nav: use calibrated orientation (#21853)

* calibrate map

* msg added

selfdrive/locationd/locationd.cc

@@ -114,6 +114,7 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   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();
@@ -137,6 +138,7 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   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);

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-658824c1198bd9e4c2b2c6d1c9de9bcae04c7057
+db2abbe672c77bb7fbf904f195174cbfe9fc6f27

selfdrive/ui/qt/maps/map.cc

@@ -129,7 +129,7 @@ void MapWindow::timerUpdate() {
 
     if (localizer_valid) {
       auto pos = location.getPositionGeodetic();
-      auto orientation = location.getOrientationNED();
+      auto orientation = location.getCalibratedOrientationNED();
 
       float velocity = location.getVelocityCalibrated().getValue()[0];
       float bearing = RAD2DEG(orientation.getValue()[2]);