      self.active = False
  
      self.speed = 0.0
      self.roll = 0.0
      self.steering_pressed = False
      self.steering_angle = 0.0
  
 
</s> remove       yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
      yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s
 </s> add       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s </s> remove       liveParameters.sensorValid = True
 </s> add       liveParameters.sensorValid = sensors_valid </s> remove       yaw_rate = msg.angularVelocityCalibrated.value[2]
      yaw_rate_std = msg.angularVelocityCalibrated.std[2]
 </s> add       self.yaw_rate = msg.angularVelocityCalibrated.value[2]
      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
    self.yaw_rate = 0.0
    self.yaw_rate_std = 0.0
      self.active = False
  
      self.speed = 0.0
    self.yaw_rate = 0.0
    self.yaw_rate_std = 0.0
      self.roll = 0.0
      self.steering_pressed = False
      self.steering_angle = 0.0
  
keep keep add keep keep keep keep
 Lateral Acceleration Error alert (Sensor Invalid) (#25291)

* sensor flag in paramsd

* increase lateral acc err alert threshold

* add invalid sensor alert from paramsd

* update ref, bool before adding to msg

* account for sign difference in locationd and paramsd

* revert ref 
selfdrive/locationd/paramsd.py