    double ttff = NAN;
    double last_gps_msg = 0;
    bool observation_timings_invalid = false;
    std::map<std::string, double> observation_values_invalid;
    bool standstill = true;
    int32_t orientation_reset_count = 0;
    float gps_std_factor;
    float gps_variance_factor;
 
</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   SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"});
 </s> add   SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"}); </s> remove   auto ecef_vel_std = log.getVelocityECEF().getStd();
  VectorXd ecef_vel_var = Vector3d(ecef_vel_std[0], ecef_vel_std[1], ecef_vel_std[2]).array().square().matrix();
  double ecef_vel_std_norm = std::sqrt(ecef_vel_var.sum());
  MatrixXdr ecef_vel_R = ecef_vel_var.asDiagonal();
 </s> add   // indexed at 0 cause all std values are the same MAE
  auto ecef_vel_std = log.getVelocityECEF().getStd()[0];
  MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal(); </s> remove   auto ecef_pos_std = log.getPositionECEF().getStd();
  VectorXd ecef_pos_var = Vector3d(ecef_pos_std[0], ecef_pos_std[1], ecef_pos_std[2]).array().square().matrix();
  double ecef_pos_std_norm = std::sqrt(ecef_pos_var.sum());
  MatrixXdr ecef_pos_R = ecef_pos_var.asDiagonal();
 </s> add   // indexed at 0 cause all std values are the same MAE
  auto ecef_pos_std = log.getPositionECEF().getStd()[0];
  MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal();
  LocalizerGnssSource gnss_source;
    double ttff = NAN;
    double last_gps_msg = 0;
  LocalizerGnssSource gnss_source;
    bool observation_timings_invalid = false;
    std::map<std::string, double> observation_values_invalid;
    bool standstill = true;
    int32_t orientation_reset_count = 0;
    float gps_std_factor;
    float gps_variance_factor;
keep add keep 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