    if (std::abs(current_time - sensor_time) > 0.1) {
      LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
      return;
    }
  
    // TODO: handle messages from two IMUs at the same time
 
</s> remove bool Localizer::isGpsOK() {
 </s> add bool Localizer::is_gps_ok() {
    this->observation_timings_invalid = true;
    return;
  }
  else if (!this->is_timestamp_valid(sensor_time)) {
    this->observation_timings_invalid = true;
    if (std::abs(current_time - sensor_time) > 0.1) {
      LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
    this->observation_timings_invalid = true;
    return;
  }
  else if (!this->is_timestamp_valid(sensor_time)) {
    this->observation_timings_invalid = true;
      return;
    }
  
    // TODO: handle messages from two IMUs at the same time
keep add keep keep keep keep
 [locationd] Add input checks (#26460)

* add input checks with same decay as reset_tracker

* add observation timings check

* typo

* bugfix

* improve offline locationd visibility

* sbugfix offline lld

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/locationd/locationd.cc