diff --git a/msg/adc_goal.msg b/msg/adc_goal.msg
index a98ea79bdd4a1e9806f88baab28dcb6684a2642d..1f3d1d3f19dacf1c2ea1d0ab362f325c5150a4c9 100644
--- a/msg/adc_goal.msg
+++ b/msg/adc_goal.msg
@@ -1,4 +1,10 @@
-string id
-float32 x
-float32 y
-float32 yaw
+#type definitions
+uint8 PASSTHROUGH_GOAL=0
+uint8 STOP_GOAL=1
+uint8 PARKING_GOAL=2
+
+string id       # goal identifier
+float32 x       # x coordinates in meters [m]
+float32 y       # y coordinate in meters [m]
+float32 yaw     # yaw orientation in radians [rad]
+int32 type      # see type definitions above