From bdd769b9554e7e45e976dabd6595403943e864bb Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 27 Jun 2022 16:37:14 +0200
Subject: [PATCH] laikad: use cython version of gnss kf

---
 selfdrive/locationd/laikad.py         | 2 +-
 selfdrive/locationd/models/gnss_kf.py | 8 ++++++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index ba665b7530..20a4dc97f1 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -138,7 +138,7 @@ class Laikad:
       self.gnss_kf.predict(t)
 
   def kf_valid(self, t: float) -> List[bool]:
-    filter_time = self.gnss_kf.filter.filter_time
+    filter_time = self.gnss_kf.filter.get_filter_time()
     return [filter_time is not None,
             filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
             all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py
index ce0ff84dc2..f4be889c73 100755
--- a/selfdrive/locationd/models/gnss_kf.py
+++ b/selfdrive/locationd/models/gnss_kf.py
@@ -3,12 +3,16 @@ import sys
 from typing import List
 
 import numpy as np
-import sympy as sp
 
-from rednose.helpers.ekf_sym import EKF_sym, gen_code
 from selfdrive.locationd.models.constants import ObservationKind
 from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
 
+if __name__ == '__main__':  # Generating sympy
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym  # pylint: disable=no-name-in-module
+
 
 class States():
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters