diff --git a/src/ego/engine.rs b/src/ego/engine.rs
index c867e9d..aca03a7 100644
--- a/src/ego/engine.rs
+++ b/src/ego/engine.rs
@@ -28,8 +28,7 @@ pub struct BikeStates {
     reference_fix: Option<Vector2<f64>>, // The first GPS value, which is used to make sense out of the EKF output which is in meters offset from this point
 
     // State switches
-    has_down: Breaker<bool>,
-    has_forwards: Breaker<bool>,
+    has_motion_frame: Breaker<bool>,
     motion_state: Breaker<MotionState>,
     acquiring_data: Breaker<bool>,
     // FIXME: pub
@@ -46,7 +45,6 @@ pub struct BikeStates {
 impl Debug for BikeStates {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
         f.debug_struct("BikeStates")
-            .field("has_down", &self.orientation.has_down())
             .field("has_orientation", &self.orientation.is_ready())
             .field("heading", &self.heading.heading())
             .field("motion_state", &self.motion_state)
@@ -106,10 +104,8 @@ impl BikeStates {
                 self.kf.update_zupt();
             }
 
-            self.has_down.set(true);
-
             if self.orientation.is_ready() {
-                self.has_forwards.set(true);
+                self.has_motion_frame.set(true);
             }
         }
     }
@@ -118,17 +114,12 @@ impl BikeStates {
         let last_motion = self.motion_state.value;
 
         if let Some(true) = self.acquiring_data.read_tripped() {
-            predictions.publish(Prediction::SensorStatus(SensorSource::ForwardsReference, SensorState::AcquiringFix)).await;
-            predictions.publish(Prediction::SensorStatus(SensorSource::GravityReference, SensorState::AcquiringFix)).await;
+            predictions.publish(Prediction::SensorStatus(SensorSource::MotionFrame, SensorState::AcquiringFix)).await;
             predictions.publish(Prediction::SensorStatus(SensorSource::Location, SensorState::AcquiringFix)).await;
         }
 
-        if let Some(true) = self.has_down.read_tripped() {
-            predictions.publish(Prediction::SensorStatus(SensorSource::GravityReference, SensorState::Online)).await
-        }
-
-        if let Some(true) = self.has_forwards.read_tripped() {
-            predictions.publish(Prediction::SensorStatus(SensorSource::ForwardsReference, SensorState::Online)).await
+        if let Some(true) = self.has_motion_frame.read_tripped() {
+            predictions.publish(Prediction::SensorStatus(SensorSource::MotionFrame, SensorState::Online)).await
         }
 
         match self.has_gps_fix.read_tripped() {
@@ -232,8 +223,7 @@ impl Default for BikeStates {
             last_stamp: Instant::now(),
             speedo: Default::default(),
             heading: Default::default(),
-            has_down: Default::default(),
-            has_forwards: Default::default(),
+            has_motion_frame: Default::default(),
             kf: Default::default(),
             steady_timer: IdleClock::new(Duration::from_secs(3)),
             last_fix: Default::default(),
diff --git a/src/ego/orientation.rs b/src/ego/orientation.rs
index dd52431..f015fe2 100644
--- a/src/ego/orientation.rs
+++ b/src/ego/orientation.rs
@@ -66,7 +66,7 @@ impl OrientationEstimator {
                             self.forward = Some(Unit::new_unchecked(-unit_forward.into_inner()));
                         }
                     } else {
-                        info!("Found forwards: {unit_forward:?} avg.norm={}", horiz.norm());
+                        info!("Motion frame established with forwards={unit_forward:?} avg.norm={} down={:?} bias={:?}", horiz.norm(), self.down, self.sensor_bias);
                         self.forward = Some(unit_forward);
                     }
 
diff --git a/src/events.rs b/src/events.rs
index a99ce93..e104a95 100644
--- a/src/events.rs
+++ b/src/events.rs
@@ -78,8 +78,7 @@ pub enum SensorSource {
     Wifi,
 
     // Fusion outputs
-    GravityReference,
-    ForwardsReference,
+    MotionFrame,
     Location,
     Cloud,
 
diff --git a/src/graphics/oled_ui.rs b/src/graphics/oled_ui.rs
index 160c178..a41e0f8 100644
--- a/src/graphics/oled_ui.rs
+++ b/src/graphics/oled_ui.rs
@@ -108,7 +108,7 @@ const SENSOR_IMAGES: &[SensorImage] = &[
         on: &images::IMU_ON, off: &images::IMU_OFF,
     },
     SensorImage {
-        source: SensorSource::GravityReference,
+        source: SensorSource::MotionFrame,
         on: &images::GRAVITY_LOCATED, off: &images::GRAVITY_MISSING,
     },
     SensorImage {