diff --git a/message_definitions/pyxis.xml b/message_definitions/pyxis.xml
index a76b0de3296b6ffd6dd16908905a1de27a3629fa..d4ce6458f464423290592db6efb4f29e85303b61 100644
--- a/message_definitions/pyxis.xml
+++ b/message_definitions/pyxis.xml
@@ -22,10 +22,6 @@
             <entry name="MAV_TASK_STATS_ID" value="6">
                 <description>Task scheduler statistics answer: n mavlink messages where n is the number of tasks</description>
             </entry>
-            <entry name="MAV_DPL_ID" value="7">
-                <!-- cutters_enabled to change into cutters-triggered-->
-                <description>Deployment System Status</description>
-            </entry>
             <entry name="MAV_ADA_ID" value="8">
                 <description>ADA Status</description>
             </entry>
@@ -144,51 +140,55 @@
             <description>TC containing a command with no parameters that trigger some action</description>
             <field name="command_id" type="uint8_t">A member of the MavCommandList enum</field>
         </message>
-        <message id="3" name="SYSTEM_TELEMETRY_REQUEST_TC">
+        <message id="3" name="SYSTEM_TM_REQUEST_TC">
             <description>TC containing a request for the status of a board</description>
             <field name="tm_id" type="uint8_t">A member of the SystemTMList enum</field>
         </message>
-        <message id="4" name="SENSOR_TELEMETRY_REQUEST_TC">
+        <message id="4" name="SENSOR_TM_REQUEST_TC">
             <description>TC containing a request for sensors telemetry</description>
             <field name="sensor_id" type="uint8_t">A member of the SensorTMList enum</field>
         </message>
-        <message id="5" name="SET_SERVO_ANGLE_TC">
+        <message id="5" name="SERVO_TM_REQUEST_TC">
+            <description>TC containing a request for servo telemetry</description>
+            <field name="servo_id" type="uint8_t">A member of the ServosList enum</field>
+        </message>
+        <message id="6" name="SET_SERVO_ANGLE_TC">
             <description>Sets the angle of a certain servo</description>
-            <field name="servo_id" type="uint8_t">Specified servo</field>
+            <field name="servo_id" type="uint8_t">A member of the ServosList enum</field>
             <field name="angle" type="float" units="deg">Servo angle</field>
         </message>
-        <message id="6" name="WIGGLE_SERVO_TC">
+        <message id="7" name="WIGGLE_SERVO_TC">
             <description>Wiggles the specified servo</description>
-            <field name="servo_id" type="uint8_t" units="">Specified servo</field>
+            <field name="servo_id" type="uint8_t" units="">A member of the ServosList enum</field>
         </message>
-        <message id="7" name="RESET_SERVO_TC">
+        <message id="8" name="RESET_SERVO_TC">
             <description>Resets the specified servo</description>
-            <field name="servo_id" type="uint8_t" units="">Specified servo</field>
+            <field name="servo_id" type="uint8_t" units="">A member of the ServosList enum</field>
         </message>
-        <message id="8" name="SET_REFERENCE_ALTITUDE_TC">
+        <message id="9" name="SET_REFERENCE_ALTITUDE_TC">
             <description>Sets the reference altitude for the altimeter</description>
             <field name="ref_altitude" type="float" units="m">Reference altitude</field>
         </message>
-        <message id="9" name="SET_REFERENCE_TEMPERATURE_TC">
+        <message id="10" name="SET_REFERENCE_TEMPERATURE_TC">
             <description>Sets the reference temperature for the altimeter</description>
             <field name="ref_temp" type="float" units="degC">Reference temperature</field>
         </message>
-        <message id="10" name="SET_DEPLOYMENT_ALTITUDE_TC">
+        <message id="11" name="SET_DEPLOYMENT_ALTITUDE_TC">
             <description>Sets the deployment altitude for the main parachute</description>
             <field name="dpl_altitude" type="float" units="m">Deployment altitude</field>
         </message>
-        <message id="11" name="SET_INITIAL_ORIENTATION_TC">
+        <message id="12" name="SET_INITIAL_ORIENTATION_TC">
             <description>Sets the initial orientation for the navigation system</description>
             <field name="yaw" type="float" units="deg">Yaw angle</field>
             <field name="pitch" type="float" units="deg">Pitch angle</field>
             <field name="roll" type="float" units="deg">Roll angle</field>
         </message>
-        <message id="12" name="SET_INITIAL_COORDINATES_TC">
+        <message id="13" name="SET_INITIAL_COORDINATES_TC">
             <description>Sets the initial launchpad coordinates</description>
             <field name="latitude" type="float" units="deg">Launchpad latitude</field>
             <field name="longitude" type="float" units="deg">Launchpad longitude</field>
         </message>
-        <message id="13" name="RAW_EVENT_TC">
+        <message id="14" name="RAW_EVENT_TC">
             <description>TC containing a raw event to be posted directly in the EventBroker</description>
             <field name="topic_id" type="uint8_t">Id of the topic to which the event should be posted</field>
             <field name="event_id" type="uint8_t">Id of the event to be posted</field>
@@ -208,7 +208,6 @@
             <field name="seq_ack" type="uint8_t">Sequence number of the received message</field>
         </message>
         <message id="102" name="GPS_TM">
-            <description></description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="sensor_id" type="char[20]" units="">Sensor name</field>
             <field name="fix" type="uint8_t">Wether the GPS has a FIX</field>
@@ -223,7 +222,6 @@
             <field name="n_satellites" type="uint8_t">Number of connected satellites</field>
         </message>
         <message id="103" name="IMU_TM">
-            <description></description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="sensor_id" type="char[20]" units="">Sensor name</field>
             <field name="acc_x" type="float" units="m/s2">X axis acceleration</field>
@@ -237,13 +235,11 @@
             <field name="mag_z" type="float" units="uT">Z axis compass</field>
         </message>
         <message id="104" name="BARO_TM">
