P(1, 6) * _tmp169 - P(12, 6) * _tmp180 - P(13, 6) * _tmp138 -
-               P(14, 6) * _tmp144 + P(2, 6) * _tmp175 + P(3, 6) + _tmp197 * d_vel_dt;
-  _res(4, 6) = P(0, 6) * _tmp205 + P(1, 6) * _tmp210 - P(12, 6) * _tmp207 - P(13, 6) * _tmp213 -
-               P(14, 6) * _tmp201 + P(2, 6) * _tmp208 + P(4, 6) +
-               d_vel_dt * (P(0, 3) * _tmp205 + P(1, 3) * _tmp210 - P(12, 3) * _tmp207 -
-                           P(13, 3) * _tmp213 - P(14, 3) * _tmp201 + P(2, 3) * _tmp208 + P(4, 3));
-  _res(5, 6) = P(0, 6) * _tmp233 + P(1, 6) * _tmp232 - P(12, 6) * _tmp230 - P(13, 6) * _tmp228 -
-               P(14, 6) * _tmp235 + P(2, 6) * _tmp231 + P(5, 6) +
-               d_vel_dt * (P(0, 3) * _tmp233 + P(1, 3) * _tmp232 - P(12, 3) * _tmp230 -
-                           P(13, 3) * _tmp228 - P(14, 3) * _tmp235 + P(2, 3) * _tmp231 + P(5, 3));
-  _res(6, 6) = P(3, 6) * d_vel_dt + P(6, 6) + d_vel_dt * (P(3, 3) * d_vel_dt + P(6, 3));
+  _res(0, 6) = P(0, 6) + P(1, 6) * _tmp5 + P(2, 6) * _tmp2 - P(9, 6) * dt + _tmp68 * dt;
+  _res(1, 6) = P(0, 6) * _tmp13 + P(1, 6) - P(10, 6) * dt + P(2, 6) * _tmp16 + _tmp72 * dt;
+  _res(2, 6) = P(0, 6) * _tmp22 + P(1, 6) * _tmp23 - P(11, 6) * dt + P(2, 6) + _tmp76 * dt;
+  _res(3, 6) = P(0, 6) * _tmp63 + P(1, 6) * _tmp60 - P(12, 6) * _tmp50 - P(13, 6) * _tmp65 -
+               P(14, 6) * _tmp67 + P(2, 6) * _tmp45 + P(3, 6) + _tmp86 * dt;
+  _res(4, 6) = P(0, 6) * _tmp91 + P(1, 6) * _tmp99 - P(12, 6) * _tmp100 - P(13, 6) * _tmp95 -
+               P(14, 6) * _tmp96 + P(2, 6) * _tmp92 + P(4, 6) +
+               dt * (P(0, 3) * _tmp91 + P(1, 3) * _tmp99 - P(12, 3) * _tmp100 - P(13, 3) * _tmp95 -
+                     P(14, 3) * _tmp96 + P(2, 3) * _tmp92 + P(4, 3));
+  _res(5, 6) = P(0, 6) * _tmp115 + P(1, 6) * _tmp122 - P(12, 6) * _tmp123 - P(13, 6) * _tmp119 -
+               P(14, 6) * _tmp117 + P(2, 6) * _tmp120 + P(5, 6) +
+               dt * (P(0, 3) * _tmp115 + P(1, 3) * _tmp122 - P(12, 3) * _tmp123 -
+                     P(13, 3) * _tmp119 - P(14, 3) * _tmp117 + P(2, 3) * _tmp120 + P(5, 3));
+  _res(6, 6) = P(3, 6) * dt + P(6, 6) + dt * (P(3, 3) * dt + P(6, 3));
   _res(7, 6) = 0;
   _res(8, 6) = 0;
   _res(9, 6) = 0;
@@ -565,22 +397,19 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 6) = 0;
   _res(21, 6) = 0;
   _res(22, 6) = 0;
-  _res(0, 7) = P(0, 7) * _tmp63 + P(1, 7) * _tmp49 + P(10, 7) * _tmp82 + P(11, 7) * _tmp73 +
-               P(2, 7) * _tmp58 + P(9, 7) * _tmp19 + _tmp214 * d_vel_dt;
-  _res(1, 7) = P(0, 7) * _tmp105 + P(1, 7) * _tmp102 + P(10, 7) * _tmp19 + P(11, 7) * _tmp110 +
-               P(2, 7) * _tmp103 + P(9, 7) * _tmp101 + _tmp215 * d_vel_dt;
-  _res(2, 7) = P(0, 7) * _tmp124 + P(1, 7) * _tmp123 + P(10, 7) * _tmp125 + P(11, 7) * _tmp19 +
-               P(2, 7) * _tmp122 + P(9, 7) * _tmp121 + _tmp216 * d_vel_dt;
-  _res(3, 7) = P(0, 7) * _tmp154 + P(1, 7) * _tmp169 - P(12, 7) * _tmp180 - P(13, 7) * _tmp138 -
-               P(14, 7) * _tmp144 + P(2, 7) * _tmp175 + P(3, 7) + _tmp219 * d_vel_dt;
-  _res(4, 7) = P(0, 7) * _tmp205 + P(1, 7) * _tmp210 - P(12, 7) * _tmp207 - P(13, 7) * _tmp213 -
-               P(14, 7) * _tmp201 + P(2, 7) * _tmp208 + P(4, 7) + _tmp226 * d_vel_dt;
-  _res(5, 7) = P(0, 7) * _tmp233 + P(1, 7) * _tmp232 - P(12, 7) * _tmp230 - P(13, 7) * _tmp228 -
-               P(14, 7) * _tmp235 + P(2, 7) * _tmp231 + P(5, 7) +
-               d_vel_dt * (P(0, 4) * _tmp233 + P(1, 4) * _tmp232 - P(12, 4) * _tmp230 -
-                           P(13, 4) * _tmp228 - P(14, 4) * _tmp235 + P(2, 4) * _tmp231 + P(5, 4));
-  _res(6, 7) = P(3, 7) * d_vel_dt + P(6, 7) + d_vel_dt * (P(3, 4) * d_vel_dt + P(6, 4));
-  _res(7, 7) = P(4, 7) * d_vel_dt + P(7, 7) + d_vel_dt * (P(4, 4) * d_vel_dt + P(7, 4));
+  _res(0, 7) = P(0, 7) + P(1, 7) * _tmp5 + P(2, 7) * _tmp2 - P(9, 7) * dt + _tmp101 * dt;
+  _res(1, 7) = P(0, 7) * _tmp13 + P(1, 7) - P(10, 7) * dt + P(2, 7) * _tmp16 + _tmp102 * dt;
+  _res(2, 7) = P(0, 7) * _tmp22 + P(1, 7) * _tmp23 - P(11, 7) * dt + P(2, 7) + _tmp104 * dt;
+  _res(3, 7) = P(0, 7) * _tmp63 + P(1, 7) * _tmp60 - P(12, 7) * _tmp50 - P(13, 7) * _tmp65 -
+               P(14, 7) * _tmp67 + P(2, 7) * _tmp45 + P(3, 7) + _tmp107 * dt;
+  _res(4, 7) = P(0, 7) * _tmp91 + P(1, 7) * _tmp99 - P(12, 7) * _tmp100 - P(13, 7) * _tmp95 -
+               P(14, 7) * _tmp96 + P(2, 7) * _tmp92 + P(4, 7) + _tmp114 * dt;
+  _res(5, 7) = P(0, 7) * _tmp115 + P(1, 7) * _tmp122 - P(12, 7) * _tmp123 - P(13, 7) * _tmp119 -
+               P(14, 7) * _tmp117 + P(2, 7) * _tmp120 + P(5, 7) +
+               dt * (P(0, 4) * _tmp115 + P(1, 4) * _tmp122 - P(12, 4) * _tmp123 -
+                     P(13, 4) * _tmp119 - P(14, 4) * _tmp117 + P(2, 4) * _tmp120 + P(5, 4));
+  _res(6, 7) = P(3, 7) * dt + P(6, 7) + dt * (P(3, 4) * dt + P(6, 4));
+  _res(7, 7) = P(4, 7) * dt + P(7, 7) + dt * (P(4, 4) * dt + P(7, 4));
   _res(8, 7) = 0;
   _res(9, 7) = 0;
   _res(10, 7) = 0;
@@ -596,21 +425,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 7) = 0;
   _res(21, 7) = 0;
   _res(22, 7) = 0;
-  _res(0, 8) = P(0, 8) * _tmp63 + P(1, 8) * _tmp49 + P(10, 8) * _tmp82 + P(11, 8) * _tmp73 +
-               P(2, 8) * _tmp58 + P(9, 8) * _tmp19 + _tmp236 * d_vel_dt;
-  _res(1, 8) = P(0, 8) * _tmp105 + P(1, 8) * _tmp102 + P(10, 8) * _tmp19 + P(11, 8) * _tmp110 +
-               P(2, 8) * _tmp103 + P(9, 8) * _tmp101 + _tmp237 * d_vel_dt;
