        measurement_msg = log.LiveLocationKalman.Measurement.new_message
        dat.gnssMeasurements = {
          "gpsWeek": report.gpsWeek,
          "gpsTimeOfWeek": report.rcvTow,
          "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
          "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
          "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
          "ubloxMonoTime": ublox_mono_time,
          "correctedMeasurements": meas_msgs
        }
        return dat
 
</s> remove       pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
      vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
 </s> add       p = self.gnss_kf.P.diagonal()
      pos_std = np.sqrt(p[GStates.ECEF_POS])
      vel_std = np.sqrt(p[GStates.ECEF_VELOCITY]) </s> remove       ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
 </s> add       ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
        measurement_msg = log.LiveLocationKalman.Measurement.new_message
        dat.gnssMeasurements = {
          "gpsWeek": report.gpsWeek,
          "gpsTimeOfWeek": report.rcvTow,
        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
          "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
          "ubloxMonoTime": ublox_mono_time,
          "correctedMeasurements": meas_msgs
        }
        return dat
keep keep keep keep replace replace keep keep keep keep keep
 Laikad: Fix getting covariances for pos and velocity (#25084)

* Fix getting covariances for pos and velocity

* ref commit 
selfdrive/locationd/laikad.py