    const std::initializer_list<const char *> service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration",
                                                            "carState", "carParams", "accelerometer", "gyroscope"};
  
    // TODO: remove carParams once we're always sending at 100Hz
    SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"});
    PubMaster pm({"liveLocationKalman"});
  
    uint64_t cnt = 0;
    bool filterInitialized = false;
    const std::vector<std::string> critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
 
</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       "cameraOdometry", "accelerometer", "gyroscope", "gnssMeasurements",
      "liveCalibration", "carState", "carParams"
 </s> add       "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
      "liveCalibration", "carState", "carParams", "gpsLocation" </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;
  SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
    const std::initializer_list<const char *> service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration",
                                                            "carState", "carParams", "accelerometer", "gyroscope"};
  
    // TODO: remove carParams once we're always sending at 100Hz
  SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
    PubMaster pm({"liveLocationKalman"});
  
    uint64_t cnt = 0;
    bool filterInitialized = false;
    const std::vector<std::string> critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"};
keep keep keep keep replace 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.cc