    poller = zmq.Poller()
  
    #carstate = messaging.sub_sock('carState', poller, addr=addr, conflate=True)
    gpsLocationExternal = messaging.sub_sock('gpsLocationExternal', poller, addr=addr, conflate=True)
    ubloxGnss = messaging.sub_sock('ubloxGnss', poller, addr=addr, conflate=True)
    qcomGnss = messaging.sub_sock('qcomGnss', poller, addr=addr, conflate=True)
    sensorEvents = messaging.sub_sock('sensorEvents', poller, addr=addr, conflate=True)
  
    liveLocation = messaging.pub_sock('liveLocation')
  
    localizer = Localizer(disabled_logs=disabled_logs)
 
</s> remove def locationd_thread(gctx, addr, disabled_logs):
 </s> add def locationd_thread(gctx, addr, disabled_logs=[]): </s> remove     self.raw_gnss_counter = 0
 </s> add  </s> remove     fix.speed = float(np.linalg.norm(predicted_state[7:10]))
 </s> add     fix.speed = float(np.linalg.norm(predicted_state[States.ECEF_VELOCITY])) </s> remove     fix_ecef = predicted_state[0:3]
 </s> add     fix_ecef = predicted_state[States.ECEF_POS]
    poller = zmq.Poller()
  
    #carstate = messaging.sub_sock('carState', poller, addr=addr, conflate=True)
    gpsLocationExternal = messaging.sub_sock('gpsLocationExternal', poller, addr=addr, conflate=True)


    sensorEvents = messaging.sub_sock('sensorEvents', poller, addr=addr, conflate=True)
  
    liveLocation = messaging.pub_sock('liveLocation')
  
    localizer = Localizer(disabled_logs=disabled_logs)
keep keep keep keep replace replace keep keep keep keep keep
 get ready for live localizer 
selfdrive/locationd/locationd.py