diff --git a/msg/EstimatorAidSource1d.msg b/msg/EstimatorAidSource1d.msg
index 42be258..78273d6 100644
--- a/msg/EstimatorAidSource1d.msg
+++ b/msg/EstimatorAidSource1d.msg
@@ -14,7 +14,6 @@ float32 innovation
 float32 innovation_variance
 float32 test_ratio
 
-bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
diff --git a/msg/EstimatorAidSource2d.msg b/msg/EstimatorAidSource2d.msg
index 9fdba8f..2d33fc3 100644
--- a/msg/EstimatorAidSource2d.msg
+++ b/msg/EstimatorAidSource2d.msg
@@ -14,7 +14,6 @@ float32[2] innovation
 float32[2] innovation_variance
 float32[2] test_ratio
 
-bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
diff --git a/msg/EstimatorAidSource3d.msg b/msg/EstimatorAidSource3d.msg
index 5d143bc..deb4c05 100644
--- a/msg/EstimatorAidSource3d.msg
+++ b/msg/EstimatorAidSource3d.msg
@@ -14,7 +14,6 @@ float32[3] innovation
 float32[3] innovation_variance
 float32[3] test_ratio
 
-bool fusion_enabled          # true when measurements are being fused
 bool innovation_rejected     # true if the observation has been rejected
 bool fused                   # true if the sample was successfully fused
 
diff --git a/msg/Mission.msg b/msg/Mission.msg
index c7740d4..546959a 100644
--- a/msg/Mission.msg
+++ b/msg/Mission.msg
@@ -4,6 +4,9 @@ uint8 dataman_id	# default 0, there are two offboard storage places in the datam
 uint16 count		# count of the missions stored in the dataman
 int32 current_seq	# default -1, start at the one changed latest
 
-int16 mission_update_counter # indicates updates to the mission, reload from dataman if increased
-int16 geofence_update_counter # indicates updates to the geofence, reload from dataman if increased
-int16 safe_points_update_counter # indicates updates to the safe points, reload from dataman if increased
+int32 land_start_index  # Index of the land start marker, if unavailable index of the land item, -1 otherwise
+int32 land_index 	# Index of the land item, -1 otherwise
+
+uint16 mission_update_counter # indicates updates to the mission, reload from dataman if increased
+uint16 geofence_update_counter # indicates updates to the geofence, reload from dataman if increased
+uint16 safe_points_update_counter # indicates updates to the safe points, reload from dataman if increased
diff --git a/msg/VehicleOpticalFlowVel.msg b/msg/VehicleOpticalFlowVel.msg
index c89207f..d928068 100644
--- a/msg/VehicleOpticalFlowVel.msg
+++ b/msg/VehicleOpticalFlowVel.msg
@@ -10,4 +10,8 @@ float32[2] flow_compensated_integral   # integrated optical flow measurement com
 float32[3] gyro_rate                   # gyro measurement synchronized with flow measurements (rad/s)
 float32[3] gyro_rate_integral          # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
 
+float32[3] gyro_bias
+float32[3] ref_gyro
+float32[3] meas_gyro
+
 # TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel