    init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
    init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, true);
    init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated);
    init_measurement(fix.initOrientationNED(), orientation_ned, nans, true);
    init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated);
    init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
    init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
    init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
    init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
  
 
</s> remove       auto orientation = location.getCalibratedOrientationNED();
 </s> add       auto orientation = location.getOrientationNED(); </s> remove   VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_orientation_ecef);
 </s> add 
    init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true);
    init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, true);
    init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated);
    init_measurement(fix.initOrientationNED(), orientation_ned, nans, true);

    init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true);
    init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
    init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
    init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
  
keep keep keep keep replace keep keep keep keep keep
 Revert "nav: use calibrated orientation (#21853)"

This reverts commit 4b209f31a11546a3a56032558c656c2aa0b3175f. 
selfdrive/locationd/locationd.cc