          roll_std = np.radians(10.0)
        self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
  
        yaw_rate_valid = msg.angularVelocityCalibrated.valid
        yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
        yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s
  
        if self.active:
          if msg.posenetOK:
  
            if yaw_rate_valid:
 
</s> remove       yaw_rate = msg.angularVelocityCalibrated.value[2]
      yaw_rate_std = msg.angularVelocityCalibrated.std[2]
 </s> add       self.yaw_rate = msg.angularVelocityCalibrated.value[2]
      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2] </s> remove       liveParameters.sensorValid = True
 </s> add       liveParameters.sensorValid = sensors_valid
      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
          roll_std = np.radians(10.0)
        self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
  
        yaw_rate_valid = msg.angularVelocityCalibrated.valid
      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
  
        if self.active:
          if msg.posenetOK:
  
            if yaw_rate_valid:
keep keep keep keep replace replace keep keep keep keep keep
 Lateral Acceleration Error alert (Sensor Invalid) (#25291)

* sensor flag in paramsd

* increase lateral acc err alert threshold

* add invalid sensor alert from paramsd

* update ref, bool before adding to msg

* account for sign difference in locationd and paramsd

* revert ref 
selfdrive/locationd/paramsd.py