  #include "models/live_kf.h"
  
  #define POSENET_STD_HIST_HALF 20
  
  class Localizer {
  public:
    Localizer();
 
</s> remove SENSOR_DECIMATION = 1
VISION_DECIMATION = 1
 </s> add SENSOR_DECIMATION = 10
VISION_DECIMATION = 2 </s> remove   this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgoRaw()).finished() });
  this->car_speed = std::abs(log.getVEgo());
  if (this->car_speed < 1e-3) {
    this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
 </s> add   this->speed_counter++;

  if (this->speed_counter % SENSOR_DECIMATION == 0) {
    this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgoRaw()).finished() });
    this->car_speed = std::abs(log.getVEgo());
    if (this->car_speed < 1e-3) {
      this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
    } </s> remove       auto v = sensor_reading.getGyroUncalibrated().getV();
      this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { Vector3d(-v[2], -v[1], -v[0]) });
 </s> add       this->gyro_counter++;
      if (this->gyro_counter % SENSOR_DECIMATION == 0) {
        auto v = sensor_reading.getGyroUncalibrated().getV();
        this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { Vector3d(-v[2], -v[1], -v[0]) });
      } </s> remove   this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
    { (VectorXd(rot_device.rows() + rot_device_std.rows()) << rot_device, rot_device_std).finished() });
  this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
    { (VectorXd(trans_device.rows() + trans_device_std.rows()) << trans_device, trans_device_std).finished() });
 </s> add     trans_device_std *= 10.0;
    this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION,
      { (VectorXd(trans_device.rows() + trans_device_std.rows()) << trans_device, trans_device_std).finished() });
  } </s> remove       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { Vector3d(-v[2], -v[1], -v[0]) });
 </s> add       this->acc_counter++;
      if (this->acc_counter % SENSOR_DECIMATION == 0) {
        this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { Vector3d(-v[2], -v[1], -v[0]) });
      }
#define VISION_DECIMATION 2
#define SENSOR_DECIMATION 10

  #include "models/live_kf.h"
  
#define VISION_DECIMATION 2
#define SENSOR_DECIMATION 10

  #define POSENET_STD_HIST_HALF 20
  
  class Localizer {
  public:
    Localizer();
keep add keep keep keep keep keep
 Revert "Locationd 100hz (#20759)" (#20797)

* Revert "Locationd 100hz (#20759)"

This reverts commit 333313cf0e6819767d8dcc4a55bea70f0354579f.

* new ref 
selfdrive/locationd/locationd.h