diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg
index 225922b8b6..a82e4024b7 100644
--- a/msg/ekf2_innovations.msg
+++ b/msg/ekf2_innovations.msg
@@ -10,3 +10,4 @@ float32 heading_innov_var 	# heading innovation variance
 float32 airspeed_innov_var	# Airspeed innovation variance
 float32[2] flow_innov_var	# flow innovation variance
 float32 hagl_innov_var          # innovation variance from the terrain estimator for the height above ground level measurement (m^2)
+float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)