diff --git a/msg/Command.msg b/msg/Command.msg
index 20998e6..78987bb 100644
--- a/msg/Command.msg
+++ b/msg/Command.msg
@@ -1,28 +1,26 @@
 # Command type (enum)
 uint8 SETUP=0
 uint8 TARGET=1
 uint8 HOMING=2
 
 uint8 command_type
 
 
-# Position (microsteps)
-int32 pitch
-int32 yaw
-int32 slide
+# Position (microsteps, order is pitch, yaw, slide)
+int32[3] step_goals
 
 
 # Laser duration (ms)
 uint32 laser_duration_ms
 
 
 # Star-limit in microsteps
 uint32 star_diameter
 
 
 # Resolution (8,16,32,64)
 uint8 resolution
 
 
 # Microstep frequency (Hz)
 uint32 frequency
\ No newline at end of file
diff --git a/msg/Feedback.msg b/msg/Feedback.msg
index 8dc098a..4547887 100644
--- a/msg/Feedback.msg
+++ b/msg/Feedback.msg
@@ -1,18 +1,16 @@
 # State enum
 uint8 READY=0
 uint8 CONFIGURING=1
 uint8 MOVING=2
 uint8 CALIBRATING=3
 
 uint8 state
 
 
-# Current position
-int32 pitch
-int32 yaw
-int32 slide
+# Current microstep Position (order is pitch, yaw, slide)
+int32[3] current_steps
 
 
 # Current settings
 uint32 frequency
 uint8 resolution
\ No newline at end of file