locationd: initial value for gps_std_factor (#28533)

* setup_gps method

* Add LocalizerGnssSource

* slight refactor

* make it more readable

* Move gnss_source initialization to configure_gnss_souce

* Add gps_variance_factor, gps_vertical_variance_factor and gps_time_offset

* add header changes
old-commit-hash: 242e8d2ca879665a0dbbf49ea291b86d4f62461d

selfdrive/locationd/locationd.h

@@ -21,10 +21,13 @@
 
 #define POSENET_STD_HIST_HALF 20
 
+enum LocalizerGnssSource {
+  UBLOX, QCOM
+};
+
 class Localizer {
 public:
-  Localizer();
-  Localizer(bool has_ublox);
+  Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX);
 
   int locationd_thread();
 
@@ -81,10 +84,15 @@ private:
   double first_valid_log_time = NAN;
   double ttff = NAN;
   double last_gps_msg = 0;
-  bool ublox_available = true;
+  LocalizerGnssSource gnss_source;
   bool observation_timings_invalid = false;
   std::map<std::string, double> observation_values_invalid;
   bool standstill = true;
   int32_t orientation_reset_count = 0;
   float gps_std_factor;
+  float gps_variance_factor;
+  float gps_vertical_variance_factor;
+  double gps_time_offset;
+
+  void configure_gnss_source(LocalizerGnssSource source);
 };