-  _res(2, 8) = P(0, 8) * _tmp124 + P(1, 8) * _tmp123 + P(10, 8) * _tmp125 + P(11, 8) * _tmp19 +
-               P(2, 8) * _tmp122 + P(9, 8) * _tmp121 + _tmp238 * d_vel_dt;
-  _res(3, 8) = P(0, 8) * _tmp154 + P(1, 8) * _tmp169 - P(12, 8) * _tmp180 - P(13, 8) * _tmp138 -
-               P(14, 8) * _tmp144 + P(2, 8) * _tmp175 + P(3, 8) + _tmp241 * d_vel_dt;
-  _res(4, 8) = P(0, 8) * _tmp205 + P(1, 8) * _tmp210 - P(12, 8) * _tmp207 - P(13, 8) * _tmp213 -
-               P(14, 8) * _tmp201 + P(2, 8) * _tmp208 + P(4, 8) + _tmp242 * d_vel_dt;
-  _res(5, 8) = P(0, 8) * _tmp233 + P(1, 8) * _tmp232 - P(12, 8) * _tmp230 - P(13, 8) * _tmp228 -
-               P(14, 8) * _tmp235 + P(2, 8) * _tmp231 + P(5, 8) + _tmp246 * d_vel_dt;
-  _res(6, 8) = P(3, 8) * d_vel_dt + P(6, 8) + d_vel_dt * (P(3, 5) * d_vel_dt + P(6, 5));
-  _res(7, 8) = P(4, 8) * d_vel_dt + P(7, 8) + d_vel_dt * (P(4, 5) * d_vel_dt + P(7, 5));
-  _res(8, 8) = P(5, 8) * d_vel_dt + P(8, 8) + d_vel_dt * (P(5, 5) * d_vel_dt + P(8, 5));
+  _res(0, 8) = P(0, 8) + P(1, 8) * _tmp5 + P(2, 8) * _tmp2 - P(9, 8) * dt + _tmp124 * dt;
+  _res(1, 8) = P(0, 8) * _tmp13 + P(1, 8) - P(10, 8) * dt + P(2, 8) * _tmp16 + _tmp125 * dt;
+  _res(2, 8) = P(0, 8) * _tmp22 + P(1, 8) * _tmp23 - P(11, 8) * dt + P(2, 8) + _tmp126 * dt;
+  _res(3, 8) = P(0, 8) * _tmp63 + P(1, 8) * _tmp60 - P(12, 8) * _tmp50 - P(13, 8) * _tmp65 -
+               P(14, 8) * _tmp67 + P(2, 8) * _tmp45 + P(3, 8) + _tmp128 * dt;
+  _res(4, 8) = P(0, 8) * _tmp91 + P(1, 8) * _tmp99 - P(12, 8) * _tmp100 - P(13, 8) * _tmp95 -
+               P(14, 8) * _tmp96 + P(2, 8) * _tmp92 + P(4, 8) + _tmp129 * dt;
+  _res(5, 8) = P(0, 8) * _tmp115 + P(1, 8) * _tmp122 - P(12, 8) * _tmp123 - P(13, 8) * _tmp119 -
+               P(14, 8) * _tmp117 + P(2, 8) * _tmp120 + P(5, 8) + _tmp133 * dt;
+  _res(6, 8) = P(3, 8) * dt + P(6, 8) + dt * (P(3, 5) * dt + P(6, 5));
+  _res(7, 8) = P(4, 8) * dt + P(7, 8) + dt * (P(4, 5) * dt + P(7, 5));
+  _res(8, 8) = P(5, 8) * dt + P(8, 8) + dt * (P(5, 5) * dt + P(8, 5));
   _res(9, 8) = 0;
   _res(10, 8) = 0;
   _res(11, 8) = 0;
@@ -625,18 +451,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 8) = 0;
   _res(21, 8) = 0;
   _res(22, 8) = 0;
-  _res(0, 9) = _tmp83;
-  _res(1, 9) = _tmp111;
-  _res(2, 9) = _tmp127;
-  _res(3, 9) = P(0, 9) * _tmp154 + P(1, 9) * _tmp169 - P(12, 9) * _tmp180 - P(13, 9) * _tmp138 -
-               P(14, 9) * _tmp144 + P(2, 9) * _tmp175 + P(3, 9);
-  _res(4, 9) = P(0, 9) * _tmp205 + P(1, 9) * _tmp210 - P(12, 9) * _tmp207 - P(13, 9) * _tmp213 -
-               P(14, 9) * _tmp201 + P(2, 9) * _tmp208 + P(4, 9);
-  _res(5, 9) = P(0, 9) * _tmp233 + P(1, 9) * _tmp232 - P(12, 9) * _tmp230 - P(13, 9) * _tmp228 -
-               P(14, 9) * _tmp235 + P(2, 9) * _tmp231 + P(5, 9);
-  _res(6, 9) = P(3, 9) * d_vel_dt + P(6, 9);
-  _res(7, 9) = P(4, 9) * d_vel_dt + P(7, 9);
-  _res(8, 9) = P(5, 9) * d_vel_dt + P(8, 9);
+  _res(0, 9) = _tmp8;
+  _res(1, 9) = P(0, 9) * _tmp13 + P(1, 9) - P(10, 9) * dt + P(2, 9) * _tmp16;
+  _res(2, 9) = P(0, 9) * _tmp22 + P(1, 9) * _tmp23 - P(11, 9) * dt + P(2, 9);
+  _res(3, 9) = P(0, 9) * _tmp63 + P(1, 9) * _tmp60 - P(12, 9) * _tmp50 - P(13, 9) * _tmp65 -
+               P(14, 9) * _tmp67 + P(2, 9) * _tmp45 + P(3, 9);
+  _res(4, 9) = P(0, 9) * _tmp91 + P(1, 9) * _tmp99 - P(12, 9) * _tmp100 - P(13, 9) * _tmp95 -
+               P(14, 9) * _tmp96 + P(2, 9) * _tmp92 + P(4, 9);
+  _res(5, 9) = P(0, 9) * _tmp115 + P(1, 9) * _tmp122 - P(12, 9) * _tmp123 - P(13, 9) * _tmp119 -
+               P(14, 9) * _tmp117 + P(2, 9) * _tmp120 + P(5, 9);
+  _res(6, 9) = P(3, 9) * dt + P(6, 9);
+  _res(7, 9) = P(4, 9) * dt + P(7, 9);
+  _res(8, 9) = P(5, 9) * dt + P(8, 9);
   _res(9, 9) = P(9, 9);
   _res(10, 9) = 0;
   _res(11, 9) = 0;
@@ -651,18 +477,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 9) = 0;
   _res(21, 9) = 0;
   _res(22, 9) = 0;
-  _res(0, 10) = _tmp92;
-  _res(1, 10) = _tmp115;
-  _res(2, 10) = _tmp129;
-  _res(3, 10) = P(0, 10) * _tmp154 + P(1, 10) * _tmp169 - P(12, 10) * _tmp180 -
-                P(13, 10) * _tmp138 - P(14, 10) * _tmp144 + P(2, 10) * _tmp175 + P(3, 10);
-  _res(4, 10) = P(0, 10) * _tmp205 + P(1, 10) * _tmp210 - P(12, 10) * _tmp207 -
-                P(13, 10) * _tmp213 - P(14, 10) * _tmp201 + P(2, 10) * _tmp208 + P(4, 10);
-  _res(5, 10) = P(0, 10) * _tmp233 + P(1, 10) * _tmp232 - P(12, 10) * _tmp230 -
-                P(13, 10) * _tmp228 - P(14, 10) * _tmp235 + P(2, 10) * _tmp231 + P(5, 10);
-  _res(6, 10) = P(3, 10) * d_vel_dt + P(6, 10);
-  _res(7, 10) = P(4, 10) * d_vel_dt + P(7, 10);
-  _res(8, 10) = P(5, 10) * d_vel_dt + P(8, 10);
+  _res(0, 10) = _tmp12;
+  _res(1, 10) = _tmp17;
+  _res(2, 10) = P(0, 10) * _tmp22 + P(1, 10) * _tmp23 - P(11, 10) * dt + P(2, 10);
+  _res(3, 10) = P(0, 10) * _tmp63 + P(1, 10) * _tmp60 - P(12, 10) * _tmp50 - P(13, 10) * _tmp65 -
+                P(14, 10) * _tmp67 + P(2, 10) * _tmp45 + P(3, 10);
+  _res(4, 10) = P(0, 10) * _tmp91 + P(1, 10) * _tmp99 - P(12, 10) * _tmp100 - P(13, 10) * _tmp95 -
+                P(14, 10) * _tmp96 + P(2, 10) * _tmp92 + P(4, 10);
+  _res(5, 10) = P(0, 10) * _tmp115 + P(1, 10) * _tmp122 - P(12, 10) * _tmp123 -
+                P(13, 10) * _tmp119 - P(14, 10) * _tmp117 + P(2, 10) * _tmp120 + P(5, 10);
+  _res(6, 10) = P(3, 10) * dt + P(6, 10);
+  _res(7, 10) = P(4, 10) * dt + P(7, 10);
+  _res(8, 10) = P(5, 10) * dt + P(8, 10);
