From 2aeb766007792f9bee6dd5f83e96b87cd251aed0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 19 Feb 2025 22:42:48 -0800
Subject: [PATCH] Fixes

---
 selfdrive/locationd/lagd.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index ea6d777723..566ed92a0e 100644
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -91,10 +91,10 @@ class BaseLagEstimator:
     if with_points:
       liveActuatorDelay.points = [p for p in zip(self.curvature, self.desired_curvature)]
 
-    return steer_actuation_delay, steer_correlation, okay_count, is_estimated
+    return msg
 
 
-class LagEstimator(ParameterEstimator):
+class LagEstimator(BaseLagEstimator):
   def correlation_lags(self, sig_len, dt):
     return np.arange(0, sig_len) * dt