  from common.params import Params
  
  from selfdrive.manager.process_config import managed_processes
  
  SENSOR_DECIMATION = 1
  VISION_DECIMATION = 1
  
  LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
  
  
  class TestLocationdLib(unittest.TestCase):
 
</s> remove   VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
 </s> add   if (this->cam_counter % VISION_DECIMATION == 0) {
    VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
    VectorXd rot_device_std = (this->device_from_calib * floatlist2vector(log.getRotStd())) * 10.0;
    this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
      { (VectorXd(rot_device.rows() + rot_device_std.rows()) << rot_device, rot_device_std).finished() }); </s> remove   VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt();
 </s> add   VectorXd vel_calib_std = ((this->calib_from_device * vel_device_cov) * this->calib_from_device.transpose()).diagonal().array().sqrt(); </s> remove   MatrixXdr acc_calib_cov = predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START);
  VectorXd acc_calib_std = rotate_cov(this->calib_from_device, acc_calib_cov).diagonal().array().sqrt();
 </s> add   VectorXd acc_calib_std = ((this->calib_from_device * predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START)) * this->calib_from_device.transpose()).diagonal().array().sqrt();
SENSOR_DECIMATION = 10
VISION_DECIMATION = 2
  from common.params import Params
  
  from selfdrive.manager.process_config import managed_processes
  
SENSOR_DECIMATION = 10
VISION_DECIMATION = 2
SENSOR_DECIMATION = 10
VISION_DECIMATION = 2
  
  LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
  
  
  class TestLocationdLib(unittest.TestCase):
keep keep keep keep replace replace keep keep keep keep keep
 Revert "Locationd 100hz (#20759)" (#20797)

* Revert "Locationd 100hz (#20759)"

This reverts commit 333313cf0e6819767d8dcc4a55bea70f0354579f.

* new ref 
selfdrive/locationd/test/test_locationd.py