diff --git a/message_definitions/pyxis.xml b/message_definitions/pyxis.xml
index 443093ad4d767b321d63b5c7bc4dd712ec5a3c7b..9987b3a103306496dfd3f225dde8c1af6d4c83a4 100644
--- a/message_definitions/pyxis.xml
+++ b/message_definitions/pyxis.xml
@@ -264,7 +264,6 @@
             <field name="quat_w" type="float" units="">Quaternion w component</field>
         </message>
         <message id="108" name="SENSOR_STATE_TM">
-            <!-- At request we expect n messages as response -->
             <field name="sensor_id" type="char[20]" units="">Sensor name</field>
             <field name="state" type="uint8_t" units="">Boolean that represents the init state</field>
         </message>
@@ -272,6 +271,13 @@
             <field name="servo_id" type="uint8_t">A member of the ServosList enum</field>
             <field name="servo_position" type="float">Position of the servo [0-1]</field>
         <message>
+        <message id="110" name="PIN_TM">
+            <field name="timestamp" type="uint64_t" units="ms">Timestamp</field>
+            <field name="pin_id" type="char[20]" units="">Pin name</field>
+            <field name="last_change_timestamp" type="uint64_t">Last change timestamp of pin</field>
+            <field name="changes_counter" type="uint8_t">Number of changes of pin</field>
+            <field name="current_state" type="uint8_t">Current state of pin</field>
+        </message>
 
         <!-- FROM ROCKET TO GROUND: SPECIFIC -->
         <message id="200" name="SYS_TM">
@@ -295,21 +301,7 @@
             <field name="fsr_state" type="uint8_t">Flight Stats Recorder state</field>
             <field name="nas_state" type="uint8_t">Navigation and Attitude State state</field>
         </message>
-        <message id="202" name="PIN_OBS_TM">
-            <!-- PAYLOAD USES ONE PIN ONLY -->
-            <description>Pin observer status telemetry</description>
-            <field name="timestamp" type="uint64_t" units="ms">Timestamp</field>
-            <field name="pin_launch_last_change" type="uint64_t">Last change of the launch pin</field>
-            <field name="pin_launch_num_changes" type="uint8_t">Number of changes of the launch pin</field>
-            <field name="pin_launch_state" type="uint8_t">Current state of the launch pin</field>
-            <field name="pin_nosecone_last_change" type="uint64_t">Last change of the nosecone pin</field>
-            <field name="pin_nosecone_num_changes" type="uint8_t">Number of changes of the nosecone pin</field>
-            <field name="pin_nosecone_state" type="uint8_t">Current state of the nosecone pin</field>
-            <field name="pin_dpl_servo_last_change" type="uint64_t">Last change of the dpl servo optical sensor</field>
-            <field name="pin_dpl_servo_num_changes" type="uint8_t">Number of changes of the dpl servo optical sensor</field>
-            <field name="pin_dpl_servo_state" type="uint8_t">Current state of the dpl servo optical sensor</field>
-        </message>
-        <message id="203" name="LOGGER_TM">
+        <message id="202" name="LOGGER_TM">
             <description>Logger status telemetry</description>
             <field name="timestamp" type="uint64_t" units="ms">Timestamp</field>
             <field name="log_number" type="int16_t">Currently active log file, -1 if the logger is inactive</field>
@@ -323,7 +315,7 @@
             <field name="average_write_time" type="int32_t">Average time to perform an fwrite() of a buffer</field>
             <field name="max_write_time" type="int32_t">Max time to perform an fwrite() of a buffer</field>
         </message>
-        <message id="204" name="MAVLINK_STATS_TM">
+        <message id="203" name="MAVLINK_STATS_TM">
             <description>Status of the TMTCManager telemetry</description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged </field>
             <field name="n_send_queue" type="uint16_t">Current len of the occupied portion of the queue</field>
@@ -339,7 +331,7 @@
             <field name="packet_rx_success_count" type="uint16_t"> Received packets</field>
             <field name="packet_rx_drop_count" type="uint16_t">  Number of packet drops   </field>
         </message>
