diff --git a/ateam_msgs/msg/RobotMotionCommand.msg b/ateam_msgs/msg/RobotMotionCommand.msg
index 62d07aee..0b66fc9a 100644
--- a/ateam_msgs/msg/RobotMotionCommand.msg
+++ b/ateam_msgs/msg/RobotMotionCommand.msg
@@ -7,9 +7,9 @@ float64 limit_vel_angular  # (rad/s)
 float64 limit_acc_linear  # (m/s/s)
 float64 limit_acc_angular  # (rad/s/s)
 
-# pivot maneuver parameters (used when body_control_mode == BCM_PIVOT)
+# pivot parameters
 float64 pivot_orbit_radius  # (m)
-float64 pivot_heading_lag  # (rad)
+float64 pivot_inset_angle  # (rad)
 
 uint8 kick_request
 float32 kick_speed  # (m/s)
diff --git a/motion/ateam_controls/controls b/motion/ateam_controls/controls
index 03820d79..11fab8ea 160000
--- a/motion/ateam_controls/controls
+++ b/motion/ateam_controls/controls
@@ -1 +1 @@
-Subproject commit 03820d7944b3a30ff235e10f0b0385056f043c19
+Subproject commit 11fab8eac2b5e33765f7fe275dd1a27ae9c8b936
diff --git a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
index 8d762381..9e613fbc 100644
--- a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
+++ b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
@@ -369,13 +369,11 @@ class RadioBridgeNode : public rclcpp::Node
         case ateam_msgs::msg::RobotMotionCommand::BCM_PIVOT:
           control_msg.body_control_mode = BCM_PIVOT;
           control_msg.cmd.pivot = {
-            static_cast<float>(command.pose.x),
-            static_cast<float>(command.pose.y),
             static_cast<float>(command.pose.theta),
             static_cast<float>(command.limit_vel_angular),
             static_cast<float>(command.limit_acc_angular),
             static_cast<float>(command.pivot_orbit_radius),
-            static_cast<float>(command.pivot_heading_lag)
+            static_cast<float>(command.pivot_inset_angle)
           };
           break;
         default:
diff --git a/radio/ateam_radio_msgs/software-communication b/radio/ateam_radio_msgs/software-communication
index f09f1c84..5b0c64fa 160000
--- a/radio/ateam_radio_msgs/software-communication
+++ b/radio/ateam_radio_msgs/software-communication
@@ -1 +1 @@
-Subproject commit f09f1c8498fc8c83d8644ccffb27ba185284af53
+Subproject commit 5b0c64fabb26156ae38a9e415f3472e65f3324c4