  
      if P_initial is not None:
        self.P_initial = P_initial
      # init filter
      self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
  
  
  if __name__ == "__main__":
    generated_dir = sys.argv[2]
    CarKalman.generate_code(generated_dir)
 
</s> remove   def __init__(self, generated_dir):
 </s> add   def __init__(self, generated_dir, cython=False): </s> remove     self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
                          self.dim_state, maha_test_kinds=self.maha_test_kinds)
 </s> add     filter_cls = EKF_sym_pyx if cython else EKF_sym
    self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
                             self.dim_state, maha_test_kinds=self.maha_test_kinds) </s> remove   from rednose.helpers.ekf_sym_pyx import EKF_sym  # pylint: disable=no-name-in-module, import-error
 </s> add   from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module, import-error </s> remove from rednose.helpers.ekf_sym import EKF_sym, gen_code
 </s> add 
    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
  
      if P_initial is not None:
        self.P_initial = P_initial
      # init filter
    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
  
  
  if __name__ == "__main__":
    generated_dir = sys.argv[2]
    CarKalman.generate_code(generated_dir)
keep keep keep keep replace keep keep keep keep keep
 Update rednose: use EKF_sym_pyx (#24978)

* Update rednose

* Update rednose

* cleanup 
selfdrive/locationd/models/car_kf.py