diff --git a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
index c402013a..bf730242 100644
--- a/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
+++ b/radio/ateam_radio_bridge/src/radio_bridge_node.cpp
@@ -91,7 +91,7 @@ class RadioBridgeNode : public rclcpp::Node
 
     declare_parameters<bool>("controls_enabled", {
         {"body_vel", true},
-        {"wheel_vel", false},
+        {"wheel_vel", true},
         {"wheel_torque", true}
     });
 
diff --git a/radio/ateam_radio_msgs/software-communication b/radio/ateam_radio_msgs/software-communication
index cb32a651..2fad4215 160000
--- a/radio/ateam_radio_msgs/software-communication
+++ b/radio/ateam_radio_msgs/software-communication
@@ -1 +1 @@
-Subproject commit cb32a651bde65ef70e90599dd2f96a43e06c46cc
+Subproject commit 2fad4215fc604f7ab8fdd8f65dd80f0fb4f9dc1a