    MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose();
    VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt();
  
    VectorXd vel_calib = this->calib_from_device * vel_device;
    VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt();
  
    VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef);
    //orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned
    VectorXd nextfix_ecef = fix_ecef + vel_ecef;
    VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector();
 
</s> remove   MatrixXdr vel_angular_cov = predicted_cov.block<STATE_ANGULAR_VELOCITY_ERR_LEN, STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START);
  VectorXd ang_vel_calib_std = rotate_cov(this->calib_from_device, vel_angular_cov).diagonal().array().sqrt();
 </s> add   MatrixXdr vel_angular_err = predicted_cov.block<STATE_ANGULAR_VELOCITY_ERR_LEN, STATE_ANGULAR_VELOCITY_ERR_LEN>(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START);
  VectorXd ang_vel_calib_std = ((this->calib_from_device * vel_angular_err) * this->calib_from_device.transpose()).diagonal().array().sqrt(); </s> remove   MatrixXdr acc_calib_cov = predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START);
  VectorXd acc_calib_std = rotate_cov(this->calib_from_device, acc_calib_cov).diagonal().array().sqrt();
 </s> add   VectorXd acc_calib_std = ((this->calib_from_device * predicted_cov.block<STATE_ACCELERATION_ERR_LEN, STATE_ACCELERATION_ERR_LEN>(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START)) * this->calib_from_device.transpose()).diagonal().array().sqrt(); </s> remove   VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
 </s> add   if (this->cam_counter % VISION_DECIMATION == 0) {
    VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
    VectorXd rot_device_std = (this->device_from_calib * floatlist2vector(log.getRotStd())) * 10.0;
    this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION,
      { (VectorXd(rot_device.rows() + rot_device_std.rows()) << rot_device, rot_device_std).finished() }); </s> remove   VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
 </s> add   this->cam_counter++; </s> remove   this->posenet_stds.pop_front();
  this->posenet_stds.push_back(trans_calib_std[0]);
 </s> add     VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
    VectorXd trans_device_std = this->device_from_calib * floatlist2vector(log.getTransStd());
  VectorXd vel_calib_std = ((this->calib_from_device * vel_device_cov) * this->calib_from_device.transpose()).diagonal().array().sqrt();
    MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose();
    VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt();
  
    VectorXd vel_calib = this->calib_from_device * vel_device;
  VectorXd vel_calib_std = ((this->calib_from_device * vel_device_cov) * this->calib_from_device.transpose()).diagonal().array().sqrt();
  
    VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef);
    //orientation_ned_std = ned_euler_from_ecef(fix_ecef, orientation_ecef + orientation_ecef_std) - orientation_ned
    VectorXd nextfix_ecef = fix_ecef + vel_ecef;
    VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector();
keep keep keep keep replace keep keep keep keep keep
 Revert "Locationd 100hz (#20759)" (#20797)

* Revert "Locationd 100hz (#20759)"

This reverts commit 333313cf0e6819767d8dcc4a55bea70f0354579f.

* new ref 
selfdrive/locationd/locationd.cc