      self.valid = True
  
    def handle_log(self, t, which, msg):
      if which == 'liveLocationKalman':
        yaw_rate = msg.angularVelocityCalibrated.value[2]
        yaw_rate_std = msg.angularVelocityCalibrated.std[2]
  
        localizer_roll = msg.orientationNED.value[0]
        localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
        roll_valid = msg.orientationNED.valid and ROLL_MIN < localizer_roll < ROLL_MAX
        if roll_valid:
 
</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 </s> remove       liveParameters.sensorValid = True
 </s> add       liveParameters.sensorValid = sensors_valid
      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
      self.valid = True
  
    def handle_log(self, t, which, msg):
      if which == 'liveLocationKalman':
      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
  
        localizer_roll = msg.orientationNED.value[0]
        localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
        roll_valid = msg.orientationNED.valid and ROLL_MIN < localizer_roll < ROLL_MAX
        if roll_valid:
keep keep keep keep replace 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