    if (log.isAccelerometer()) {
      this->handle_sensor(t, log.getAccelerometer());
    } else if (log.isGyroscope()) {
      this->handle_sensor(t, log.getGyroscope());
    } else if (log.isGnssMeasurements()) {
      this->handle_gnss(t, log.getGnssMeasurements());
    } else if (log.isCarState()) {
      this->handle_car_state(t, log.getCarState());
    } else if (log.isCameraOdometry()) {
      this->handle_cam_odo(t, log.getCameraOdometry());
    } else if (log.isLiveCalibration()) {
 
</s> remove   if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
 </s> add   if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { </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   if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) {
 </s> add   if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { </s> remove   bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD;
 </s> add   bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD;
  } else if (log.isGpsLocation()) {
    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
  } else if (log.isGpsLocationExternal()) {
    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
  //} else if (log.isGnssMeasurements()) {
  //  this->handle_gnss(t, log.getGnssMeasurements());
    if (log.isAccelerometer()) {
      this->handle_sensor(t, log.getAccelerometer());
    } else if (log.isGyroscope()) {
      this->handle_sensor(t, log.getGyroscope());
  } else if (log.isGpsLocation()) {
    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
  } else if (log.isGpsLocationExternal()) {
    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
  //} else if (log.isGnssMeasurements()) {
  //  this->handle_gnss(t, log.getGnssMeasurements());
  } else if (log.isGpsLocation()) {
    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
  } else if (log.isGpsLocationExternal()) {
    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
  //} else if (log.isGnssMeasurements()) {
  //  this->handle_gnss(t, log.getGnssMeasurements());
    } else if (log.isCarState()) {
      this->handle_car_state(t, log.getCarState());
    } else if (log.isCameraOdometry()) {
      this->handle_cam_odo(t, log.getCameraOdometry());
    } else if (log.isLiveCalibration()) {
keep keep keep keep replace 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