      localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
  
      if (localizer_valid) {
        auto pos = location.getPositionGeodetic();
        auto orientation = location.getCalibratedOrientationNED();
  
        float velocity = location.getVelocityCalibrated().getValue()[0];
        float bearing = RAD2DEG(orientation.getValue()[2]);
        auto coordinate = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
  
 
</s> remove   VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_orientation_ecef);
 </s> add  </s> remove   init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated);
 </s> add 
      auto orientation = location.getOrientationNED();
      localizer_valid = location.getStatus() == cereal::LiveLocationKalman::Status::VALID;
  
      if (localizer_valid) {
        auto pos = location.getPositionGeodetic();
      auto orientation = location.getOrientationNED();
  
        float velocity = location.getVelocityCalibrated().getValue()[0];
        float bearing = RAD2DEG(orientation.getValue()[2]);
        auto coordinate = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
  
keep keep keep keep replace keep keep keep keep keep
 Revert "nav: use calibrated orientation (#21853)"

This reverts commit 4b209f31a11546a3a56032558c656c2aa0b3175f. 
selfdrive/ui/qt/maps/map.cc