diff --git a/firmware/axl-stepper/src/axl b/firmware/axl-stepper/src/axl
index 911cba7c18d0d232ad7e04856c55e99027b3e9f8..0aa41982be0a8ec1189ec6e4517e4f1c2b6774cb 160000
--- a/firmware/axl-stepper/src/axl
+++ b/firmware/axl-stepper/src/axl
@@ -1 +1 @@
-Subproject commit 911cba7c18d0d232ad7e04856c55e99027b3e9f8
+Subproject commit 0aa41982be0a8ec1189ec6e4517e4f1c2b6774cb
diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index 5e5943a96899edbd1e4f71d47a3dea3518318bf7..49ebd11a81f8d74a8ebfe3aaf9b9e99ddd7077ce 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -62,9 +62,10 @@ EP_ONDATA_RESPONSES onStateData(uint8_t* data, uint16_t len){
 Endpoint statesEP(&osap, "states", onStateData);
 
 void updateStatesEP(void){
-  uint8_t numBytes = AXL_NUM_DOF * 4 * 3 + 1;
+  uint8_t numBytes = AXL_NUM_DOF * 4 * 3 + 2;
   uint8_t stash[numBytes]; uint16_t wptr = 0;
   stash[wptr ++] = axl_getMode();
+  axl_isMoving() ? stash[wptr ++] = 1 : stash[wptr ++] = 0;
   dofs temp = axl_getPositions();
   for(uint8_t a = 0; a < AXL_NUM_DOF; a ++){
     ts_writeFloat32(temp.axis[a], stash, &wptr);
diff --git a/firmware/axl-stepper/src/osape b/firmware/axl-stepper/src/osape
index 4f5c37e60669b7357b29cba0b842014cdda23161..bc18a89d155622fd8ab959773c0eb967cedd9383 160000
--- a/firmware/axl-stepper/src/osape
+++ b/firmware/axl-stepper/src/osape
@@ -1 +1 @@
-Subproject commit 4f5c37e60669b7357b29cba0b842014cdda23161
+Subproject commit bc18a89d155622fd8ab959773c0eb967cedd9383