  
  #define POSENET_STD_HIST_HALF 20
  
  
  class Localizer {
  public:
    Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
  
    int locationd_thread();
 
</s> remove   Localizer();
 </s> add   Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); </s> remove   LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration',
 </s> add   LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', </s> remove   const std::initializer_list<const char *> service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration",
 </s> add   LocalizerGnssSource source;
  const char* gps_location_socket;
  if (Params().getBool("UbloxAvailable")) {
    source = LocalizerGnssSource::UBLOX;
    gps_location_socket = "gpsLocationExternal";
  } else {
    source = LocalizerGnssSource::QCOM;
    gps_location_socket = "gpsLocation";
  }

  this->configure_gnss_source(source);
  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", </s> remove const float  GPS_POS_STD_RESET_THRESHOLD = 10.0;
const float  GPS_VEL_STD_RESET_THRESHOLD = 1.0;
 </s> add const float  GPS_POS_STD_RESET_THRESHOLD = 2.0;
const float  GPS_VEL_STD_RESET_THRESHOLD = 0.5;
enum LocalizerGnssSource {
  UBLOX, QCOM
};
  
  #define POSENET_STD_HIST_HALF 20
  
enum LocalizerGnssSource {
  UBLOX, QCOM
};
  
  class Localizer {
  public:
    Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
  
    int locationd_thread();
keep keep add keep keep keep keep keep keep
 Revert laikad llk (#29535)

* Revert "bump laika (#29522)"

This reverts commit 3523bef732316b534de66dcb9e7d29e53e37e99f.

* Revert "Locationd: switch to laikad (#29278)"

This reverts commit fd3b8a3d7511ad3d7c5aa0b82a1e2c28505e5a7f. 
selfdrive/locationd/locationd.h