   _res(9, 10) = P(9, 10);
   _res(10, 10) = P(10, 10);
   _res(11, 10) = 0;
@@ -677,18 +503,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 10) = 0;
   _res(21, 10) = 0;
   _res(22, 10) = 0;
-  _res(0, 11) = _tmp91;
-  _res(1, 11) = _tmp116;
-  _res(2, 11) = _tmp128;
-  _res(3, 11) = P(0, 11) * _tmp154 + P(1, 11) * _tmp169 - P(12, 11) * _tmp180 -
-                P(13, 11) * _tmp138 - P(14, 11) * _tmp144 + P(2, 11) * _tmp175 + P(3, 11);
-  _res(4, 11) = P(0, 11) * _tmp205 + P(1, 11) * _tmp210 - P(12, 11) * _tmp207 -
-                P(13, 11) * _tmp213 - P(14, 11) * _tmp201 + P(2, 11) * _tmp208 + P(4, 11);
-  _res(5, 11) = P(0, 11) * _tmp233 + P(1, 11) * _tmp232 - P(12, 11) * _tmp230 -
-                P(13, 11) * _tmp228 - P(14, 11) * _tmp235 + P(2, 11) * _tmp231 + P(5, 11);
-  _res(6, 11) = P(3, 11) * d_vel_dt + P(6, 11);
-  _res(7, 11) = P(4, 11) * d_vel_dt + P(7, 11);
-  _res(8, 11) = P(5, 11) * d_vel_dt + P(8, 11);
+  _res(0, 11) = _tmp21;
+  _res(1, 11) = _tmp24;
+  _res(2, 11) = _tmp25;
+  _res(3, 11) = P(0, 11) * _tmp63 + P(1, 11) * _tmp60 - P(12, 11) * _tmp50 - P(13, 11) * _tmp65 -
+                P(14, 11) * _tmp67 + P(2, 11) * _tmp45 + P(3, 11);
+  _res(4, 11) = P(0, 11) * _tmp91 + P(1, 11) * _tmp99 - P(12, 11) * _tmp100 - P(13, 11) * _tmp95 -
+                P(14, 11) * _tmp96 + P(2, 11) * _tmp92 + P(4, 11);
+  _res(5, 11) = P(0, 11) * _tmp115 + P(1, 11) * _tmp122 - P(12, 11) * _tmp123 -
+                P(13, 11) * _tmp119 - P(14, 11) * _tmp117 + P(2, 11) * _tmp120 + P(5, 11);
+  _res(6, 11) = P(3, 11) * dt + P(6, 11);
+  _res(7, 11) = P(4, 11) * dt + P(7, 11);
+  _res(8, 11) = P(5, 11) * dt + P(8, 11);
   _res(9, 11) = P(9, 11);
   _res(10, 11) = P(10, 11);
   _res(11, 11) = P(11, 11);
@@ -703,15 +529,15 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 11) = 0;
   _res(21, 11) = 0;
   _res(22, 11) = 0;
-  _res(0, 12) = _tmp176;
-  _res(1, 12) = _tmp182;
-  _res(2, 12) = _tmp188;
-  _res(3, 12) = _tmp193;
-  _res(4, 12) = _tmp221;
-  _res(5, 12) = _tmp244;
-  _res(6, 12) = P(3, 12) * d_vel_dt + P(6, 12);
-  _res(7, 12) = P(4, 12) * d_vel_dt + P(7, 12);
-  _res(8, 12) = P(5, 12) * d_vel_dt + P(8, 12);
+  _res(0, 12) = _tmp46;
+  _res(1, 12) = _tmp71;
+  _res(2, 12) = _tmp75;
+  _res(3, 12) = _tmp85;
+  _res(4, 12) = _tmp111;
+  _res(5, 12) = _tmp132;
+  _res(6, 12) = P(3, 12) * dt + P(6, 12);
+  _res(7, 12) = P(4, 12) * dt + P(7, 12);
+  _res(8, 12) = P(5, 12) * dt + P(8, 12);
   _res(9, 12) = P(9, 12);
   _res(10, 12) = P(10, 12);
   _res(11, 12) = P(11, 12);
@@ -726,15 +552,15 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 12) = 0;
   _res(21, 12) = 0;
   _res(22, 12) = 0;
-  _res(0, 13) = _tmp132;
-  _res(1, 13) = _tmp184;
-  _res(2, 13) = _tmp187;
-  _res(3, 13) = _tmp194;
-  _res(4, 13) = _tmp222;
-  _res(5, 13) = _tmp245;
-  _res(6, 13) = P(3, 13) * d_vel_dt + P(6, 13);
-  _res(7, 13) = P(4, 13) * d_vel_dt + P(7, 13);
-  _res(8, 13) = P(5, 13) * d_vel_dt + P(8, 13);
+  _res(0, 13) = _tmp64;
+  _res(1, 13) = _tmp69;
+  _res(2, 13) = _tmp74;
+  _res(3, 13) = _tmp79;
+  _res(4, 13) = _tmp110;
+  _res(5, 13) = _tmp130;
+  _res(6, 13) = P(3, 13) * dt + P(6, 13);
+  _res(7, 13) = P(4, 13) * dt + P(7, 13);
+  _res(8, 13) = P(5, 13) * dt + P(8, 13);
   _res(9, 13) = P(9, 13);
   _res(10, 13) = P(10, 13);
   _res(11, 13) = P(11, 13);
@@ -749,15 +575,15 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 13) = 0;
   _res(21, 13) = 0;
   _res(22, 13) = 0;
-  _res(0, 14) = _tmp139;
-  _res(1, 14) = _tmp183;
-  _res(2, 14) = _tmp186;
-  _res(3, 14) = _tmp196;
-  _res(4, 14) = _tmp224;
-  _res(5, 14) = _tmp243;
-  _res(6, 14) = P(3, 14) * d_vel_dt + P(6, 14);
-  _res(7, 14) = P(4, 14) * d_vel_dt + P(7, 14);
-  _res(8, 14) = P(5, 14) * d_vel_dt + P(8, 14);
+  _res(0, 14) = _tmp66;
+  _res(1, 14) = _tmp70;
+  _res(2, 14) = _tmp73;
+  _res(3, 14) = _tmp78;
+  _res(4, 14) = _tmp108;
+  _res(5, 14) = _tmp131;
+  _res(6, 14) = P(3, 14) * dt + P(6, 14);
+  _res(7, 14) = P(4, 14) * dt + P(7, 14);
+  _res(8, 14) = P(5, 14) * dt + P(8, 14);
   _res(9, 14) = P(9, 14);
   _res(10, 14) = P(10, 14);
   _res(11, 14) = P(11, 14);
@@ -772,21 +598,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 14) = 0;
   _res(21, 14) = 0;
   _res(22, 14) = 0;
-  _res(0, 15) = P(0, 15) * _tmp63 + P(1, 15) * _tmp49 + P(10, 15) * _tmp82 + P(11, 15) * _tmp73 +
-                P(2, 15) * _tmp58 + P(9, 15) * _tmp19;
-  _res(1, 15) = P(0, 15) * _tmp105 + P(1, 15) * _tmp102 + P(10, 15) * _tmp19 + P(11, 15) * _tmp110 +
-                P(2, 15) * _tmp103 + P(9, 15) * _tmp101;
-  _res(2, 15) = P(0, 15) * _tmp124 + P(1, 15) * _tmp123 + P(10, 15) * _tmp125 + P(11, 15) * _tmp19 +
-                P(2, 15) * _tmp122 + P(9, 15) * _tmp121;
-  _res(3, 15) = P(0, 15) * _tmp154 + P(1, 15) * _tmp169 - P(12, 15) * _tmp180 -
-                P(13, 15) * _tmp138 - P(14, 15) * _tmp144 + P(2, 15) * _tmp175 + P(3, 15);
-  _res(4, 15) = P(0, 15) * _tmp205 + P(1, 15) * _tmp210 - P(12, 15) * _tmp207 -
-                P(13, 15) * _tmp213 - P(14, 15) * _tmp201 + P(2, 15) * _tmp208 + P(4, 15);
-  _res(5, 15) = P(0, 15) * _tmp233 + P(1, 15) * _tmp232 - P(12, 15) * _tmp230 -
-                P(13, 15) * _tmp228 - P(14, 15) * _tmp235 + P(2, 15) * _tmp231 + P(5, 15);
-  _res(6, 15) = P(3, 15) * d_vel_dt + P(6, 15);
-  _res(7, 15) = P(4, 15) * d_vel_dt + P(7, 15);
-  _res(8, 15) = P(5, 15) * d_vel_dt + P(8, 15);
