diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/computy_gravity_innov_var_and_k_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/computy_gravity_innov_var_and_k_and_h.h
new file mode 100644
index 0000000000..9a01adc00a
--- /dev/null
+++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/computy_gravity_innov_var_and_k_and_h.h
@@ -0,0 +1,116 @@
+// -----------------------------------------------------------------------------
+// This file was autogenerated by symforce from template:
+//     function/FUNCTION.h.jinja
+// Do NOT modify by hand.
+// -----------------------------------------------------------------------------
+
+#pragma once
+
+#include <matrix/math.hpp>
+
+namespace sym {
+
+/**
+ * This function was autogenerated from a symbolic function. Do not modify by hand.
+ *
+ * Symbolic function: computy_gravity_innov_var_and_k_and_h
+ *
+ * Args:
+ *     state: Matrix24_1
+ *     P: Matrix24_24
+ *     meas: Matrix31
+ *     R: Scalar
+ *     epsilon: Scalar
+ *
+ * Outputs:
+ *     innov: Matrix31
+ *     innov_var: Matrix31
+ *     Kx: Matrix24_1
+ *     Ky: Matrix24_1
+ *     Kz: Matrix24_1
+ *     Hx: Matrix1_24
+ *     Hy: Matrix1_24
+ *     Hz: Matrix1_24
+ */
+template <typename Scalar>
+void ComputyGravityInnovVarAndKAndH(const matrix::Matrix<Scalar, 24, 1>& state,
+                                    const matrix::Matrix<Scalar, 24, 24>& P,
+                                    const matrix::Matrix<Scalar, 3, 1>& meas, const Scalar R,
+                                    const Scalar epsilon,
+                                    matrix::Matrix<Scalar, 3, 1>* const innov = nullptr,
+                                    matrix::Matrix<Scalar, 3, 1>* const innov_var = nullptr,
+                                    matrix::Matrix<Scalar, 24, 1>* const Kx = nullptr,
+                                    matrix::Matrix<Scalar, 24, 1>* const Ky = nullptr,
+                                    matrix::Matrix<Scalar, 24, 1>* const Kz = nullptr,
+                                    matrix::Matrix<Scalar, 1, 24>* const Hx = nullptr,
+                                    matrix::Matrix<Scalar, 1, 24>* const Hy = nullptr,
+                                    matrix::Matrix<Scalar, 1, 24>* const Hz = nullptr) {
+  // Total ops: 10
+
+  // Unused inputs
+  (void)state;
+  (void)P;
+
+  // Input arrays
+
+  // Intermediate terms (1)
+  const Scalar _tmp0 =
+      -std::sqrt(Scalar(epsilon + std::pow(meas(0, 0), Scalar(2)) +
+                        std::pow(meas(1, 0), Scalar(2)) + std::pow(meas(2, 0), Scalar(2))));
+
+  // Output terms (8)
+  if (innov != nullptr) {
+    matrix::Matrix<Scalar, 3, 1>& _innov = (*innov);
+
+    _innov(0, 0) = _tmp0;
+    _innov(1, 0) = _tmp0;
+    _innov(2, 0) = -Scalar(9.8066499999999994) * R + _tmp0;
+  }
+
+  if (innov_var != nullptr) {
+    matrix::Matrix<Scalar, 3, 1>& _innov_var = (*innov_var);
+
+    _innov_var(0, 0) = R;
+    _innov_var(1, 0) = R;
+    _innov_var(2, 0) = R;
+  }
+
+  if (Kx != nullptr) {
+    matrix::Matrix<Scalar, 24, 1>& _kx = (*Kx);
+
+    _kx.setZero();
+  }
+
+  if (Ky != nullptr) {
+    matrix::Matrix<Scalar, 24, 1>& _ky = (*Ky);
+
+    _ky.setZero();
+  }
+
+  if (Kz != nullptr) {
+    matrix::Matrix<Scalar, 24, 1>& _kz = (*Kz);
+
+    _kz.setZero();
+  }
+
+  if (Hx != nullptr) {
+    matrix::Matrix<Scalar, 1, 24>& _hx = (*Hx);
+
+    _hx.setZero();
+  }
+
+  if (Hy != nullptr) {
+    matrix::Matrix<Scalar, 1, 24>& _hy = (*Hy);
+
+    _hy.setZero();
+  }
+
+  if (Hz != nullptr) {
+    matrix::Matrix<Scalar, 1, 24>& _hz = (*Hz);
+
+    _hz.setZero();
+  }
+}  // NOLINT(readability/fn_size)
+
+// NOLINTNEXTLINE(readability/fn_size)
+}  // namespace sym