diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 483da02269..2e4541aa0c 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -2002,6 +2002,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 					log_msg.body.log_INO3.s[i] = buf.innovations.flow_innov[i];
 					log_msg.body.log_INO3.s[i + 2] = buf.innovations.flow_innov_var[i];
 				}
+				log_msg.body.log_INO3.s[4] = buf.innovations.hagl_innov;
+				log_msg.body.log_INO3.s[5] = buf.innovations.hagl_innov_var;
 				LOGBUFFER_WRITE_AND_COUNT(EST6);
 			}
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index c117959ba7..bb87e7fcc0 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -432,7 +432,7 @@ struct log_EST5_s {
 /* --- EST6 - ESTIMATOR INNOVATIONS --- */
 #define LOG_EST6_MSG 53
 struct log_EST6_s {
-    float s[4];
+    float s[6];
 };
 
 /* --- TEL0..3 - TELEMETRY STATUS --- */
@@ -627,7 +627,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(EST3, "ffffffffffffffff",    "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"),
 	LOG_FORMAT(EST4, "ffffffffffff", "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV"),
 	LOG_FORMAT(EST5, "ffffffff", "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV"),
-	LOG_FORMAT(EST6, "ffff", "FxI,FyI,FxIV,FyIV"),
+	LOG_FORMAT(EST6, "ffffff", "FxI,FyI,FxIV,FyIV,HAGLI,HAGLIV"),
 	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
 	LOG_FORMAT(MOCP, "fffffff",		"QuatW,QuatX,QuatY,QuatZ,X,Y,Z"),
 	LOG_FORMAT(VISN, "ffffffffff",		"X,Y,Z,VX,VY,VZ,QuatW,QuatX,QuatY,QuatZ"),