+  _res(0, 15) = P(0, 15) + P(1, 15) * _tmp5 + P(2, 15) * _tmp2 - P(9, 15) * dt;
+  _res(1, 15) = P(0, 15) * _tmp13 + P(1, 15) - P(10, 15) * dt + P(2, 15) * _tmp16;
+  _res(2, 15) = P(0, 15) * _tmp22 + P(1, 15) * _tmp23 - P(11, 15) * dt + P(2, 15);
+  _res(3, 15) = P(0, 15) * _tmp63 + P(1, 15) * _tmp60 - P(12, 15) * _tmp50 - P(13, 15) * _tmp65 -
+                P(14, 15) * _tmp67 + P(2, 15) * _tmp45 + P(3, 15);
+  _res(4, 15) = P(0, 15) * _tmp91 + P(1, 15) * _tmp99 - P(12, 15) * _tmp100 - P(13, 15) * _tmp95 -
+                P(14, 15) * _tmp96 + P(2, 15) * _tmp92 + P(4, 15);
+  _res(5, 15) = P(0, 15) * _tmp115 + P(1, 15) * _tmp122 - P(12, 15) * _tmp123 -
+                P(13, 15) * _tmp119 - P(14, 15) * _tmp117 + P(2, 15) * _tmp120 + P(5, 15);
+  _res(6, 15) = P(3, 15) * dt + P(6, 15);
+  _res(7, 15) = P(4, 15) * dt + P(7, 15);
+  _res(8, 15) = P(5, 15) * dt + P(8, 15);
   _res(9, 15) = P(9, 15);
   _res(10, 15) = P(10, 15);
   _res(11, 15) = P(11, 15);
@@ -801,21 +624,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 15) = 0;
   _res(21, 15) = 0;
   _res(22, 15) = 0;
-  _res(0, 16) = P(0, 16) * _tmp63 + P(1, 16) * _tmp49 + P(10, 16) * _tmp82 + P(11, 16) * _tmp73 +
-                P(2, 16) * _tmp58 + P(9, 16) * _tmp19;
-  _res(1, 16) = P(0, 16) * _tmp105 + P(1, 16) * _tmp102 + P(10, 16) * _tmp19 + P(11, 16) * _tmp110 +
-                P(2, 16) * _tmp103 + P(9, 16) * _tmp101;
-  _res(2, 16) = P(0, 16) * _tmp124 + P(1, 16) * _tmp123 + P(10, 16) * _tmp125 + P(11, 16) * _tmp19 +
-                P(2, 16) * _tmp122 + P(9, 16) * _tmp121;
-  _res(3, 16) = P(0, 16) * _tmp154 + P(1, 16) * _tmp169 - P(12, 16) * _tmp180 -
-                P(13, 16) * _tmp138 - P(14, 16) * _tmp144 + P(2, 16) * _tmp175 + P(3, 16);
-  _res(4, 16) = P(0, 16) * _tmp205 + P(1, 16) * _tmp210 - P(12, 16) * _tmp207 -
-                P(13, 16) * _tmp213 - P(14, 16) * _tmp201 + P(2, 16) * _tmp208 + P(4, 16);
-  _res(5, 16) = P(0, 16) * _tmp233 + P(1, 16) * _tmp232 - P(12, 16) * _tmp230 -
-                P(13, 16) * _tmp228 - P(14, 16) * _tmp235 + P(2, 16) * _tmp231 + P(5, 16);
-  _res(6, 16) = P(3, 16) * d_vel_dt + P(6, 16);
-  _res(7, 16) = P(4, 16) * d_vel_dt + P(7, 16);
-  _res(8, 16) = P(5, 16) * d_vel_dt + P(8, 16);
+  _res(0, 16) = P(0, 16) + P(1, 16) * _tmp5 + P(2, 16) * _tmp2 - P(9, 16) * dt;
+  _res(1, 16) = P(0, 16) * _tmp13 + P(1, 16) - P(10, 16) * dt + P(2, 16) * _tmp16;
+  _res(2, 16) = P(0, 16) * _tmp22 + P(1, 16) * _tmp23 - P(11, 16) * dt + P(2, 16);
+  _res(3, 16) = P(0, 16) * _tmp63 + P(1, 16) * _tmp60 - P(12, 16) * _tmp50 - P(13, 16) * _tmp65 -
+                P(14, 16) * _tmp67 + P(2, 16) * _tmp45 + P(3, 16);
+  _res(4, 16) = P(0, 16) * _tmp91 + P(1, 16) * _tmp99 - P(12, 16) * _tmp100 - P(13, 16) * _tmp95 -
+                P(14, 16) * _tmp96 + P(2, 16) * _tmp92 + P(4, 16);
+  _res(5, 16) = P(0, 16) * _tmp115 + P(1, 16) * _tmp122 - P(12, 16) * _tmp123 -
+                P(13, 16) * _tmp119 - P(14, 16) * _tmp117 + P(2, 16) * _tmp120 + P(5, 16);
+  _res(6, 16) = P(3, 16) * dt + P(6, 16);
+  _res(7, 16) = P(4, 16) * dt + P(7, 16);
+  _res(8, 16) = P(5, 16) * dt + P(8, 16);
   _res(9, 16) = P(9, 16);
   _res(10, 16) = P(10, 16);
   _res(11, 16) = P(11, 16);
@@ -830,21 +650,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 16) = 0;
   _res(21, 16) = 0;
   _res(22, 16) = 0;
-  _res(0, 17) = P(0, 17) * _tmp63 + P(1, 17) * _tmp49 + P(10, 17) * _tmp82 + P(11, 17) * _tmp73 +
-                P(2, 17) * _tmp58 + P(9, 17) * _tmp19;
-  _res(1, 17) = P(0, 17) * _tmp105 + P(1, 17) * _tmp102 + P(10, 17) * _tmp19 + P(11, 17) * _tmp110 +
-                P(2, 17) * _tmp103 + P(9, 17) * _tmp101;
-  _res(2, 17) = P(0, 17) * _tmp124 + P(1, 17) * _tmp123 + P(10, 17) * _tmp125 + P(11, 17) * _tmp19 +
-                P(2, 17) * _tmp122 + P(9, 17) * _tmp121;
-  _res(3, 17) = P(0, 17) * _tmp154 + P(1, 17) * _tmp169 - P(12, 17) * _tmp180 -
-                P(13, 17) * _tmp138 - P(14, 17) * _tmp144 + P(2, 17) * _tmp175 + P(3, 17);
-  _res(4, 17) = P(0, 17) * _tmp205 + P(1, 17) * _tmp210 - P(12, 17) * _tmp207 -
-                P(13, 17) * _tmp213 - P(14, 17) * _tmp201 + P(2, 17) * _tmp208 + P(4, 17);
-  _res(5, 17) = P(0, 17) * _tmp233 + P(1, 17) * _tmp232 - P(12, 17) * _tmp230 -
-                P(13, 17) * _tmp228 - P(14, 17) * _tmp235 + P(2, 17) * _tmp231 + P(5, 17);
-  _res(6, 17) = P(3, 17) * d_vel_dt + P(6, 17);
-  _res(7, 17) = P(4, 17) * d_vel_dt + P(7, 17);
-  _res(8, 17) = P(5, 17) * d_vel_dt + P(8, 17);
+  _res(0, 17) = P(0, 17) + P(1, 17) * _tmp5 + P(2, 17) * _tmp2 - P(9, 17) * dt;
+  _res(1, 17) = P(0, 17) * _tmp13 + P(1, 17) - P(10, 17) * dt + P(2, 17) * _tmp16;
+  _res(2, 17) = P(0, 17) * _tmp22 + P(1, 17) * _tmp23 - P(11, 17) * dt + P(2, 17);
+  _res(3, 17) = P(0, 17) * _tmp63 + P(1, 17) * _tmp60 - P(12, 17) * _tmp50 - P(13, 17) * _tmp65 -
+                P(14, 17) * _tmp67 + P(2, 17) * _tmp45 + P(3, 17);
+  _res(4, 17) = P(0, 17) * _tmp91 + P(1, 17) * _tmp99 - P(12, 17) * _tmp100 - P(13, 17) * _tmp95 -
+                P(14, 17) * _tmp96 + P(2, 17) * _tmp92 + P(4, 17);
+  _res(5, 17) = P(0, 17) * _tmp115 + P(1, 17) * _tmp122 - P(12, 17) * _tmp123 -
+                P(13, 17) * _tmp119 - P(14, 17) * _tmp117 + P(2, 17) * _tmp120 + P(5, 17);
+  _res(6, 17) = P(3, 17) * dt + P(6, 17);
+  _res(7, 17) = P(4, 17) * dt + P(7, 17);
+  _res(8, 17) = P(5, 17) * dt + P(8, 17);
