  }
  
  void Localizer::update_reset_tracker() {
    // reset tracker is tuned to trigger when over 1reset/10s over 2min period
    if (this->isGpsOK()) {
      this->reset_tracker *= .99995;
    } else {
      this->reset_tracker = 0.0;
    }
  }
  
 
</s> remove bool Localizer::isGpsOK() {
 </s> add bool Localizer::is_gps_ok() {
  if (this->is_gps_ok()) {
    this->reset_tracker *= DECAY;
  }
  
  void Localizer::update_reset_tracker() {
    // reset tracker is tuned to trigger when over 1reset/10s over 2min period
  if (this->is_gps_ok()) {
    this->reset_tracker *= DECAY;
  if (this->is_gps_ok()) {
    this->reset_tracker *= DECAY;
    } else {
      this->reset_tracker = 0.0;
    }
  }
  
keep keep keep keep replace replace keep 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