  
  MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
  ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
  ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
  
  class ParamsLearner:
    def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None):
      self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset, P_initial)
 
</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] </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
LATERAL_ACC_SENSOR_THRESHOLD = 4.0

  
  MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
  ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
  ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
LATERAL_ACC_SENSOR_THRESHOLD = 4.0

  
  class ParamsLearner:
    def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None):
      self.kf = CarKalman(GENERATED_DIR, steer_ratio, stiffness_factor, angle_offset, P_initial)
keep 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