diff --git a/release/files_common b/release/files_common
index 67b67d348f..825b7912c4 100644
--- a/release/files_common
+++ b/release/files_common
@@ -243,6 +243,15 @@ selfdrive/locationd/ublox_msg.cc
 selfdrive/locationd/ublox_msg.h
 selfdrive/locationd/test/*.py
 
+selfdrive/locationd/locationd.py
+selfdrive/locationd/kalman/.gitignore
+selfdrive/locationd/kalman/__init__.py
+selfdrive/locationd/kalman/README.md
+selfdrive/locationd/kalman/SConscript
+selfdrive/locationd/kalman/templates/*
+selfdrive/locationd/kalman/helpers/*
+selfdrive/locationd/kalman/models/live_kf.py
+
 selfdrive/locationd/calibrationd.py
 selfdrive/locationd/calibration_helpers.py
 
diff --git a/selfdrive/locationd/kalman/helpers/__init__.py b/selfdrive/locationd/kalman/helpers/__init__.py
index b2e3cbb430..5ac7fb3f28 100644
--- a/selfdrive/locationd/kalman/helpers/__init__.py
+++ b/selfdrive/locationd/kalman/helpers/__init__.py
@@ -157,7 +157,7 @@ def run_observations_through_filter(kf, observations, filter_time=None):
 
 def save_residuals_plot(obs, save_path, data_name):
   import matplotlib.pyplot as plt
-  import mpld3
+  import mpld3  # pylint: disable=import-error
   fig = plt.figure(figsize=(10,20))
   fig.suptitle('Residuals of ' + data_name, fontsize=24)
   n = len(list(obs.keys()))
diff --git a/selfdrive/locationd/kalman/helpers/feature_handler.py b/selfdrive/locationd/kalman/helpers/feature_handler.py
index d1fad727b5..74eb531f5a 100755
--- a/selfdrive/locationd/kalman/helpers/feature_handler.py
+++ b/selfdrive/locationd/kalman/helpers/feature_handler.py
@@ -118,7 +118,7 @@ class FeatureHandler():
 
 def generate_orient_error_jac(K):
   import sympy as sp
-  from common.sympy_helpers import quat_rotate
+  from selfdrive.locationd.kalman.helpers.sympy_helpers import quat_rotate
 
   x_sym = sp.MatrixSymbol('abr', 3, 1)
   dtheta = sp.MatrixSymbol('dtheta', 3, 1)
diff --git a/selfdrive/locationd/kalman/models/live_kf.py b/selfdrive/locationd/kalman/models/live_kf.py
index ea7fc42380..1ee8d74ac0 100755
--- a/selfdrive/locationd/kalman/models/live_kf.py
+++ b/selfdrive/locationd/kalman/models/live_kf.py
@@ -214,9 +214,6 @@ class LiveKalman():
   def P(self):
     return self.filter.covs()
 
-  def predict(self, t):
-    return self.filter.predict(t)
-
   def rts_smooth(self, estimates):
     return self.filter.rts_smooth(estimates, norm_quats=True)
 
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index 6c7eac3d55..3cf9560d67 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 import math
-from bisect import bisect_right
 
 import numpy as np
 
diff --git a/selfdrive/manager.py b/selfdrive/manager.py
index 2fba4d9491..0d8efc8d36 100755
--- a/selfdrive/manager.py
+++ b/selfdrive/manager.py
@@ -142,6 +142,7 @@ managed_processes = {
   "ubloxd": ("selfdrive/locationd", ["./ubloxd"]),
   "loggerd": ("selfdrive/loggerd", ["./loggerd"]),
   "logmessaged": "selfdrive.logmessaged",
+  "locationd": "selfdrive.locationd.locationd",
   "tombstoned": "selfdrive.tombstoned",
   "logcatd": ("selfdrive/logcatd", ["./logcatd"]),
   "proclogd": ("selfdrive/proclogd", ["./proclogd"]),
@@ -204,6 +205,7 @@ car_started_processes = [
   'modeld',
   'proclogd',
   'ubloxd',
+  'locationd',
 ]
 if ANDROID:
   car_started_processes += [