        corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog)
        instant_fix = self.get_lsq_fix(t, corrected_measurements)
        #instant_fix = self.get_lsq_fix(t, processed_measurements)
      else:
        corrected_measurements = []
        instant_fix = self.get_lsq_fix(t, processed_measurements)
      if instant_fix is None:
        return None
      else:
        position_estimate, position_std, velocity_estimate, velocity_std = instant_fix
        self.last_fix_t = t
 
</s> remove       corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog)
      instant_fix = self.get_lsq_fix(t, corrected_measurements)
      #instant_fix = self.get_lsq_fix(t, processed_measurements)
 </s> add       est_pos = self.last_fix_pos </s> remove     correct_msgs_expected = 559
 </s> add     correct_msgs_expected = 560 </s> remove       correct_msgs_expected = 42 if use_qcom else 559
 </s> add       correct_msgs_expected = 44 if use_qcom else 560
      valid_fix_expected = 43 if use_qcom else 560
 </s> remove       out_msg.gnssMeasurements = {
        "gpsWeek": week,
        "gpsTimeOfWeek": tow,
        "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
 </s> add       msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), </s> remove                                         valid=kf_valid),
        "positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)),
        "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)),

        "measTime": gnss_mono_time,
        "correctedMeasurements": meas_msgs,
        "timeToFirstFix": self.ttff,
        "ephemerisStatuses": self.create_ephem_statuses(),
      }
 </s> add                                         valid=kf_valid)

    msg_dict['gpsWeek'] = self.last_report_time.week
    msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow
    msg_dict['timeToFirstFix'] = self.ttff
    msg_dict['ephemerisStatuses'] = self.create_ephem_statuses()
    out_msg.gnssMeasurements = msg_dict
      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
    return corrected_measurements

  def calc_fix(self, t, measurements):
    instant_fix = self.get_lsq_fix(t, measurements)
        corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog)
        instant_fix = self.get_lsq_fix(t, corrected_measurements)
        #instant_fix = self.get_lsq_fix(t, processed_measurements)
      else:
      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
    return corrected_measurements

  def calc_fix(self, t, measurements):
    instant_fix = self.get_lsq_fix(t, measurements)
      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
    return corrected_measurements

  def calc_fix(self, t, measurements):
    instant_fix = self.get_lsq_fix(t, measurements)
      if instant_fix is None:
        return None
      else:
        position_estimate, position_std, velocity_estimate, velocity_std = instant_fix
        self.last_fix_t = t
keep keep keep keep replace replace keep keep keep keep keep
 Laika cleaner flow (#27633)

* laika flow

* test fixes

* unexpected type

* unexpected type

* explicit type

* ref commit

* back to prev val

* ref 2 
selfdrive/locationd/laikad.py