diff --git a/message_definitions/pyxis.xml b/message_definitions/pyxis.xml
index 7b6dbd4f79b8bbb24e5b8a7b7adfdafa888a55d6..7c7b35e2d270c5ae651a251c98cfd50fde44d2b3 100644
--- a/message_definitions/pyxis.xml
+++ b/message_definitions/pyxis.xml
@@ -383,19 +383,18 @@
<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>
- <field name="x0" type="float" units="m">Kalman state variable 0 (position x)</field>
- <field name="x1" type="float" units="m">Kalman state variable 1 (position y)</field>
- <field name="x2" type="float" units="m">>Kalman state variable 2 (position z)</field>
- <field name="x3" type="float" units="m/s">>Kalman state variable 3 (velocity x)</field>
- <field name="x4" type="float" units="m/s">>Kalman state variable 4 (velocity y)</field>
- <field name="x5" type="float" units="m/s">>Kalman state variable 5 (velocity z)</field>
- <field name="x6" type="float">Kalman state variable 6 (q0)</field>
- <field name="x7" type="float">Kalman state variable 7 (q1)</field>
- <field name="x8" type="float">Kalman state variable 8 (q2)</field>
- <field name="x9" type="float">Kalman state variable 9 (q3)</field>
- <field name="x10" type="float">Kalman state variable 10 (bias)</field>
- <field name="x11" type="float">Kalman state variable 11 (bias)</field>
- <field name="x12" type="float">Kalman state variable 12 (bias)</field>
+ <field name="nas_n" type="float" units="deg">Navigation system estimated noth position</field>
+ <field name="nas_e" type="float" units="deg">Navigation system estimated east position</field>
+ <field name="nas_d" type="float" units="m">Navigation system estimated down position</field>
+ <field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
+ <field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
+ <field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
+ <field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field>
+ <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
+ <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
+ <field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
+ <field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
+ <field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>
<field name="ref_pressure" type="float" units="Pa">Calibration pressure</field>
<field name="ref_temperature" type="float" units="degC">Calibration temperature</field>
<field name="ref_latitude" type="float" units="deg">Calibration latitude</field>
@@ -462,18 +461,18 @@
<field name="servo_sensor" type="uint8_t">Servo sensor status (1 = actuated, 0 = idle)</field>
<field name="ab_angle" type="float" units="deg">Airbrakes angle</field>
<field name="ab_estimated_cd" type="float">Estimated drag coefficient</field>
- <field name="nas_x" type="float" units="deg">Navigation system estimated X position (longitude)</field>
- <field name="nas_y" type="float" units="deg">Navigation system estimated Y position (latitude)</field>
- <field name="nas_z" type="float" units="m">Navigation system estimated Z position</field>
- <field name="nas_vx" type="float" units="m/s">Navigation system estimated north velocity</field>
- <field name="nas_vy" type="float" units="m/s">Navigation system estimated east velocity</field>
- <field name="nas_vz" type="float" units="m/s">Navigation system estimated down velocity</field>
- <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
- <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
+ <field name="nas_n" type="float" units="deg">Navigation system estimated noth position</field>
+ <field name="nas_e" type="float" units="deg">Navigation system estimated east position</field>
+ <field name="nas_d" type="float" units="m">Navigation system estimated down position</field>
+ <field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
+ <field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
+ <field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
<field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field>
- <field name="nas_bias0" type="float">Navigation system bias</field>
- <field name="nas_bias1" type="float">Navigation system bias</field>
- <field name="nas_bias2" type="float">Navigation system bias</field>
+ <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
+ <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
+ <field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
