    else {
      this->orientation_reset_count = 0;
    }
  
    if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
      // always reset on first gps message and if the location is off but the accuracy is high
      LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset");
      this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
    } else if (orientation_reset_count > GPS_ORIENTATION_ERROR_RESET_CNT) {
      LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset");
 
</s> remove         self.qcom_reports = [gnss_msg]
 </s> add         self.qcom_reports = [report] </s> remove   if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) {
 </s> add   if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { </s> remove   bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD;
 </s> add   bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD; </s> remove   } else if (log.isGnssMeasurements()) {
    this->handle_gnss(t, log.getGnssMeasurements());
 </s> add   } else if (log.isGpsLocation()) {
    this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET);
  } else if (log.isGpsLocationExternal()) {
    this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET);
  //} else if (log.isGnssMeasurements()) {
  //  this->handle_gnss(t, log.getGnssMeasurements());
  if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
    else {
      this->orientation_reset_count = 0;
    }
  
  if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
      // always reset on first gps message and if the location is off but the accuracy is high
      LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset");
      this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
    } else if (orientation_reset_count > GPS_ORIENTATION_ERROR_RESET_CNT) {
      LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset");
keep keep keep keep replace keep keep keep keep keep
 Revert laikad llk (#29535)

* Revert "bump laika (#29522)"

This reverts commit 3523bef732316b534de66dcb9e7d29e53e37e99f.

* Revert "Locationd: switch to laikad (#29278)"

This reverts commit fd3b8a3d7511ad3d7c5aa0b82a1e2c28505e5a7f. 
selfdrive/locationd/locationd.cc