      self.observation_buffer = []
      self.converter = None
      self.gyro_counter = 0
      self.acc_counter = 0
      self.raw_gnss_counter = 0
      self.speed_counter = 0
  
  
  def locationd_thread(gctx, addr, disabled_logs):
    poller = zmq.Poller()
 
</s> remove def locationd_thread(gctx, addr, disabled_logs):
 </s> add def locationd_thread(gctx, addr, disabled_logs=[]): </s> remove   IN_CAR = os.getenv("IN_CAR", False)
  disabled_logs = os.getenv("DISABLED_LOGS", "").split(",")
  # No speed for now
  disabled_logs.append('carState')
  if IN_CAR:
    addr = "192.168.5.11"
  locationd_thread(gctx, addr, disabled_logs)
 </s> add   locationd_thread(gctx, addr) </s> remove   ubloxGnss = messaging.sub_sock('ubloxGnss', poller, addr=addr, conflate=True)
  qcomGnss = messaging.sub_sock('qcomGnss', poller, addr=addr, conflate=True)
 </s> add  </s> remove     if dog:
      self.dog = dog
    else:
      self.dog = AstroDog(auto_update=True)
 </s> add  </s> remove     # initing with bad bearing allowed, maybe bad?
    if not self.filter_ready and len(list(self.dog.orbits.keys())) >6:  # and log.gpsLocationExternal.speed > 5:
 </s> add     # TODO initing with bad bearing not allowed, maybe not bad?
    if not self.filter_ready and log.gpsLocationExternal.speed > 5:
      self.observation_buffer = []
      self.converter = None
      self.gyro_counter = 0
      self.acc_counter = 0

      self.speed_counter = 0
  
  
  def locationd_thread(gctx, addr, disabled_logs):
    poller = zmq.Poller()
keep keep keep keep replace keep keep keep keep keep
 get ready for live localizer 
selfdrive/locationd/locationd.py