  
  
  class Localizer():
    def __init__(self, disabled_logs=[], dog=None):
      self.kf = LocKalman(0)
      self.reset_kalman()
      if dog:
        self.dog = dog
      else:
        self.dog = AstroDog(auto_update=True)
 
</s> remove     if dog:
      self.dog = dog
    else:
      self.dog = AstroDog(auto_update=True)
 </s> add  </s> remove     #print len(self.observation_buffer), idx, self.kf.filter.filter_time, time
 </s> add  </s> remove 
class LiveKalman():
  def __init__(self, N=0, max_tracks=3000):
    x_initial = np.array([-2.7e6, 4.2e6, 3.8e6,
                          1, 0, 0, 0,
                          0, 0, 0,
                          0, 0, 0,
                          0, 0, 0,
                          1,
                          0, 0, 0,
                          0, 0, 0])

    # state covariance
    P_initial = np.diag([10000**2, 10000**2, 10000**2,
 </s> add initial_x = np.array([-2.7e6, 4.2e6, 3.8e6,
                       1, 0, 0, 0,
                       0, 0, 0,
                       0, 0, 0,
                       0, 0, 0,
                       1,
                       0, 0, 0,
                       0, 0, 0])


# state covariance
initial_P_diag = np.array([10000**2, 10000**2, 10000**2, </s> remove import laika.raw_gnss as gnss
from laika.astro_dog import AstroDog

from selfdrive.locationd.kalman.loc_kf import LocKalman
 </s> add from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag
    self.kf = LiveKalman()
  
  
  class Localizer():
    def __init__(self, disabled_logs=[], dog=None):
    self.kf = LiveKalman()
      self.reset_kalman()
      if dog:
        self.dog = dog
      else:
        self.dog = AstroDog(auto_update=True)
keep keep keep keep replace keep keep keep keep keep
 get ready for live localizer 
selfdrive/locationd/locationd.py