-            <description></description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="sensor_id" type="char[20]" units="">Sensor name</field>
             <field name="pressure" type="float" units="Pa">Pressure of the digital barometer</field>
         </message>
         <message id="105" name="ADC_TM">
-            <description></description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="sensor_id" type="char[20]" units="">Sensor name</field>
             <field name="ch0" type="float" units="V">ADC voltage measured on channel 0</field>
@@ -252,13 +248,11 @@
             <field name="ch3" type="float" units="V">ADC voltage measured on channel 3</field>
         </message>
         <message id="106" name="TEMP_TM">
-            <description></description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="sensor_id" type="char[20]" units="">Sensor name</field>
             <field name="temp" type="float" units="deg">Temperature</field>
         </message>
         <message id="107" name="ATTITUDE_TM">
-            <description></description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
             <field name="sensor_id" type="char[20]" units="">Sensor name</field>
             <field name="roll" type="float" units="deg">Roll angle</field>
@@ -271,10 +265,13 @@
         </message>
         <message id="108" name="SENSOR_STATE_TM">
             <!-- At request we expect n messages as response -->
-            <description></description>
             <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>
+        <message id="109" name="SERVO_TM">
+            <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>
 
         <!-- FROM ROCKET TO GROUND: SPECIFIC -->
         <message id="200" name="SYS_TM">
@@ -353,36 +350,22 @@
             <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="DPL_TM">
-            <description>Deployment Controller telemetry</description>
-            <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
-            <field name="state" type="uint8_t">Current state of the dpl controller</field>
-            <field name="cutters_enabled" type="uint8_t">Cutters state (enabled/disabled)</field>
-            <field name="servo_position" type="float" units="deg">DPL servo position (angle)</field>
-        </message>
-        <message id="207" name="ADA_TM">
+        <message id="206" 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>
-            <field name="apogee_reached" type="uint8_t">True if apogee has been reached</field>
-            <field name="airbrakes_disabled" type="uint8_t">True if airbrakes have been disabled</field>
-            <field name="dpl_altitude_reached" type="uint8_t">True if airbrakes have been disabled</field>
-            <field name="target_dpl_altitude" type="float">Target deployment altitude</field>
             <field name="kalman_x0" type="float">Kalman state variable 0 (pressure)</field>
             <field name="kalman_x1" type="float">Kalman state variable 1 (pressure velocity)</field>
             <field name="kalman_x2" type="float">Kalman state variable 2 (pressure acceleration)</field>
-            <field name="vert_speed" type="float" units="m/s">Vertical speed computed by the ADA</field>
+            <field name="vertical_speed" type="float" units="m/s">Vertical speed computed by the ADA</field>
             <field name="msl_altitude" type="float" units="m">Altitude w.r.t. mean sea level</field>
             <field name="ref_pressure" type="float" units="Pa">Calibration pressure</field>
             <field name="ref_altitude" type="float" units="m">Calibration altitude</field>
             <field name="ref_temperature" type="float" units="degC">Calibration temperature</field>
             <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>
-            <!---<field name="ref_pressure_mean" type="float">Calibration pressure mean</field>
-            <field name="ref_pressure_stddev" type="float">Calibration pressure std deviation</field>
-            <field name="ref_pressure_nsamples" type="uint32_t">Calibration pressure number of samples</field>-->
         </message>
-        <message id="208" name="NAS_TM">
+        <message id="207" 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>
@@ -408,14 +391,8 @@
             <field name="ref_mag_x" type="float" units="uT">Calibration compass on x axis</field>
             <field name="ref_mag_y" type="float" units="uT">Calibration compass on y axis</field>
             <field name="ref_mag_z" type="float" units="uT">Calibration compass on z axis</field>
-            <field name="triad_roll" type="float">Orientation on roll estimated by TRIAD initialization</field>
-            <field name="triad_pitch" type="float">Orientation on pitch estimated by TRIAD initialization</field>
-            <field name="triad_yaw" type="float">Orientation on yaw estimated by TRIAD initialization</field>
-            <field name="roll" type="float" units="deg">Orientation on roll</field>
-            <field name="pitch" type="float" units="deg">Orientation on pitch</field>
-            <field name="yaw" type="float" units="deg">Orientation on yaw</field>
-        </message>
-        <message id="209" name="CAN_TM">
+        </message>
+        <message id="208" name="CAN_TM">
             <!-- TODO: UPDATE -->
             <description>Canbus driver status telemetry</description>
             <field name="timestamp" type="uint64_t" units="ms">When was this logged</field>
@@ -426,7 +403,7 @@
             <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="210" name="ROCKET_FLIGHT_TM">
+        <message id="209" 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>
@@ -477,7 +454,7 @@
             <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="211" name="PAYLOAD_FLIGHT_TM">
+        <message id="210" 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>
@@ -524,7 +501,7 @@
             <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="212" name="ROCKET_STATS_TM">
+        <message id="211" 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>
@@ -551,7 +528,7 @@
             <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="213" name="PAYLOAD_STATS_TM">
+        <message id="212" 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>