        msg = messaging.new_message('liveParameters')
  
        liveParameters = msg.liveParameters
        liveParameters.posenetValid = True
        liveParameters.sensorValid = True
        liveParameters.steerRatio = float(x[States.STEER_RATIO])
        liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
        liveParameters.roll = float(x[States.ROAD_ROLL])
        liveParameters.angleOffsetAverageDeg = angle_offset_average
        liveParameters.angleOffsetDeg = angle_offset
 
</s> remove       yaw_rate = msg.angularVelocityCalibrated.value[2]
      yaw_rate_std = msg.angularVelocityCalibrated.std[2]
 </s> add       self.yaw_rate = msg.angularVelocityCalibrated.value[2]
      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2] </s> remove       yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
      yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s
 </s> add       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
      liveParameters.sensorValid = sensors_valid
        msg = messaging.new_message('liveParameters')
  
        liveParameters = msg.liveParameters
        liveParameters.posenetValid = True
      liveParameters.sensorValid = sensors_valid
        liveParameters.steerRatio = float(x[States.STEER_RATIO])
        liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
        liveParameters.roll = float(x[States.ROAD_ROLL])
        liveParameters.angleOffsetAverageDeg = angle_offset_average
        liveParameters.angleOffsetDeg = angle_offset
keep keep keep keep replace keep keep keep keep keep
 Lateral Acceleration Error alert (Sensor Invalid) (#25291)

* sensor flag in paramsd

* increase lateral acc err alert threshold

* add invalid sensor alert from paramsd

* update ref, bool before adding to msg

* account for sign difference in locationd and paramsd

* revert ref 
selfdrive/locationd/paramsd.py