      fix.accel = [float(predicted_state[19]), float(predicted_state[20]), float(predicted_state[21])]
      local_vel = rotations_from_quats(predicted_state[3:7]).T.dot(predicted_state[7:10])
      fix.pitchCalibration = float((np.arctan2(local_vel[2], local_vel[0]))*180/np.pi)
      fix.yawCalibration = float((np.arctan2(local_vel[1], local_vel[0]))*180/np.pi)
      fix.imuFrame = [(180/np.pi)*float(predicted_state[23]), (180/np.pi)*float(predicted_state[24]), (180/np.pi)*float(predicted_state[25])]
      return fix
  
  
    def update_kalman(self, time, kind, meas):
      idx = bisect_right([x[0] for x in self.observation_buffer], time)
 
</s> remove     local_vel = rotations_from_quats(predicted_state[3:7]).T.dot(predicted_state[7:10])
 </s> add     local_vel = rotations_from_quats(predicted_state[States.ECEF_ORIENTATION]).T.dot(predicted_state[States.ECEF_VELOCITY]) </s> remove     #print len(self.observation_buffer), idx, self.kf.filter.filter_time, time
 </s> add  </s> remove     fix_ecef = predicted_state[0:3]
 </s> add     fix_ecef = predicted_state[States.ECEF_POS] </s> remove     self.filter = EKF_sym(name, Q, x_initial, P_initial, self.dim_state, self.dim_state_err)
 </s> add     self.filter = EKF_sym(name, Q, initial_x, np.diag(initial_P_diag), self.dim_state, self.dim_state_err) </s> remove     self.raw_gnss_counter = 0
 </s> add 
    #fix.imuFrame = [(180/np.pi)*float(predicted_state[23]), (180/np.pi)*float(predicted_state[24]), (180/np.pi)*float(predicted_state[25])]
      fix.accel = [float(predicted_state[19]), float(predicted_state[20]), float(predicted_state[21])]
      local_vel = rotations_from_quats(predicted_state[3:7]).T.dot(predicted_state[7:10])
      fix.pitchCalibration = float((np.arctan2(local_vel[2], local_vel[0]))*180/np.pi)
      fix.yawCalibration = float((np.arctan2(local_vel[1], local_vel[0]))*180/np.pi)
    #fix.imuFrame = [(180/np.pi)*float(predicted_state[23]), (180/np.pi)*float(predicted_state[24]), (180/np.pi)*float(predicted_state[25])]
      return fix
  
  
    def update_kalman(self, time, kind, meas):
      idx = bisect_right([x[0] for x in self.observation_buffer], time)
keep keep keep keep replace keep keep keep keep keep
 get ready for live localizer 
selfdrive/locationd/locationd.py