improvements

log.capnp

@@ -792,6 +792,9 @@ struct PathPlan {
 
 struct LiveLocationKalman {
 
+  # More info on reference frames: 
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+
   positionECEF @0 : Measurement;
   positionGeodetic @1 : Measurement;
   velocityECEF @2 : Measurement;
@@ -805,14 +808,30 @@ struct LiveLocationKalman {
   orientationECEF @6 : Measurement;
   orientationNED @7 : Measurement;
   angularVelocityDevice @8 : Measurement;
-
-  gpsWeek @9 :Int32;
-  gpsTimeOfWeek @10 :Float64;
+
+  # orientationNEDCalibrated transforms to rot matrix: NED_from_calibrated
+  orientationNEDCalibrated @9 : Measurement;
+
+  # Calibrated frame is simply device frame
+  # aligned with the vehicle
+  velocityCalibrated @10 : Measurement;
+  accelerationCalibrated @11 : Measurement;
+  angularVelocityCalibrated @12 : Measurement;
+
+  gpsWeek @13 :Int32;
+  gpsTimeOfWeek @14 :Float64;
+  status @15 :Status;
+
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
+  }
 
   struct Measurement {
-    val @0 : List(float64);
-    std @1 : List(float64);
-
+    val @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
   }
 }