diff --git a/msg/vehicle_odometry.msg b/msg/vehicle_odometry.msg
index 48146601ab..9db03b72ad 100644
--- a/msg/vehicle_odometry.msg
+++ b/msg/vehicle_odometry.msg
@@ -17,7 +17,7 @@ uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20
 
 # Position and linear velocity frame of reference constants
 uint8 LOCAL_FRAME_NED=0         # NED earth-fixed frame
-uint8 LOCAL_FRAME_FRD=1         # FRD earth-fixed frame, heading different to NED
+uint8 LOCAL_FRAME_FRD=1         # FRD earth-fixed frame, arbitrary heading reference
 uint8 LOCAL_FRAME_OTHER=2       # Not aligned with the std frames of reference
 
 # Position and linear velocity local frame of reference
diff --git a/src/lib/ecl b/src/lib/ecl
index 4ab3dd50c9..94484f01ce 160000
--- a/src/lib/ecl
+++ b/src/lib/ecl
@@ -1 +1 @@
-Subproject commit 4ab3dd50c99f002b3fe6d89bc458ed36d5d4ae9b
+Subproject commit 94484f01ce25aac33d4ed1ee1990da757e210d2b