fix timestamps (#20029)

* fix timestamps

* nanoseconds

* update refs

selfdrive/locationd/locationd.py

@@ -240,6 +240,7 @@ class Localizer():
   def handle_sensors(self, current_time, log):
     # TODO does not yet account for double sensor readings in the log
     for sensor_reading in log:
+      sensor_time = 1e-9 * sensor_reading.timestamp
       # TODO: handle messages from two IMUs at the same time
       if sensor_reading.source == SensorSource.lsm6ds3:
         continue
@@ -249,7 +250,7 @@ class Localizer():
         self.gyro_counter += 1
         if self.gyro_counter % SENSOR_DECIMATION == 0:
           v = sensor_reading.gyroUncalibrated.v
-          self.update_kalman(current_time, ObservationKind.PHONE_GYRO, [-v[2], -v[1], -v[0]])
+          self.update_kalman(sensor_time, ObservationKind.PHONE_GYRO, [-v[2], -v[1], -v[0]])
 
       # Accelerometer
       if sensor_reading.sensor == 1 and sensor_reading.type == 1:
@@ -260,7 +261,7 @@ class Localizer():
         self.acc_counter += 1
         if self.acc_counter % SENSOR_DECIMATION == 0:
           v = sensor_reading.acceleration.v
-          self.update_kalman(current_time, ObservationKind.PHONE_ACCEL, [-v[2], -v[1], -v[0]])
+          self.update_kalman(sensor_time, ObservationKind.PHONE_ACCEL, [-v[2], -v[1], -v[0]])
 
   def handle_live_calib(self, current_time, log):
     if len(log.rpyCalib):

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-defb3dc7205a3d501829f4a780241dfb97132025
+0e2d73270816b93dfbd4c2f673591a7ba492edac