-        <message id="205" name="TASK_STATS_TM">
+        <message id="204" name="TASK_STATS_TM">
             <!-- At request we expect n messages as response -->
             <description>Statistics of the Task Scheduler</description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged </field>
@@ -350,7 +342,7 @@
             <field name="task_mean" type="float">Task mean period</field>
             <field name="task_stddev" type="float">Task period std deviation</field>
         </message>
-        <message id="206" name="ADA_TM">
+        <message id="205" name="ADA_TM">
             <description>Apogee Detection Algorithm status telemetry</description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="state" type="uint8_t">ADA current state</field>
@@ -365,7 +357,7 @@
             <field name="msl_pressure" type="float" units="Pa">Expected pressure at mean sea level</field>
             <field name="msl_temperature" type="float" units="degC">Expected temperature at mean sea level</field>
         </message>
-        <message id="207" name="NAS_TM">
+        <message id="206" name="NAS_TM">
             <description>Navigation System status telemetry</description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="state" type="uint8_t">NAS current state</field>
@@ -386,7 +378,7 @@
             <field name="ref_latitude" type="float" units="deg">Calibration latitude</field>
             <field name="ref_longitude" type="float" units="deg">Calibration longitude</field>
         </message>
-        <message id="208" name="CAN_TM">
+        <message id="207" name="CAN_TM">
             <!-- TODO: UPDATE -->
             <description>Canbus driver status telemetry</description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
@@ -397,7 +389,7 @@
             <field name="last_sent_ts" type="uint64_t">Timestamp of the last sent message</field>
             <field name="last_rcv_ts" type="uint64_t">Timestamp of the last received message</field>
         </message>
-        <message id="209" name="ROCKET_FLIGHT_TM">
+        <message id="208" name="ROCKET_FLIGHT_TM">
             <description>High Rate Telemetry</description>
             <!-- TODO: UPDATE AND DISCOVER EVENTUAL FORK BETWEEN LOW FR AND HIGH FR -->
             <field name="timestamp" type="uint64_t" units="ms">Timestamp in milliseconds</field>
@@ -448,7 +440,7 @@
             <field name="temperature" type="float" units="degC">Temperature</field>
             <field name="logger_error" type="int8_t" units="">Logger error (0 = no error, -1 otherwise)</field>
         </message>
-        <message id="210" name="PAYLOAD_FLIGHT_TM">
+        <message id="209" name="PAYLOAD_FLIGHT_TM">
             <!-- TODO: COULD NEED SOMETHING ABOUT CONTROL ALGORITHM LIKE WING EFFICIENCY AND VELOCITIES DURING DESCENDING -->
             <description>High Rate Telemetry</description>
             <field name="timestamp" type="uint64_t" units="ms">Timestamp in milliseconds</field>
@@ -495,7 +487,7 @@
             <field name="temperature" type="float" units="degC">Temperature</field>
             <field name="logger_error" type="int8_t" units="">Logger error (0 = no error)</field>
         </message>
-        <message id="211" name="ROCKET_STATS_TM">
+        <message id="210" name="ROCKET_STATS_TM">
             <description>Low Rate Telemetry</description>
             <field name="liftoff_ts" type="uint64_t" units="ms">System clock at liftoff</field>
             <field name="liftoff_max_acc_ts" type="uint64_t" units="ms">System clock at the maximum liftoff acceleration</field>
@@ -522,7 +514,7 @@
             <field name="cpu_load" type="float">CPU load in percentage</field>
             <field name="free_heap" type="uint32_t">Amount of available heap in memory</field>
         </message>
-        <message id="212" name="PAYLOAD_STATS_TM">
+        <message id="211" name="PAYLOAD_STATS_TM">
             <description>Low Rate Telemetry</description>
             <!-- TODO: COULD NEED SOMETHING ABOUT CONTROL ALGORITHM LIKE WING EFFICIENCY AND VELOCITIES DURING DESCENDING -->
             <field name="liftoff_ts" type="uint64_t" units="ms">System clock at liftoff</field>