   _res(9, 17) = P(9, 17);
   _res(10, 17) = P(10, 17);
   _res(11, 17) = P(11, 17);
@@ -859,21 +676,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 17) = 0;
   _res(21, 17) = 0;
   _res(22, 17) = 0;
-  _res(0, 18) = P(0, 18) * _tmp63 + P(1, 18) * _tmp49 + P(10, 18) * _tmp82 + P(11, 18) * _tmp73 +
-                P(2, 18) * _tmp58 + P(9, 18) * _tmp19;
-  _res(1, 18) = P(0, 18) * _tmp105 + P(1, 18) * _tmp102 + P(10, 18) * _tmp19 + P(11, 18) * _tmp110 +
-                P(2, 18) * _tmp103 + P(9, 18) * _tmp101;
-  _res(2, 18) = P(0, 18) * _tmp124 + P(1, 18) * _tmp123 + P(10, 18) * _tmp125 + P(11, 18) * _tmp19 +
-                P(2, 18) * _tmp122 + P(9, 18) * _tmp121;
-  _res(3, 18) = P(0, 18) * _tmp154 + P(1, 18) * _tmp169 - P(12, 18) * _tmp180 -
-                P(13, 18) * _tmp138 - P(14, 18) * _tmp144 + P(2, 18) * _tmp175 + P(3, 18);
-  _res(4, 18) = P(0, 18) * _tmp205 + P(1, 18) * _tmp210 - P(12, 18) * _tmp207 -
-                P(13, 18) * _tmp213 - P(14, 18) * _tmp201 + P(2, 18) * _tmp208 + P(4, 18);
-  _res(5, 18) = P(0, 18) * _tmp233 + P(1, 18) * _tmp232 - P(12, 18) * _tmp230 -
-                P(13, 18) * _tmp228 - P(14, 18) * _tmp235 + P(2, 18) * _tmp231 + P(5, 18);
-  _res(6, 18) = P(3, 18) * d_vel_dt + P(6, 18);
-  _res(7, 18) = P(4, 18) * d_vel_dt + P(7, 18);
-  _res(8, 18) = P(5, 18) * d_vel_dt + P(8, 18);
+  _res(0, 18) = P(0, 18) + P(1, 18) * _tmp5 + P(2, 18) * _tmp2 - P(9, 18) * dt;
+  _res(1, 18) = P(0, 18) * _tmp13 + P(1, 18) - P(10, 18) * dt + P(2, 18) * _tmp16;
+  _res(2, 18) = P(0, 18) * _tmp22 + P(1, 18) * _tmp23 - P(11, 18) * dt + P(2, 18);
+  _res(3, 18) = P(0, 18) * _tmp63 + P(1, 18) * _tmp60 - P(12, 18) * _tmp50 - P(13, 18) * _tmp65 -
+                P(14, 18) * _tmp67 + P(2, 18) * _tmp45 + P(3, 18);
+  _res(4, 18) = P(0, 18) * _tmp91 + P(1, 18) * _tmp99 - P(12, 18) * _tmp100 - P(13, 18) * _tmp95 -
+                P(14, 18) * _tmp96 + P(2, 18) * _tmp92 + P(4, 18);
+  _res(5, 18) = P(0, 18) * _tmp115 + P(1, 18) * _tmp122 - P(12, 18) * _tmp123 -
+                P(13, 18) * _tmp119 - P(14, 18) * _tmp117 + P(2, 18) * _tmp120 + P(5, 18);
+  _res(6, 18) = P(3, 18) * dt + P(6, 18);
+  _res(7, 18) = P(4, 18) * dt + P(7, 18);
+  _res(8, 18) = P(5, 18) * dt + P(8, 18);
   _res(9, 18) = P(9, 18);
   _res(10, 18) = P(10, 18);
   _res(11, 18) = P(11, 18);
@@ -888,21 +702,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 18) = 0;
   _res(21, 18) = 0;
   _res(22, 18) = 0;
-  _res(0, 19) = P(0, 19) * _tmp63 + P(1, 19) * _tmp49 + P(10, 19) * _tmp82 + P(11, 19) * _tmp73 +
-                P(2, 19) * _tmp58 + P(9, 19) * _tmp19;
-  _res(1, 19) = P(0, 19) * _tmp105 + P(1, 19) * _tmp102 + P(10, 19) * _tmp19 + P(11, 19) * _tmp110 +
-                P(2, 19) * _tmp103 + P(9, 19) * _tmp101;
-  _res(2, 19) = P(0, 19) * _tmp124 + P(1, 19) * _tmp123 + P(10, 19) * _tmp125 + P(11, 19) * _tmp19 +
-                P(2, 19) * _tmp122 + P(9, 19) * _tmp121;
-  _res(3, 19) = P(0, 19) * _tmp154 + P(1, 19) * _tmp169 - P(12, 19) * _tmp180 -
-                P(13, 19) * _tmp138 - P(14, 19) * _tmp144 + P(2, 19) * _tmp175 + P(3, 19);
-  _res(4, 19) = P(0, 19) * _tmp205 + P(1, 19) * _tmp210 - P(12, 19) * _tmp207 -
-                P(13, 19) * _tmp213 - P(14, 19) * _tmp201 + P(2, 19) * _tmp208 + P(4, 19);
-  _res(5, 19) = P(0, 19) * _tmp233 + P(1, 19) * _tmp232 - P(12, 19) * _tmp230 -
-                P(13, 19) * _tmp228 - P(14, 19) * _tmp235 + P(2, 19) * _tmp231 + P(5, 19);
-  _res(6, 19) = P(3, 19) * d_vel_dt + P(6, 19);
-  _res(7, 19) = P(4, 19) * d_vel_dt + P(7, 19);
-  _res(8, 19) = P(5, 19) * d_vel_dt + P(8, 19);
+  _res(0, 19) = P(0, 19) + P(1, 19) * _tmp5 + P(2, 19) * _tmp2 - P(9, 19) * dt;
+  _res(1, 19) = P(0, 19) * _tmp13 + P(1, 19) - P(10, 19) * dt + P(2, 19) * _tmp16;
+  _res(2, 19) = P(0, 19) * _tmp22 + P(1, 19) * _tmp23 - P(11, 19) * dt + P(2, 19);
+  _res(3, 19) = P(0, 19) * _tmp63 + P(1, 19) * _tmp60 - P(12, 19) * _tmp50 - P(13, 19) * _tmp65 -
+                P(14, 19) * _tmp67 + P(2, 19) * _tmp45 + P(3, 19);
+  _res(4, 19) = P(0, 19) * _tmp91 + P(1, 19) * _tmp99 - P(12, 19) * _tmp100 - P(13, 19) * _tmp95 -
+                P(14, 19) * _tmp96 + P(2, 19) * _tmp92 + P(4, 19);
+  _res(5, 19) = P(0, 19) * _tmp115 + P(1, 19) * _tmp122 - P(12, 19) * _tmp123 -
+                P(13, 19) * _tmp119 - P(14, 19) * _tmp117 + P(2, 19) * _tmp120 + P(5, 19);
+  _res(6, 19) = P(3, 19) * dt + P(6, 19);
+  _res(7, 19) = P(4, 19) * dt + P(7, 19);
+  _res(8, 19) = P(5, 19) * dt + P(8, 19);
   _res(9, 19) = P(9, 19);
   _res(10, 19) = P(10, 19);
   _res(11, 19) = P(11, 19);
@@ -917,21 +728,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 19) = 0;
   _res(21, 19) = 0;
   _res(22, 19) = 0;
-  _res(0, 20) = P(0, 20) * _tmp63 + P(1, 20) * _tmp49 + P(10, 20) * _tmp82 + P(11, 20) * _tmp73 +
-                P(2, 20) * _tmp58 + P(9, 20) * _tmp19;
-  _res(1, 20) = P(0, 20) * _tmp105 + P(1, 20) * _tmp102 + P(10, 20) * _tmp19 + P(11, 20) * _tmp110 +
-                P(2, 20) * _tmp103 + P(9, 20) * _tmp101;
-  _res(2, 20) = P(0, 20) * _tmp124 + P(1, 20) * _tmp123 + P(10, 20) * _tmp125 + P(11, 20) * _tmp19 +
-                P(2, 20) * _tmp122 + P(9, 20) * _tmp121;
-  _res(3, 20) = P(0, 20) * _tmp154 + P(1, 20) * _tmp169 - P(12, 20) * _tmp180 -
-                P(13, 20) * _tmp138 - P(14, 20) * _tmp144 + P(2, 20) * _tmp175 + P(3, 20);
-  _res(4, 20) = P(0, 20) * _tmp205 + P(1, 20) * _tmp210 - P(12, 20) * _tmp207 -
