  
    int64_t unix_timestamp_millis = 0;
    double last_gps_fix = 0;
    bool device_fell = false;
  };
 
</s> remove   VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt();
 </s> add   VectorXd vel_calib_std = ((this->calib_from_device * vel_device_cov) * 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   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 SENSOR_DECIMATION = 1
VISION_DECIMATION = 1
 </s> add SENSOR_DECIMATION = 10
VISION_DECIMATION = 2
  int gyro_counter = 0;
  int acc_counter = 0;
  int speed_counter = 0;
  int cam_counter = 0;
  
    int64_t unix_timestamp_millis = 0;
    double last_gps_fix = 0;
    bool device_fell = false;
  int gyro_counter = 0;
  int acc_counter = 0;
  int speed_counter = 0;
  int cam_counter = 0;
  };
keep keep keep add keep
 Revert "Locationd 100hz (#20759)" (#20797)

* Revert "Locationd 100hz (#20759)"

This reverts commit 333313cf0e6819767d8dcc4a55bea70f0354579f.

* new ref 
selfdrive/locationd/locationd.h