    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);
    VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_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();
    //ned_vel_std = self.converter->ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter->ecef2ned(fix_ecef + vel_ecef)
  
 
</s> remove       auto orientation = location.getCalibratedOrientationNED();
 </s> add       auto orientation = location.getOrientationNED(); </s> remove   init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated);
 </s> add 
    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();
    //ned_vel_std = self.converter->ecef2ned(fix_ecef + vel_ecef + vel_ecef_std) - self.converter->ecef2ned(fix_ecef + vel_ecef)
  
keep keep keep keep replace keep keep keep keep keep
 Revert "nav: use calibrated orientation (#21853)"

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