-                P(13, 20) * _tmp213 - P(14, 20) * _tmp201 + P(2, 20) * _tmp208 + P(4, 20);
-  _res(5, 20) = P(0, 20) * _tmp233 + P(1, 20) * _tmp232 - P(12, 20) * _tmp230 -
-                P(13, 20) * _tmp228 - P(14, 20) * _tmp235 + P(2, 20) * _tmp231 + P(5, 20);
-  _res(6, 20) = P(3, 20) * d_vel_dt + P(6, 20);
-  _res(7, 20) = P(4, 20) * d_vel_dt + P(7, 20);
-  _res(8, 20) = P(5, 20) * d_vel_dt + P(8, 20);
+  _res(0, 20) = P(0, 20) + P(1, 20) * _tmp5 + P(2, 20) * _tmp2 - P(9, 20) * dt;
+  _res(1, 20) = P(0, 20) * _tmp13 + P(1, 20) - P(10, 20) * dt + P(2, 20) * _tmp16;
+  _res(2, 20) = P(0, 20) * _tmp22 + P(1, 20) * _tmp23 - P(11, 20) * dt + P(2, 20);
+  _res(3, 20) = P(0, 20) * _tmp63 + P(1, 20) * _tmp60 - P(12, 20) * _tmp50 - P(13, 20) * _tmp65 -
+                P(14, 20) * _tmp67 + P(2, 20) * _tmp45 + P(3, 20);
+  _res(4, 20) = P(0, 20) * _tmp91 + P(1, 20) * _tmp99 - P(12, 20) * _tmp100 - P(13, 20) * _tmp95 -
+                P(14, 20) * _tmp96 + P(2, 20) * _tmp92 + P(4, 20);
+  _res(5, 20) = P(0, 20) * _tmp115 + P(1, 20) * _tmp122 - P(12, 20) * _tmp123 -
+                P(13, 20) * _tmp119 - P(14, 20) * _tmp117 + P(2, 20) * _tmp120 + P(5, 20);
+  _res(6, 20) = P(3, 20) * dt + P(6, 20);
+  _res(7, 20) = P(4, 20) * dt + P(7, 20);
+  _res(8, 20) = P(5, 20) * dt + P(8, 20);
   _res(9, 20) = P(9, 20);
   _res(10, 20) = P(10, 20);
   _res(11, 20) = P(11, 20);
@@ -946,21 +754,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 20) = P(20, 20);
   _res(21, 20) = 0;
   _res(22, 20) = 0;
-  _res(0, 21) = P(0, 21) * _tmp63 + P(1, 21) * _tmp49 + P(10, 21) * _tmp82 + P(11, 21) * _tmp73 +
-                P(2, 21) * _tmp58 + P(9, 21) * _tmp19;
-  _res(1, 21) = P(0, 21) * _tmp105 + P(1, 21) * _tmp102 + P(10, 21) * _tmp19 + P(11, 21) * _tmp110 +
-                P(2, 21) * _tmp103 + P(9, 21) * _tmp101;
-  _res(2, 21) = P(0, 21) * _tmp124 + P(1, 21) * _tmp123 + P(10, 21) * _tmp125 + P(11, 21) * _tmp19 +
-                P(2, 21) * _tmp122 + P(9, 21) * _tmp121;
-  _res(3, 21) = P(0, 21) * _tmp154 + P(1, 21) * _tmp169 - P(12, 21) * _tmp180 -
-                P(13, 21) * _tmp138 - P(14, 21) * _tmp144 + P(2, 21) * _tmp175 + P(3, 21);
-  _res(4, 21) = P(0, 21) * _tmp205 + P(1, 21) * _tmp210 - P(12, 21) * _tmp207 -
-                P(13, 21) * _tmp213 - P(14, 21) * _tmp201 + P(2, 21) * _tmp208 + P(4, 21);
-  _res(5, 21) = P(0, 21) * _tmp233 + P(1, 21) * _tmp232 - P(12, 21) * _tmp230 -
-                P(13, 21) * _tmp228 - P(14, 21) * _tmp235 + P(2, 21) * _tmp231 + P(5, 21);
-  _res(6, 21) = P(3, 21) * d_vel_dt + P(6, 21);
-  _res(7, 21) = P(4, 21) * d_vel_dt + P(7, 21);
-  _res(8, 21) = P(5, 21) * d_vel_dt + P(8, 21);
+  _res(0, 21) = P(0, 21) + P(1, 21) * _tmp5 + P(2, 21) * _tmp2 - P(9, 21) * dt;
+  _res(1, 21) = P(0, 21) * _tmp13 + P(1, 21) - P(10, 21) * dt + P(2, 21) * _tmp16;
+  _res(2, 21) = P(0, 21) * _tmp22 + P(1, 21) * _tmp23 - P(11, 21) * dt + P(2, 21);
+  _res(3, 21) = P(0, 21) * _tmp63 + P(1, 21) * _tmp60 - P(12, 21) * _tmp50 - P(13, 21) * _tmp65 -
+                P(14, 21) * _tmp67 + P(2, 21) * _tmp45 + P(3, 21);
+  _res(4, 21) = P(0, 21) * _tmp91 + P(1, 21) * _tmp99 - P(12, 21) * _tmp100 - P(13, 21) * _tmp95 -
+                P(14, 21) * _tmp96 + P(2, 21) * _tmp92 + P(4, 21);
+  _res(5, 21) = P(0, 21) * _tmp115 + P(1, 21) * _tmp122 - P(12, 21) * _tmp123 -
+                P(13, 21) * _tmp119 - P(14, 21) * _tmp117 + P(2, 21) * _tmp120 + P(5, 21);
+  _res(6, 21) = P(3, 21) * dt + P(6, 21);
+  _res(7, 21) = P(4, 21) * dt + P(7, 21);
+  _res(8, 21) = P(5, 21) * dt + P(8, 21);
   _res(9, 21) = P(9, 21);
   _res(10, 21) = P(10, 21);
   _res(11, 21) = P(11, 21);
@@ -975,21 +780,18 @@ matrix::Matrix<Scalar, 23, 23> PredictCovariance(const matrix::Matrix<Scalar, 24
   _res(20, 21) = P(20, 21);
   _res(21, 21) = P(21, 21);
   _res(22, 21) = 0;
-  _res(0, 22) = P(0, 22) * _tmp63 + P(1, 22) * _tmp49 + P(10, 22) * _tmp82 + P(11, 22) * _tmp73 +
-                P(2, 22) * _tmp58 + P(9, 22) * _tmp19;
-  _res(1, 22) = P(0, 22) * _tmp105 + P(1, 22) * _tmp102 + P(10, 22) * _tmp19 + P(11, 22) * _tmp110 +
-                P(2, 22) * _tmp103 + P(9, 22) * _tmp101;
-  _res(2, 22) = P(0, 22) * _tmp124 + P(1, 22) * _tmp123 + P(10, 22) * _tmp125 + P(11, 22) * _tmp19 +
-                P(2, 22) * _tmp122 + P(9, 22) * _tmp121;
-  _res(3, 22) = P(0, 22) * _tmp154 + P(1, 22) * _tmp169 - P(12, 22) * _tmp180 -
-                P(13, 22) * _tmp138 - P(14, 22) * _tmp144 + P(2, 22) * _tmp175 + P(3, 22);
-  _res(4, 22) = P(0, 22) * _tmp205 + P(1, 22) * _tmp210 - P(12, 22) * _tmp207 -
-                P(13, 22) * _tmp213 - P(14, 22) * _tmp201 + P(2, 22) * _tmp208 + P(4, 22);
-  _res(5, 22) = P(0, 22) * _tmp233 + P(1, 22) * _tmp232 - P(12, 22) * _tmp230 -
-                P(13, 22) * _tmp228 - P(14, 22) * _tmp235 + P(2, 22) * _tmp231 + P(5, 22);
-  _res(6, 22) = P(3, 22) * d_vel_dt + P(6, 22);
-  _res(7, 22) = P(4, 22) * d_vel_dt + P(7, 22);
-  _res(8, 22) = P(5, 22) * d_vel_dt + P(8, 22);
+  _res(0, 22) = P(0, 22) + P(1, 22) * _tmp5 + P(2, 22) * _tmp2 - P(9, 22) * dt;
+  _res(1, 22) = P(0, 22) * _tmp13 + P(1, 22) - P(10, 22) * dt + P(2, 22) * _tmp16;
+  _res(2, 22) = P(0, 22) * _tmp22 + P(1, 22) * _tmp23 - P(11, 22) * dt + P(2, 22);
+  _res(3, 22) = P(0, 22) * _tmp63 + P(1, 22) * _tmp60 - P(12, 22) * _tmp50 - P(13, 22) * _tmp65 -
+                P(14, 22) * _tmp67 + P(2, 22) * _tmp45 + P(3, 22);
