diff --git a/LiquidCAN.pdf b/LiquidCAN.pdf
index 6d2f020..fc929f0 100644
Binary files a/LiquidCAN.pdf and b/LiquidCAN.pdf differ
diff --git a/LiquidCAN.tex b/LiquidCAN.tex
index 7eb15fb..10c03a9 100644
--- a/LiquidCAN.tex
+++ b/LiquidCAN.tex
@@ -89,7 +89,7 @@
 
 \vspace{1cm}
 
-{\large Version 1.5}
+{\large Version 1.6}
 
 \vspace{0.5cm}
 
@@ -111,12 +111,13 @@ \section*{Version History}
 0.1 & 2025-12-16 & Initial protocol specification proposal & Raffael Rott \\
 0.2 & 2025-12-16 & Implemented Proposals from Team members & Raffael Rott \\
 0.3 & 2026-01-05 & Fixed final bugs before initial release & Raffael Rott \\
-1.0 & 2026-01-11 & Fixed minor typos.  & Raffael Rott \\
+1.0 & 2026-01-11 & Fixed minor typos  & Raffael Rott \\
 1.1 & 2026-01-25 & Fixed total sizes of structs. & Fabian Weichselbaum \\
 1.2 & 2026-02-09 & Fixed inconsistant field value lengths \& typos & Raffael Rott\\
 1.3 & 2026-02-28 & Added a status field to field access responses& Raffael Rott\\
 1.4 & 2026-03-05 & Variable-length frame serialization; updated payload sizes & Michael Debertol\\
 1.5 & 2026-03-21 & Defined reserved Node IDs & Michael Debertol\\
+1.6 & 2026-03-28 & TelemetryGroup assignment \& Heartbeat initialization & Raffael Rott    \\
 % Make sure to change the version on the first page
 \bottomrule
 \end{longtable}
diff --git a/sections/05_field_management.tex b/sections/05_field_management.tex
index e32aa68..ec06913 100644
--- a/sections/05_field_management.tex
+++ b/sections/05_field_management.tex
@@ -71,6 +71,7 @@ \subsection{Registration}\label{subsec:registration}
 \paragraph{}
 Next, the node sends \texttt{telemetry\_group\_definition} messages.
 The node sends a group ID to identify the group and a list of field IDs. 
+Every telemetry value has to be a member of exactly one telemetry group.
 The order of the field IDs must be the same as the order of fields in future \texttt{telemetry\_group\_updates}. The node must ensure that the values of all of the defined telemetryValues can fit into a TelemetryGroupUpdate.
 
 
diff --git a/sections/06_heartbeats.tex b/sections/06_heartbeats.tex
index 21bf93f..e91df83 100644
--- a/sections/06_heartbeats.tex
+++ b/sections/06_heartbeats.tex
@@ -1,5 +1,5 @@
 \section{Heartbeats}\label{sec:heartbeats}
 Heartbeats ensure that the system does not reach a state where it is still dangerous to physically handle but 
 not accessible through CAN messages. The \texttt{heartbeat\_req} message sent from the server contains a continuously increasing counter.
-The counter value is unique to each node. If a node does not receive \texttt{heartbeat\_req} messages, it will default
+The counter value is unique to each node. Upon receiving the \texttt{heartbeat\_req} a node responds with a \texttt{heartbeat\_res}, containing the old heartbeat value increased by 1. The heartbeat value is initialized to 0. If a node does not receive \texttt{heartbeat\_req} messages, it will default
 to a safe state. Similarly, the server takes note of any unresponsive nodes.