    void handle_msg(const cereal::Event::Reader& log);
    void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
    void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
    void handle_car_state(double current_time, const cereal::CarState::Reader& log);
    void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
    void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
  
 
</s> remove   Localizer();
 </s> add   Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); </s> remove const float  GPS_POS_STD_RESET_THRESHOLD = 10.0;
const float  GPS_VEL_STD_RESET_THRESHOLD = 1.0;
 </s> add const float  GPS_POS_STD_RESET_THRESHOLD = 2.0;
const float  GPS_VEL_STD_RESET_THRESHOLD = 0.5; </s> remove   const std::initializer_list<const char *> service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration",
 </s> add   LocalizerGnssSource source;
  const char* gps_location_socket;
  if (Params().getBool("UbloxAvailable")) {
    source = LocalizerGnssSource::UBLOX;
    gps_location_socket = "gpsLocationExternal";
  } else {
    source = LocalizerGnssSource::QCOM;
    gps_location_socket = "gpsLocation";
  }

  this->configure_gnss_source(source);
  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
    void handle_msg(const cereal::Event::Reader& log);
    void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
    void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
    void handle_car_state(double current_time, const cereal::CarState::Reader& log);
    void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
    void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
  
keep add 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.h