+  _res(4, 22) = P(0, 22) * _tmp91 + P(1, 22) * _tmp99 - P(12, 22) * _tmp100 - P(13, 22) * _tmp95 -
+                P(14, 22) * _tmp96 + P(2, 22) * _tmp92 + P(4, 22);
+  _res(5, 22) = P(0, 22) * _tmp115 + P(1, 22) * _tmp122 - P(12, 22) * _tmp123 -
+                P(13, 22) * _tmp119 - P(14, 22) * _tmp117 + P(2, 22) * _tmp120 + P(5, 22);
+  _res(6, 22) = P(3, 22) * dt + P(6, 22);
+  _res(7, 22) = P(4, 22) * dt + P(7, 22);
+  _res(8, 22) = P(5, 22) * dt + P(8, 22);
   _res(9, 22) = P(9, 22);
   _res(10, 22) = P(10, 22);
   _res(11, 22) = P(11, 22);
diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
index 9ee0d50195..660361a104 100644
--- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
+++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
@@ -10,8 +10,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 790000,1,-0.0098,-0.013,0.0001,0.0086,0.0072,-0.063,0.0012,0.0011,-0.014,5.4e-06,-3.1e-06,1.1e-07,0,0,-9.5e-05,0,0,0,0,0,0,0,0,0.018,0.018,0.00079,2.8,2.8,2,0.42,0.42,0.28,0.01,0.01,0.0012,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 890000,1,-0.0099,-0.013,0.00012,0.01,0.0059,-0.077,0.00096,0.00071,-0.021,1.6e-05,-1.5e-05,3.4e-07,0,0,-9.5e-05,0,0,0,0,0,0,0,0,0.019,0.019,0.00053,1.3,1.3,2,0.2,0.2,0.43,0.0099,0.01,0.00068,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 990000,1,-0.0099,-0.013,0.00013,0.015,0.0062,-0.092,0.0022,0.0013,-0.029,1.6e-05,-1.5e-05,3.4e-07,0,0,-9.5e-05,0,0,0,0,0,0,0,0,0.021,0.021,0.00065,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00068,0.04,0.04,0.04,0,0,0,0,0,0,0,0
-1090000,1,-0.01,-0.014,0.00013,0.016,0.0048,-0.11,0.0018,0.00084,-0.039,4.1e-05,-6.2e-05,9.6e-07,0,0,-9.5e-05,0,0,0,0,0,0,0,0,0.023,0.023,0.00046,0.92,0.92,2,0.17,0.17,0.84,0.0098,0.0098,0.00042,0.04,0.04,0.04,0,0,0,0,0,0,0,0
-1190000,1,-0.01,-0.014,0.0001,0.02,0.005,-0.12,0.0035,0.0013,-0.051,4.1e-05,-6.2e-05,9.6e-07,0,0,-9.5e-05,0,0,0,0,0,0,0,0,0.025,0.025,0.00054,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00042,0.04,0.04,0.04,0,0,0,0,0,0,0,0
+1090000,1,-0.01,-0.014,0.00013,0.016,0.0048,-0.11,0.0018,0.00084,-0.039,4.1e-05,-6.2e-05,9.5e-07,0,0,-9.5e-05,0,0,0,0,0,0,0,0,0.023,0.023,0.00046,0.92,0.92,2,0.17,0.17,0.84,0.0098,0.0098,0.00042,0.04,0.04,0.04,0,0,0,0,0,0,0,0
+1190000,1,-0.01,-0.014,0.0001,0.02,0.005,-0.12,0.0035,0.0013,-0.051,4.1e-05,-6.2e-05,9.5e-07,0,0,-9.5e-05,0,0,0,0,0,0,0,0,0.025,0.025,0.00054,1.1,1.1,2,0.24,0.24,1.1,0.0098,0.0098,0.00042,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 1290000,1,-0.01,-0.014,0.00016,0.02,0.0041,-0.14,0.0027,0.00085,-0.064,8.2e-05,-0.00019,2.3e-06,0,0,-9.6e-05,0,0,0,0,0,0,0,0,0.026,0.026,0.00041,0.88,0.88,2,0.15,0.15,1.4,0.0095,0.0095,0.00028,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 1390000,1,-0.01,-0.014,0.00017,0.026,0.0038,-0.15,0.0051,0.0013,-0.078,8.2e-05,-0.00019,2.3e-06,0,0,-9.6e-05,0,0,0,0,0,0,0,0,0.028,0.028,0.00047,1.1,1.1,2,0.21,0.21,1.7,0.0095,0.0095,0.00028,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 1490000,1,-0.01,-0.014,0.00015,0.024,0.0026,-0.16,0.0038,0.00078,-0.093,0.00014,-0.00046,4.7e-06,0,0,-9.8e-05,0,0,0,0,0,0,0,0,0.027,0.027,0.00036,0.95,0.95,2,0.14,0.14,2.1,0.0088,0.0088,0.0002,0.04,0.04,0.04,0,0,0,0,0,0,0,0
@@ -21,8 +21,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 1890000,1,-0.011,-0.015,5.5e-05,0.043,-0.0037,-0.22,0.011,0.00014,-0.17,0.00019,-0.00088,8.1e-06,0,0,-0.0001,0,0,0,0,0,0,0,0,0.031,0.031,0.00042,1.7,1.7,2,0.31,0.31,4.1,0.0078,0.0078,0.00015,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 1990000,1,-0.011,-0.014,4.7e-05,0.036,-0.0051,-0.23,0.0082,-0.00038,-0.19,0.0002,-0.0014,1.3e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.024,0.024,0.00033,1.3,1.3,2,0.2,0.2,4.7,0.0066,0.0066,0.00011,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 2090000,1,-0.011,-0.014,6.8e-06,0.041,-0.0077,-0.24,0.012,-0.001,-0.22,0.0002,-0.0014,1.3e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.026,0.026,0.00037,1.7,1.7,2.1,0.31,0.31,5.3,0.0066,0.0066,0.00011,0.04,0.04,0.04,0,0,0,0,0,0,0,0
-2190000,1,-0.011,-0.014,-1.3e-06,0.033,-0.0072,-0.26,0.0079,-0.0011,-0.24,0.00015,-0.002,1.8e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.02,0.02,0.0003,1.2,1.2,2.1,0.2,0.2,6,0.0055,0.0055,8.8e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
-2290000,1,-0.011,-0.014,-1.7e-05,0.039,-0.0098,-0.27,0.011,-0.0019,-0.27,0.00015,-0.002,1.8e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.022,0.022,0.00033,1.5,1.5,2.1,0.3,0.3,6.7,0.0055,0.0055,8.8e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
+2190000,1,-0.011,-0.014,-1.3e-06,0.033,-0.0072,-0.26,0.0079,-0.0011,-0.24,0.00015,-0.002,1.7e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.02,0.02,0.0003,1.2,1.2,2.1,0.2,0.2,6,0.0055,0.0055,8.8e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
+2290000,1,-0.011,-0.014,-1.7e-05,0.039,-0.0098,-0.27,0.011,-0.0019,-0.27,0.00015,-0.002,1.7e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.022,0.022,0.00033,1.5,1.5,2.1,0.3,0.3,6.7,0.0055,0.0055,8.8e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 2390000,1,-0.011,-0.013,-1.9e-05,0.03,-0.009,-0.29,0.0074,-0.0016,-0.3,5.8e-05,-0.0025,2.2e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.016,0.016,0.00027,1,1,2.1,0.19,0.19,7.4,0.0045,0.0045,7e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 2490000,1,-0.011,-0.013,-4e-05,0.034,-0.011,-0.3,0.011,-0.0025,-0.32,5.8e-05,-0.0025,2.2e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.017,0.017,0.0003,1.3,1.3,2.1,0.28,0.28,8.2,0.0045,0.0045,7e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
