diff --git a/README.md b/README.md
index ec0efc67621992..d03e294394a27a 100644
--- a/README.md
+++ b/README.md
@@ -35,8 +35,7 @@ while 1:
 
 # in publisher
 pm = messaging.PubMaster(['sensorEvents'])
-dat = messaging.new_message()
-dat.init('sensorEvents', 1)
+dat = messaging.new_message('sensorEvents', size=1)
 dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}}
 pm.send('sensorEvents', dat)
 ```
diff --git a/car.capnp b/car.capnp
index 58ff3fb42e95cb..695f4a91bc47fd 100644
--- a/car.capnp
+++ b/car.capnp
@@ -127,6 +127,7 @@ struct CarState {
   steeringRateLimited @29 :Bool;    # if the torque is limited by the rate limiter
   stockAeb @30 :Bool;
   stockFcw @31 :Bool;
+  espDisabled @32 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -150,6 +151,10 @@ struct CarState {
 
   # which packets this state came from
   canMonoTimes @12: List(UInt64);
+  
+  # blindspot sensors
+  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
+  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
 
   struct WheelSpeeds {
     # optional wheel speeds
@@ -441,6 +446,7 @@ struct CarParams {
     noOutput @19;  # like silent but without silent CAN TXs
     hondaBoschHarness @20;
     volkswagenPq @21;
+    subaruLegacy @22;  # pre-Global platform
   }
 
   enum SteerControlType {
@@ -468,10 +474,21 @@ struct CarParams {
     fwdCamera @3;
     engine @4;
     unknown @5;
+    transmission @8; # Transmission Control Module
+    srs @9; # airbag
+    gateway @10; # can gateway
+    hud @11; # heads up display
+    combinationMeter @12; # instrument cluster
 
     # Toyota only
     dsu @6;
     apgs @7;
+
+    # Honda only
+    vsa @13; # Vehicle Stability Assist
+    programmedFuelInjection @14;
+    electricBrakeBooster @15;
+    shiftByWire @16;
   }
 
   enum FingerprintSource {
diff --git a/log.capnp b/log.capnp
index 46971d81a309e9..90e2ec4026268e 100644
--- a/log.capnp
+++ b/log.capnp
@@ -626,9 +626,11 @@ struct ModelData {
     brakeDisengageProb @2 :Float32;
     gasDisengageProb @3 :Float32;
     steerOverrideProb @4 :Float32;
+    desireState @5 :List(Float32);
   }
 
   struct LongitudinalData {
+    distances @2 :List(Float32);
     speeds @0 :List(Float32);
     accelerations @1 :List(Float32);
   }
@@ -790,6 +792,52 @@ 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;
+  velocityNED @3 : Measurement;
+  velocityDevice @4 : Measurement;
+  accelerationDevice @5: Measurement;
+
+
+  # These angles are all eulers and roll, pitch, yaw
+  # orientationECEF transforms to rot matrix: ecef_from_device
+  orientationECEF @6 : Measurement;
+  orientationNED @7 : Measurement;
+  angularVelocityDevice @8 : Measurement;
+  
+  # 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;
+  unixTimestampMillis @16 :Int64;
+  
+  enum Status {
+    uninitialized @0;
+    uncalibrated @1;
+    valid @2;
+  }
+
+  struct Measurement {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct LiveLocationData {
   status @0 :UInt8;
 
@@ -1877,6 +1925,16 @@ struct KalmanOdometry {
   rotStd @3 :List(Float32); # std rad/s in device frame
 }
 
+struct Sentinel {
+  enum SentinelType {
+    endOfSegment @0;
+    endOfRoute @1;
+    startOfSegment @2;
+    startOfRoute @3;
+  }
+  type @0 :SentinelType;
+}
+
 struct Event {
   # in nanoseconds?
   logMonoTime @0 :UInt64;
@@ -1933,7 +1991,7 @@ struct Event {
     gpsLocationExternal @48 :GpsLocationData;
     location @49 :LiveLocationData;
     uiNavigationEvent @50 :UiNavigationEvent;
-    liveLocationKalman @51 :LiveLocationData;
+    liveLocationKalmanDEPRECATED @51 :LiveLocationData;
     testJoystick @52 :Joystick;
     orbOdometry @53 :OrbOdometry;
     orbFeatures @54 :OrbFeatures;
@@ -1953,5 +2011,7 @@ struct Event {
     carParams @69: Car.CarParams;
     frontFrame @70: FrameData;
     dMonitoringState @71: DMonitoringState;
+    liveLocationKalman @72 :LiveLocationKalman;
+    sentinel @73 :Sentinel;
   }
 }
diff --git a/messaging/__init__.py b/messaging/__init__.py
index e5a004740dfaaa..b53d6fb7ab6247 100644
--- a/messaging/__init__.py
+++ b/messaging/__init__.py
@@ -19,10 +19,15 @@
 
 context = Context()
 
-def new_message():
+def new_message(service=None, size=None):
   dat = log.Event.new_message()
   dat.logMonoTime = int(sec_since_boot() * 1e9)
   dat.valid = True
+  if service is not None:
+    if size is None:
+      dat.init(service)
+    else:
+      dat.init(service, size)
   return dat
 
 def pub_sock(endpoint):
@@ -148,12 +153,11 @@ def __init__(self, services, ignore_alive=None, addr="127.0.0.1"):
         self.sock[s] = sub_sock(s, poller=self.poller, addr=addr, conflate=True)
       self.freq[s] = service_list[s].frequency
 
-      data = new_message()
       try:
-        data.init(s)
+        data = new_message(s)
       except capnp.lib.capnp.KjException:
         # lists
-        data.init(s, 0)
+        data = new_message(s, 0)
 
       self.data[s] = getattr(data, s)
       self.logMonoTime[s] = 0