Add paramsd Stdev to message (#22443)

* add STD to message

* use modified names for car_kf state stdev atttributes

* update refs

* add modofied cereal

* update refs

cereal

@@ -1 +1 @@
-Subproject commit d5a85fe5d7e97d0374bbb94b3d64aaf1ab9cee83
+Subproject commit 517fd56398c0d3ae4d0a142849b81e2f025d8572

selfdrive/locationd/paramsd.py

@@ -139,6 +139,7 @@ def main(sm=None, pm=None):
 
     if sm.updated['liveLocationKalman']:
       x = learner.kf.x
+      P = np.sqrt(learner.kf.P.diagonal())
       if not all(map(math.isfinite, x)):
         cloudlog.error("NaN in liveParameters estimate. Resetting to default values")
         learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
@@ -162,6 +163,10 @@ def main(sm=None, pm=None):
         0.2 <= msg.liveParameters.stiffnessFactor <= 5.0,
         min_sr <= msg.liveParameters.steerRatio <= max_sr,
       ))
+      msg.liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
+      msg.liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
+      msg.liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
+      msg.liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
 
       if sm.frame % 1200 == 0:  # once a minute
         params = {

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a69e0b5fe4f506b8b9d372bfa68d8a47cf105a3f
+d643d6ff47522e00d06035ab0cb9e14d1c0c0ae0