 2590000,1,-0.011,-0.013,-4.3e-05,0.026,-0.0093,-0.31,0.0068,-0.0018,-0.36,-5.2e-05,-0.003,2.6e-05,0,0,-0.00011,0,0,0,0,0,0,0,0,0.013,0.013,0.00025,0.89,0.89,2.1,0.18,0.18,9.1,0.0038,0.0038,5.7e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
@@ -76,7 +76,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 7390000,0.71,0.0015,-0.014,0.71,-0.0051,0.0098,-0.16,0.0021,0.0073,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.0013,0.37,0.0037,0.025,0,0,0,0,0,0.0016,0.0016,0.018,0.44,0.44,0.18,0.85,0.85,0.13,0.00014,0.00014,6.3e-06,0.04,0.04,0.039,0,0,0,0,0,0,0,0
 7490000,0.71,0.0016,-0.014,0.71,-0.0067,0.01,-0.16,0.0015,0.0083,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.0021,0.37,0.0037,0.025,0,0,0,0,0,0.0016,0.0016,0.018,0.48,0.48,0.15,0.96,0.96,0.12,0.00014,0.00014,6.3e-06,0.04,0.04,0.039,0,0,0,0,0,0,0,0
 7590000,0.71,0.0016,-0.014,0.71,-0.0086,0.012,-0.17,0.00072,0.0093,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.003,0.37,0.0037,0.025,0,0,0,0,0,0.0017,0.0017,0.018,0.51,0.52,0.14,1.1,1.1,0.12,0.00014,0.00014,6.3e-06,0.04,0.04,0.039,0,0,0,0,0,0,0,0
-7690000,0.71,0.0017,-0.014,0.71,-0.01,0.012,-0.16,-0.00026,0.01,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.005,0.37,0.0037,0.025,0,0,0,0,0,0.0017,0.0017,0.018,0.56,0.56,0.13,1.2,1.2,0.11,0.00014,0.00014,6.3e-06,0.04,0.04,0.039,0,0,0,0,0,0,0,0
+7690000,0.71,0.0017,-0.014,0.71,-0.01,0.012,-0.16,-0.00027,0.01,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.005,0.37,0.0037,0.025,0,0,0,0,0,0.0017,0.0017,0.018,0.56,0.56,0.13,1.2,1.2,0.11,0.00014,0.00014,6.3e-06,0.04,0.04,0.039,0,0,0,0,0,0,0,0
 7790000,0.71,0.0017,-0.014,0.71,-0.012,0.013,-0.16,-0.0014,0.011,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.007,0.37,0.0037,0.025,0,0,0,0,0,0.0017,0.0017,0.018,0.6,0.6,0.12,1.3,1.3,0.11,0.00014,0.00014,6.3e-06,0.04,0.04,0.039,0,0,0,0,0,0,0,0
 7890000,0.71,0.0017,-0.014,0.71,-0.015,0.015,-0.16,-0.0027,0.013,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.0096,0.37,0.0037,0.025,0,0,0,0,0,0.0018,0.0018,0.018,0.65,0.66,0.11,1.5,1.5,0.1,0.00014,0.00014,6.3e-06,0.04,0.04,0.038,0,0,0,0,0,0,0,0
 7990000,0.71,0.0018,-0.014,0.71,-0.016,0.016,-0.16,-0.0043,0.014,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.011,0.37,0.0037,0.025,0,0,0,0,0,0.0018,0.0018,0.018,0.7,0.7,0.1,1.7,1.7,0.099,0.00014,0.00014,6.3e-06,0.04,0.04,0.038,0,0,0,0,0,0,0,0
@@ -118,7 +118,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 11590000,0.71,0.0021,-0.014,0.71,-0.0016,0.01,-0.0034,0.0045,-0.0014,-3.7e+02,-0.0014,-0.0056,4.6e-05,-8.6e-05,0.00077,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0019,0.0019,0.018,0.1,0.1,0.049,0.054,0.054,0.066,7.2e-05,7.2e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
 11690000,0.71,0.002,-0.014,0.71,-0.0044,0.013,-0.0079,0.0042,-0.00026,-3.7e+02,-0.0014,-0.0056,4.6e-05,-7.7e-05,0.00076,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0019,0.0019,0.018,0.12,0.12,0.046,0.063,0.063,0.066,7.2e-05,7.2e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
 11790000,0.71,0.0021,-0.014,0.71,-0.01,0.013,-0.0098,0.0018,0.00056,-3.7e+02,-0.0014,-0.0056,4.6e-05,3.2e-05,0.00057,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0016,0.0016,0.018,0.097,0.097,0.039,0.053,0.053,0.063,6.3e-05,6.3e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
-11890000,0.71,0.0021,-0.014,0.71,-0.012,0.014,-0.011,0.00076,0.0019,-3.7e+02,-0.0014,-0.0056,4.6e-05,2.7e-05,0.00057,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0016,0.0016,0.018,0.12,0.12,0.037,0.061,0.061,0.063,6.3e-05,6.3e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
+11890000,0.71,0.0021,-0.014,0.71,-0.012,0.014,-0.011,0.00076,0.0019,-3.7e+02,-0.0014,-0.0056,4.6e-05,2.6e-05,0.00057,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0016,0.0016,0.018,0.12,0.12,0.037,0.061,0.061,0.063,6.3e-05,6.3e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
 11990000,0.71,0.0021,-0.014,0.71,-0.013,0.014,-0.016,-0.0003,0.0023,-3.7e+02,-0.0014,-0.0057,4.6e-05,0.00017,0.00059,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0014,0.0014,0.018,0.091,0.091,0.033,0.051,0.051,0.061,5.7e-05,5.7e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
 12090000,0.71,0.0021,-0.014,0.71,-0.015,0.016,-0.022,-0.0017,0.0038,-3.7e+02,-0.0014,-0.0057,4.6e-05,0.00018,0.00057,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0014,0.0014,0.018,0.11,0.11,0.031,0.06,0.06,0.061,5.7e-05,5.7e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
 12190000,0.71,0.0017,-0.014,0.71,-0.008,0.013,-0.017,0.0015,0.0019,-3.7e+02,-0.0013,-0.0057,4.3e-05,0.00044,0.0011,-0.11,0.37,0.0037,0.025,0,0,0,0,0,0.0012,0.0012,0.018,0.085,0.085,0.028,0.051,0.051,0.059,5.2e-05,5.2e-05,6.3e-06,0.037,0.037,0.01,0,0,0,0,0,0,0,0
@@ -187,7 +187,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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diff --git a/src/modules/ekf2/test/change_indication/iris_gps.csv b/src/modules/ekf2/test/change_indication/iris_gps.csv
index 5c606d3b7a..23b683578a 100644
--- a/src/modules/ekf2/test/change_indication/iris_gps.csv
+++ b/src/modules/ekf2/test/change_indication/iris_gps.csv
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