diff --git a/ublox_msgs/msg/EsfALG.msg b/ublox_msgs/msg/EsfALG.msg
index b48b3de0..0b77100d 100644
--- a/ublox_msgs/msg/EsfALG.msg
+++ b/ublox_msgs/msg/EsfALG.msg
@@ -8,24 +8,24 @@
 uint8 CLASS_ID = 16
 uint8 MESSAGE_ID = 20
 
-uint8 FLAGS_AUTO_MNT_ALG_ON = 1
+uint8 FLAGS_AUTO_MNT_ALG_ON = 0
 uint32 FLAGS_STATUS = 14
 
-uint8 FLAGS_STATUS_USER_FIXED_ANGLES_USED = 0                   
-uint8 FLAGS_STATUS_ROLL_PITCH_ANGLES_ALIGNEMENT_ONGOING = 1              
-uint8 FLAGS_STATUS_ROLL_PITCH_YAW_ANGLES_ALIGNEMENT_ONGOING = 2             
-uint8 FLAGS_STATUS_COARSE_ALIGNMENT_USED = 3                                     
+uint8 FLAGS_STATUS_USER_FIXED_ANGLES_USED = 0
+uint8 FLAGS_STATUS_ROLL_PITCH_ANGLES_ALIGNEMENT_ONGOING = 1
+uint8 FLAGS_STATUS_ROLL_PITCH_YAW_ANGLES_ALIGNEMENT_ONGOING = 2
+uint8 FLAGS_STATUS_COARSE_ALIGNMENT_USED = 3
 uint8 FLAGS_STATUS_FINE_ALIGNEMENT_USED = 4
 
 uint8 ERROR_TILT_ARG_ERROR = 1
 uint8 ERROR_YAW_ARG_ERROR = 2
-uint8 ERROR_ANGLE_ERROR = 4
+uint8 ERROR_ANGLE_ERROR = 3
 
 uint32 iTOW
 uint8 version
-uint8 flags            
-uint8 errors            
-uint8 reserved0               
+uint8 flags
+uint8 errors
+uint8 reserved0
 uint32 yaw # IMU-mount yaw angle [0, 360]
 int16 pitch # IMU-mount pitch angle [-90, 90]
 int16 roll # IMU-mount roll angle [-180, 180]