diff --git a/msg/Command.msg b/msg/Command.msg
index 78987bb..62c7298 100644
--- a/msg/Command.msg
+++ b/msg/Command.msg
@@ -1,26 +1,30 @@
 # Command type (enum)
 uint8 SETUP=0
 uint8 TARGET=1
 uint8 HOMING=2
+uint8 HARD_HOMING=3
 
 uint8 command_type
 
 
 # Position (microsteps, order is pitch, yaw, slide)
 int32[3] step_goals
 
 
 # Laser duration (ms)
 uint32 laser_duration_ms
 
 
-# Star-limit in microsteps
+# Star-diameter and scan-limit in microsteps
 uint32 star_diameter
+uint32 scan_limit
 
 
-# Resolution (8,16,32,64)
-uint8 resolution
+# Microstep frequencies (Hz)
+uint16[3] frequency_goals
 
+# Enable Motors
+uint8[3] en_motors
 
-# Microstep frequency (Hz)
-uint32 frequency
\ No newline at end of file
+# Resolution (8,16,32,64)
+uint8 resolution
\ No newline at end of file
diff --git a/msg/Feedback.msg b/msg/Feedback.msg
index 4547887..746168a 100644
--- a/msg/Feedback.msg
+++ b/msg/Feedback.msg
@@ -1,16 +1,17 @@
 # State enum
 uint8 READY=0
 uint8 CONFIGURING=1
 uint8 MOVING=2
 uint8 CALIBRATING=3
 
 uint8 state
 
 
 # Current microstep Position (order is pitch, yaw, slide)
 int32[3] current_steps
 
 
-# Current settings
-uint32 frequency
+# Current settings and motor state
+uint16[3] frequencies
+uint8[3] en_motors
 uint8 resolution
\ No newline at end of file