diff --git a/msg/fw_virtual_attitude_setpoint.msg b/msg/fw_virtual_attitude_setpoint.msg
index a379477bce..ba456c25d4 100644
--- a/msg/fw_virtual_attitude_setpoint.msg
+++ b/msg/fw_virtual_attitude_setpoint.msg
@@ -15,14 +15,9 @@ float32 yaw_body				# body angle in NED frame
 
 float32 yaw_sp_move_rate		# rad/s (commanded by user)
 
-float32[9] R_body				# Rotation matrix describing the setpoint as rotation from the current body frame
-bool R_valid					# Set to true if rotation matrix is valid
-
 # For quaternion-based attitude control
 float32[4] q_d					# Desired quaternion for quaternion control
 bool q_d_valid					# Set to true if quaternion vector is valid
-float32[4] q_e					# Attitude error in quaternion
-bool q_e_valid					# Set to true if quaternion error vector is valid
 
 float32 thrust					# Thrust in Newton the power system should generate
 
@@ -35,5 +30,7 @@ bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane m
 
 bool apply_flaps
 
+float32 landing_gear
+
 # WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
 # TOPICS fw_virtual_attitude_setpoint
diff --git a/msg/mc_virtual_attitude_setpoint.msg b/msg/mc_virtual_attitude_setpoint.msg
index f2fe44da86..aaea9f951d 100644
--- a/msg/mc_virtual_attitude_setpoint.msg
+++ b/msg/mc_virtual_attitude_setpoint.msg
@@ -15,14 +15,9 @@ float32 yaw_body				# body angle in NED frame
 
 float32 yaw_sp_move_rate		# rad/s (commanded by user)
 
-float32[9] R_body				# Rotation matrix describing the setpoint as rotation from the current body frame
-bool R_valid					# Set to true if rotation matrix is valid
-
 # For quaternion-based attitude control
 float32[4] q_d					# Desired quaternion for quaternion control
 bool q_d_valid					# Set to true if quaternion vector is valid
-float32[4] q_e					# Attitude error in quaternion
-bool q_e_valid					# Set to true if quaternion error vector is valid
 
 float32 thrust					# Thrust in Newton the power system should generate
 
@@ -35,5 +30,7 @@ bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane m
 
 bool apply_flaps
 
+float32 landing_gear
+
 # WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
 # TOPICS mc_virtual_attitude_setpoint