      try:
        msg = messaging.new_message(name)
      except capnp.lib.capnp.KjException:
        msg = messaging.new_message(name, 0)
      if name == "gnssMeasurements":
        msg.gnssMeasurements.measTime = t
        msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
        msg.gnssMeasurements.positionECEF.std = [0,0,0]
        msg.gnssMeasurements.positionECEF.valid = True
        msg.gnssMeasurements.velocityECEF.value = []
        msg.gnssMeasurements.velocityECEF.std = [0,0,0]
        msg.gnssMeasurements.velocityECEF.valid = True
      elif name == 'cameraOdometry':
        msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
        msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
        msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
        msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
 
</s> remove         self.qcom_reports.append(gnss_msg)
 </s> add         self.qcom_reports.append(report) </s> remove         self.qcom_reports = [gnss_msg]
 </s> add         self.qcom_reports = [report]
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
      try:
        msg = messaging.new_message(name)
      except capnp.lib.capnp.KjException:
        msg = messaging.new_message(name, 0)
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
    if name == "gpsLocationExternal":
      msg.gpsLocationExternal.flags = 1
      msg.gpsLocationExternal.verticalAccuracy = 1.0
      msg.gpsLocationExternal.speedAccuracy = 1.0
      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
      msg.gpsLocationExternal.latitude = float(self.lat)
      msg.gpsLocationExternal.longitude = float(self.lon)
      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
      msg.gpsLocationExternal.altitude = float(self.alt)
    #if name == "gnssMeasurements":
    #  msg.gnssMeasurements.measTime = t
    #  msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
    #  msg.gnssMeasurements.positionECEF.std = [0,0,0]
    #  msg.gnssMeasurements.positionECEF.valid = True
    #  msg.gnssMeasurements.velocityECEF.value = []
    #  msg.gnssMeasurements.velocityECEF.std = [0,0,0]
    #  msg.gnssMeasurements.velocityECEF.valid = True
      elif name == 'cameraOdometry':
        msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
        msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
        msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
        msg.cameraOdometry.transStd = [0.0, 0.0, 0.0]
keep keep keep keep replace replace replace replace replace replace replace replace 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/test/test_locationd.py