  class Localizer():
    def __init__(self, disabled_logs=[], dog=None):
      self.kf = LocKalman(0)
      self.reset_kalman()
      if dog:
        self.dog = dog
      else:
        self.dog = AstroDog(auto_update=True)
      self.max_age = .2  # seconds
      self.disabled_logs = disabled_logs
      self.week = None
  
    def liveLocationMsg(self, time):
 
</s> remove     self.kf = LocKalman(0)
 </s> add     self.kf = LiveKalman() </s> remove     fix_ecef = predicted_state[0:3]
 </s> add     fix_ecef = predicted_state[States.ECEF_POS] </s> remove     self.raw_gnss_counter = 0
 </s> add  </s> remove   IN_CAR = os.getenv("IN_CAR", False)
  disabled_logs = os.getenv("DISABLED_LOGS", "").split(",")
  # No speed for now
  disabled_logs.append('carState')
  if IN_CAR:
    addr = "192.168.5.11"
  locationd_thread(gctx, addr, disabled_logs)
 </s> add   locationd_thread(gctx, addr)
  class Localizer():
    def __init__(self, disabled_logs=[], dog=None):
      self.kf = LocKalman(0)
      self.reset_kalman()




      self.max_age = .2  # seconds
      self.disabled_logs = disabled_logs
      self.week = None
  
    def liveLocationMsg(self, time):
keep keep keep keep replace replace replace replace keep keep keep keep keep
 get ready for live localizer 
selfdrive/locationd/locationd.py