diff --git a/ateam-common-packets/include/basic_control.h b/ateam-common-packets/include/basic_control.h
index df7626f..f51bd26 100644
--- a/ateam-common-packets/include/basic_control.h
+++ b/ateam-common-packets/include/basic_control.h
@@ -21,7 +21,8 @@ typedef struct BasicControl {
     uint32_t body_vel_controls_enabled : 1;
     uint32_t wheel_vel_control_enabled : 1;
     uint32_t wheel_torque_control_enabled : 1;
-    uint32_t _reserved : 17;
+    uint32_t dribbler_multiplier : 8;
+    uint32_t _reserved : 9;
     uint32_t play_song : 8;
 
     float vel_x_linear; // m/s
diff --git a/ateam-common-packets/include/error_telemetry.h b/ateam-common-packets/include/error_telemetry.h
new file mode 100644
index 0000000..38591e0
--- /dev/null
+++ b/ateam-common-packets/include/error_telemetry.h
@@ -0,0 +1,20 @@
+/**
+ * @file error_telemetry.h
+ * @author Nicholas Witten / Joseph Spall
+ * @brief Simple error messages over radio
+ * @version 0.1
+ * 
+ * @copyright Copyright (c) 2022
+ *
+ */
+
+#pragma once
+
+#include "common.h"
+
+typedef struct ErrorTelemetry {
+    uint32_t timestamp;
+    unsigned char error_message[60];
+} ErrorTelemetry;
+assert_size(ErrorTelemetry, 64);
+
diff --git a/ateam-common-packets/include/kicker.h b/ateam-common-packets/include/kicker.h
index 85acbb7..9583b04 100644
--- a/ateam-common-packets/include/kicker.h
+++ b/ateam-common-packets/include/kicker.h
@@ -18,7 +18,8 @@ typedef struct KickerControl {
     uint32_t telemetry_enabled: 1;
     uint32_t enable_charging: 1;
     uint32_t request_power_down: 1;
-    // 29 bits reserved
+    uint32_t dribbler_mult: 8;
+    // 21 bits reserved
 
     KickRequest kick_request;
     float kick_speed;
diff --git a/ateam-common-packets/include/radio.h b/ateam-common-packets/include/radio.h
index f03b802..aac1791 100644
--- a/ateam-common-packets/include/radio.h
+++ b/ateam-common-packets/include/radio.h
@@ -14,6 +14,7 @@
 #include "hello_data.h"
 #include "basic_control.h"
 #include "basic_telemetry.h"
+#include "error_telemetry.h"
 #include "extended_telemetry.h"
 #include "power.h"
 #include "robot_parameters.h"
@@ -30,6 +31,7 @@ typedef enum CommandCode : uint8_t {
     CC_TELEMETRY = 102,
     CC_CONTROL_DEBUG_TELEMETRY = 103,
     CC_ROBOT_PARAMETER_COMMAND = 104,
+    CC_ERROR_TELEMETRY = 105,
     CC_CONTROL = 201,
     CC_HELLO_RESP = 202,
 } CommandCode;
@@ -69,6 +71,7 @@ typedef struct RadioPacket {
         BasicControl control;
         BasicTelemetry telemetry;
         ExtendedTelemetry control_debug_telemetry;
+        ErrorTelemetry error_telemetry;
         ParameterCommand robot_parameter_command;
     } data __attribute__((aligned (4)));
 
diff --git a/ateam-common-packets/rust-lib/src/radio.rs b/ateam-common-packets/rust-lib/src/radio.rs
index 97a7738..cfa80c0 100644
--- a/ateam-common-packets/rust-lib/src/radio.rs
+++ b/ateam-common-packets/rust-lib/src/radio.rs
@@ -11,4 +11,13 @@ pub enum TelemetryPacket {
     Basic(crate::bindings::BasicTelemetry),
     Extended(crate::bindings::ExtendedTelemetry),
     ParameterCommandResponse(crate::bindings::ParameterCommand),
+    ErrorTelemetry(crate::bindings::ErrorTelemetry),
+}
+
+#[derive(Copy, Clone)]
+pub enum ParameterType {
+    Basic(crate::bindings::BasicTelemetry),
+    Extended(crate::bindings::ExtendedTelemetry),
+    ParameterCommandResponse(crate::bindings::ParameterCommand),
+    ErrorTelemetry(crate::bindings::ErrorTelemetry),
 }
\ No newline at end of file