diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg
index ce68e9ff48..0822a473b5 100644
--- a/msg/ekf2_innovations.msg
+++ b/msg/ekf2_innovations.msg
@@ -2,10 +2,12 @@ uint64 timestamp		# Timestamp in microseconds since boot
 float32[6] vel_pos_innov  # velocity and position innovations
 float32[3] mag_innov 	# earth magnetic field innovations
 float32 heading_innov 	# heading innovation
+float32 airspeed_innov	# airspeed innovation
 float32[2] flow_innov   # flow innovation
 float32 hagl_innov      # innovation from the terrain estimator for the height above ground level measurement  (m)
 float32[6] vel_pos_innov_var 	# velocity and position innovation variances
 float32[3] mag_innov_var	# earth magnetic field innovation variance
 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)