      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
      processed_measurements = process_measurements(new_meas, self.astro_dog)
      if self.last_fix_pos is not None:
        corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog)
        instant_fix = self.get_lsq_fix(t, corrected_measurements)
        #instant_fix = self.get_lsq_fix(t, processed_measurements)
      else:
        corrected_measurements = []
        instant_fix = self.get_lsq_fix(t, processed_measurements)
      if instant_fix is None:
        return None
 
</s> remove       corrected_measurements = []
      instant_fix = self.get_lsq_fix(t, processed_measurements)
 </s> add       est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
    return corrected_measurements

  def calc_fix(self, t, measurements):
    instant_fix = self.get_lsq_fix(t, measurements) </s> remove       if len(est_pos) > 0:
 </s> add       if est_pos is not None and len(est_pos) > 0: </s> remove       correct_msgs_expected = 42 if use_qcom else 559
 </s> add       correct_msgs_expected = 44 if use_qcom else 560
      valid_fix_expected = 43 if use_qcom else 560
 </s> remove       self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 </s> add       self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) </s> remove     correct_msgs_expected = 559
 </s> add     correct_msgs_expected = 560
      est_pos = self.last_fix_pos
      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
      processed_measurements = process_measurements(new_meas, self.astro_dog)
      if self.last_fix_pos is not None:
      est_pos = self.last_fix_pos
      est_pos = self.last_fix_pos
      est_pos = self.last_fix_pos
      else:
        corrected_measurements = []
        instant_fix = self.get_lsq_fix(t, processed_measurements)
      if instant_fix is None:
        return None
keep keep keep keep replace replace replace keep keep keep keep keep
 Laika cleaner flow (#27633)

* laika flow

* test fixes

* unexpected type

* unexpected type

* explicit type

* ref commit

* back to prev val

* ref 2 
selfdrive/locationd/laikad.py