diff --git a/msg/BoatSetpoint.msg b/msg/BoatSetpoint.msg
index 7d33a039c1..60700dcf48 100644
--- a/msg/BoatSetpoint.msg
+++ b/msg/BoatSetpoint.msg
@@ -3,6 +3,8 @@ uint64 timestamp # time since system start (microseconds)
 float32 speed # [m/s] collective roll-off speed in body x-axis
 bool closed_loop_speed_control # true if speed is controlled using estimator feedback, false if direct feed-forward
 float32 yaw_rate # [rad] yaw_rate
-bool closed_loop_yaw_rate_control # true if rudder angle is controlled using encoder feedback, false if direct feed-forward
+bool closed_loop_yaw_rate_control # true if rudder angle is controlled using feedback, false if direct feed-forward
+float32 heading_setpoint # [rad] desired heading
+bool closed_loop_heading_control # true if heading is controlled using feedback, false if direct feed-forward
 
 # TOPICS boat_setpoint boat_control_output