      auto meas = Vector3d(-v[2], -v[1], -v[0]);
      if (meas.norm() < ACCEL_SANITY_CHECK) {
        this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
      }
    }
  }
  
  void Localizer::input_fake_gps_observations(double current_time) {
    // This is done to make sure that the error estimate of the position does not blow up
 
</s> remove bool Localizer::isGpsOK() {
 </s> add bool Localizer::is_gps_ok() { </s> remove   if (this->isGpsOK()) {
    this->reset_tracker *= .99995;
 </s> add   if (this->is_gps_ok()) {
    this->reset_tracker *= DECAY;
      this->observation_values_invalid["accelerometer"] *= DECAY;
    }
    else{
      this->observation_values_invalid["accelerometer"] += 1.0;
      auto meas = Vector3d(-v[2], -v[1], -v[0]);
      if (meas.norm() < ACCEL_SANITY_CHECK) {
        this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
      this->observation_values_invalid["accelerometer"] *= DECAY;
    }
    else{
      this->observation_values_invalid["accelerometer"] += 1.0;
      }
    }
  }
  
  void Localizer::input_fake_gps_observations(double current_time) {
    // This is done to make sure that the error estimate of the position does not blow up
keep keep add keep 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