+ <field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
+ <field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</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">
@@ -508,18 +507,18 @@
<field name="vsupply_5v" type="float" units="V">Power supply 5V</field> <!-- MAYBE USEFUL -->
<field name="temperature" type="float" units="degC">Temperature</field>
<field name="pin_nosecone" type="uint8_t">Nosecone pin status (1 = connected, 0 = disconnected)</field>
- <field name="nas_x" type="float" units="deg">Navigation system estimated X position (longitude)</field>
- <field name="nas_y" type="float" units="deg">Navigation system estimated Y position (latitude)</field>
- <field name="nas_z" type="float" units="m">Navigation system estimated Z position</field>
- <field name="nas_vx" type="float" units="m/s">Navigation system estimated north velocity</field>
- <field name="nas_vy" type="float" units="m/s">Navigation system estimated east velocity</field>
- <field name="nas_vz" type="float" units="m/s">Navigation system estimated down velocity</field>
- <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
- <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
+ <field name="nas_n" type="float" units="deg">Navigation system estimated noth position</field>
+ <field name="nas_e" type="float" units="deg">Navigation system estimated east position</field>
+ <field name="nas_d" type="float" units="m">Navigation system estimated down position</field>
+ <field name="nas_vn" type="float" units="m/s">Navigation system estimated north velocity</field>
+ <field name="nas_ve" type="float" units="m/s">Navigation system estimated east velocity</field>
+ <field name="nas_vd" type="float" units="m/s">Navigation system estimated down velocity</field>
<field name="nas_yaw" type="float" units="deg">Navigation system estimated attitude (yaw)</field>
- <field name="nas_bias0" type="float">Navigation system bias</field>
- <field name="nas_bias1" type="float">Navigation system bias</field>
- <field name="nas_bias2" type="float">Navigation system bias</field>
+ <field name="nas_pitch" type="float" units="deg">Navigation system estimated attitude (pitch)</field>
+ <field name="nas_roll" type="float" units="deg">Navigation system estimated attitude (roll)</field>
+ <field name="nas_bias_x" type="float">Navigation system gyroscope bias on x axis</field>
+ <field name="nas_bias_y" type="float">Navigation system gyroscope bias on x axis</field>
+ <field name="nas_bias_z" type="float">Navigation system gyroscope bias on x axis</field>
<!-- TODO: ADD CONTROL ALGORITHM THINGS -->
<field name="logger_error" type="int8_t" units="">Logger error (0 = no error, -1 otherwise)</field>
</message>
@@ -538,7 +537,7 @@
<field name="static_min_pressure" type="float" units="Pa">Apogee pressure - Static ports</field>
<field name="digital_min_pressure" type="float" units="Pa">Apogee pressure - Digital barometer</field>
<field name="ada_min_pressure" type="float" units="Pa">Apogee pressure - ADA filtered</field>
- <field name="baro_max_altitutde" type="float" units="m">Apogee altitude - Digital barometer</field>
+ <field name="baro_max_altitude" type="float" units="m">Apogee altitude - Digital barometer</field>
<field name="gps_max_altitude" type="float" units="m">Apogee altitude - GPS</field>
<field name="drogue_dpl_ts" type="uint64_t" units="ms">System clock at drouge deployment</field>
<field name="drogue_dpl_max_acc" type="float" units="m/s2">Max acceleration during drouge deployment</field>
@@ -566,7 +565,7 @@
<field name="static_min_pressure" type="float" units="Pa">Apogee pressure - Static ports</field>
<field name="digital_min_pressure" type="float" units="Pa">Apogee pressure - Digital barometer</field>
<field name="ada_min_pressure" type="float" units="Pa">Apogee pressure - ADA filtered</field>
- <field name="baro_max_altitutde" type="float" units="m">Apogee altitude - Digital barometer</field>
+ <field name="baro_max_altitude" type="float" units="m">Apogee altitude - Digital barometer</field>
<field name="gps_max_altitude" type="float" units="m">Apogee altitude - GPS</field>
<field name="drogue_dpl_ts" type="uint64_t" units="ms">System clock at drouge deployment</field>
<field name="drogue_dpl_max_acc" type="float" units="m/s2">Max acceleration during drouge deployment</field>