    this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
      { trans_device }, { trans_device_cov });
  }
  
  void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
    if (!this->is_timestamp_valid(current_time)) {
      this->observation_timings_invalid = true;
 
</s>
  this->observation_values_invalid["cameraOdometry"] *= DECAY;
    this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
      { trans_device }, { trans_device_cov });
  this->observation_values_invalid["cameraOdometry"] *= DECAY;
  }
  
  void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) {
    if (!this->is_timestamp_valid(current_time)) {
      this->observation_timings_invalid = true;
keep add 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