        corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
  
        self.update_localizer(est_pos, t, corrected_measurements)
        kf_valid = all(self.kf_valid(t))
        ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
        ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
  
        pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
        vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
  
        meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
 
</s> remove       pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
      vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
 </s> add       p = self.gnss_kf.P.diagonal()
      pos_std = np.sqrt(p[GStates.ECEF_POS])
      vel_std = np.sqrt(p[GStates.ECEF_VELOCITY]) </s> remove         "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
 </s> add         "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
        corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
  
        self.update_localizer(est_pos, t, corrected_measurements)
        kf_valid = all(self.kf_valid(t))
      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
  
        pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
        vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
  
        meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
keep keep keep keep replace replace keep keep keep keep keep
 Laikad: Fix getting covariances for pos and velocity (#25084)

* Fix getting covariances for pos and velocity

* ref commit 
selfdrive/locationd/laikad.py