diff --git a/de/msg_docs/RoverAckermannStatus.md b/de/msg_docs/RoverAckermannStatus.md
index 43ca9a29e32..0b38d611a7a 100644
--- a/de/msg_docs/RoverAckermannStatus.md
+++ b/de/msg_docs/RoverAckermannStatus.md
@@ -5,9 +5,13 @@
 ```c
 uint64 timestamp # time since system start (microseconds)
 
-float32 throttle_setpoint 	# [-1, 1] Normalized throttle setpoint
-float32 steering_setpoint 	# [-1, 1] Normalized steering setpoint
-float32 actual_speed       	# [m/s] Rover ground speed
+float32 measured_forward_speed       	      # [m/s] Measured speed in body x direction. Forwards: positiv, Backwards: negativ
+float32 adjusted_forward_speed_setpoint       # [m/s] Speed setpoint after applying slew rate
+float32 steering_setpoint_normalized          # [-1, 1] Normalized steering setpoint
+float32 adjusted_steering_setpoint_normalized # [-1, 1] Normalized steering setpoint after applying slew rate
+float32 measured_lateral_acceleration         # [m/s^2] Measured acceleration in body y direction. Positiv: right, Negativ: left.
+float32 pid_throttle_integral                 # Integral of the PID for the closed loop speed controller
+float32 pid_lat_accel_integral                # Integral of the PID for the closed loop lateral acceleration controller
 
 # TOPICS rover_ackermann_status