diff --git a/IMC.xml b/IMC.xml
index e4eeaf9..7c6df1d 100644
--- a/IMC.xml
+++ b/IMC.xml
@@ -568,8 +568,21 @@
       <description>
         Operation to perform.
       </description>
-      <value abbrev="REPORT" name="Report" id="0"/>
-      <value abbrev="QUERY" name="Query" id="1"/>
+      <value abbrev="REPORT" name="Report" id="0">
+        <description>
+          Report the entity list.
+        </description>
+      </value>
+      <value abbrev="QUERY" name="Query" id="1">
+        <description>
+          Request the entity list.
+        </description>
+      </value>
+      <value abbrev="RELOAD" name="Reload" id="2">
+        <description>
+          Reload the entity list.
+        </description>
+      </value>
     </field>
     <field name="list" abbrev="list" type="plaintext" unit="TupleList">
       <description>
@@ -3148,6 +3161,13 @@
     <description>
       Hardware pulse detection.
     </description>
+    <field name="Original Timestamp" abbrev="origin_timestamp" type="fp64_t" unit="s">
+      <description>
+        The time at which the pulse was dispatched from the original source. 
+        Represented in Universal Coordinated Time (UCT) in seconds since Jan 1, 1970 using IEEE
+        double precision floating point numbers.
+      </description>
+    </field>
   </message>
 
   <message id="278" name="Pulse Detection Control" abbrev="PulseDetectionControl" source="vehicle,ccu" category="Sensors">
@@ -11362,92 +11382,6 @@
     </field>
   </message>
 
-  <message id="2008" name="Typed Entity Parameter" abbrev="TypedEntityParameter" source="vehicle" category="CCU">
-    <description>
-      Entity parameter with all the data that defines an entity parameter.
-    </description>
-    <field name="Entity Name" abbrev="name" type="plaintext">
-      <description>
-        Name of the parameter.
-      </description>
-    </field>
-    <field name="Type" abbrev="type" type="uint8_t" unit="Enumerated" prefix="TYPE">
-      <value id="1" name="Boolean Domain" abbrev="BOOL" />
-      <value id="2" name="Integer Domain" abbrev="INT" />
-      <value id="3" name="Float Domain" abbrev="FLOAT" />
-      <value id="4" name="String Domain" abbrev="STRING" />
-      <value id="5" name="List of Booleans" abbrev="LIST_BOOL"/>
-      <value id="6" name="List of Integers" abbrev="LIST_INT"/>
-      <value id="7" name="List of Floats" abbrev="LIST_FLOAT"/>
-      <value id="8" name="List of Strings" abbrev="LIST_STRING"/>
-    </field>
-    <field name="Default Value" abbrev="default_value" type="plaintext">
-      <description>
-        Default value of the parameter.
-      </description>
-    </field>
-    <field name="Units" abbrev="units" type="plaintext">
-      <description>
-        The units of the field, if applicable
-      </description>
-    </field>
-    <field name="Description" abbrev="description" type="plaintext">
-      <description>
-        Description of the parameter
-      </description>
-    </field>
-    <field name="Min Value" abbrev="min_value" type="fp32_t">
-      <description>
-        Optional. Min value of the parameter
-      </description>
-    </field>
-    <field name="Max Value" abbrev="max_value" type="fp32_t">
-      <description>
-        Optional. Max value of the parameter
-      </description>
-    </field>
-    <field name="List Min Size" abbrev="list_min_size" type="uint32_t">
-      <description>
-        When the parameter is a list, list_min_size indicates the minimum size of the list
-      </description>
-    </field>
-    <field name="List Max Size" abbrev="list_max_size" type="uint32_t">
-      <description>
-        When the parameter is a list, list_max_size indicates the maximum size of the list
-      </description>
-    </field>
-    <field name="Visibility" abbrev="visibility" type="uint8_t" unit="Enumerated" prefix="VISIBILITY">
-      <value id="0" name="User" abbrev="USER" />
-      <value id="1" name="Developer" abbrev="DEVELOPER" />
-    </field>
-    <field name="Scope" abbrev="scope" type="uint8_t" unit="Enumerated" prefix="SCOPE">
-      <value id="0" name="Global" abbrev="GLOBAL" />
-      <value id="1" name="Idle" abbrev="IDLE" />
-      <value id="2" name="Plan" abbrev="PLAN" />
-      <value id="3" name="Maneuver" abbrev="MANEUVER" />
-    </field>
-  </message>
-
-  <message id="2009" name="Typed Entity Parameters" abbrev="TypedEntityParameters" source="vehicle" category="CCU">
-    <description>This message can be used to query/report the entities and respective parameters in the system</description>
-    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
-      <description>
-        Operation to perform.
-      </description>
-      <value id="0" name="Request" abbrev="REQUEST" />
-      <value id="1" name="Reply" abbrev="REPLY" />
-    </field>
-    <field name="Request identitier" abbrev="request_id" type="uint32_t">
-      <description>Echoes the request_id in the request</description>
-    </field>
-    <field name="Entity Name" abbrev="entity_name" type="plaintext">
-      <description>Entity Label of the task that's replying to the request</description>
-    </field>
-    <field name="Parameters" abbrev="parameters" type="message-list" message-type="TypedEntityParameter">
-      <description>Contains an optionally defined List of TypedEntityParameter as a response to a TypedEntityParamaters Request.</description>
-    </field>
-  </message>
-
   <message id="2010" name="Communication Restriction" abbrev="CommRestriction" source="ccu,vehicle" category="Networking">
     <description>This message is used to restrict the vehicle from using some communication means.</description>
     <field name="Restricted Communication Means" abbrev="restriction" type="uint8_t" unit="Bitfield" prefix="MEAN">
@@ -11712,4 +11646,52 @@
       </description>
     </field>
   </message>
+
+  <message id="2020" name="Maneuver Resumed" abbrev="ManeuverResumed" source="vehicle" category="Maneuvering">
+    <description>
+      This message is sent when a maneuver is stoped, describing how it could be resumed to completion later.
+    </description>
+    <field name="Maneuver Identifier" abbrev="man_id" type="plaintext">
+      <description>
+        ID of the maneuver that was stopped.
+      </description>
+    </field>
+    <field name="Maneuver List" abbrev="man_list" type="message-list" message-type="Maneuver">
+      <description>
+        List of maneuvers that can be executed to resume the stopped maneuver.
+      </description>
+    </field>
+  </message>
+
+  <message id="2021" name="Version Info" abbrev="VersionInfo" source="vehicle" category="Core">
+    <description>
+      This message is used to query / report version information related to an entity.
+    </description>
+    <field name="Operation" abbrev="op" type="uint8_t" unit="Enumerated" prefix="OP">
+      <description>
+        Operation to perform.
+      </description>
+      <value abbrev="REPLY" name="Reply" id="0">
+        <description>
+          Report the entity list.
+        </description>
+      </value>
+      <value abbrev="QUERY" name="Query" id="1">
+        <description>
+          Request the entity list.
+        </description>
+      </value>     
+    </field>
+    <field name="Version" abbrev="version" type="plaintext" >
+      <description>
+        Version of the entity.
+      </description>
+    </field>
+    <field name="Description" abbrev="description" type="plaintext" >
+      <description>
+        Description of the entity.
+      </description>
+    </field>
+  </message>
+
 </messages>