diff --git a/Inc/mmr_can_message_id.h b/Inc/mmr_can_message_id.h
index cdeb956..76eb52c 100644
--- a/Inc/mmr_can_message_id.h
+++ b/Inc/mmr_can_message_id.h
@@ -120,8 +120,20 @@ enum MmrCanMessageId {
   MMR_CAN_MESSAGE_ID_AMC_BE,
 // !AUTONOMOUS_MISSION_CONTROL
 // DRIVE
-  MMR_CAN_MESSAGE_ID_D_STEERING_ANGLE = 160,
+  MMR_CAN_MESSAGE_ID_D_STEERING_ANGLE = 138,
   MMR_CAN_MESSAGE_ID_D_BREAKING_PERCENTAGE,
+  MMR_CAN_MESSAGE_ID_D_ACCELERATOR_PERCENTAGE,
+  MMR_CAN_MESSAGE_ID_D_SPEED_ODOMETRY,
+// STEERING
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ERROR_LEFT_X = 256,
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ERROR_RIGHT_X,
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ODOMETRY_MIN_SPEED_LEFT_X,
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ODOMETRY_MIN_SPEED_LEFT_Y,
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ODOMETRY_MIN_SPEED_RIGHT_X,
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ODOMETRY_MIN_SPEED_RIGHT_Y,
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ODOMETRY_MAX_SPEED_LEFT_Y,
+  MMR_CAN_MESSAGE_ID_D_PROPORTIONAL_ODOMETRY_MAX_SPEED_RIGHT_Y,
+
 // !DRIVE
 // ECU_BOSCH
   MMR_CAN_MESSAGE_ID_ECU_BOSCH_ = 192,