diff --git a/msg/ekf2_replay.msg b/msg/ekf2_replay.msg
new file mode 100644
index 0000000000..8ded25c1f1
--- /dev/null
+++ b/msg/ekf2_replay.msg
@@ -0,0 +1,26 @@
+uint64 time_ref 					# ekf2 reference time. This is a timestamp passed to the
+									# estimator which it uses a absolute reference.
+uint64 gyro_integral_dt				# gyro integration period in us
+uint64 accelerometer_integral_dt 	# accelerometer integration period in us
+uint64 magnetometer_timestamp 		# timestamp of magnetometer measurement in us
+uint64 baro_timestamp 				# timestamp of barometer measurement in us
+
+float32[3] gyro_integral_rad			# integrated gyro vector in rad
+float32[3] accelerometer_integral_m_s  	# integrated accelerometer vector in m/s
+
+float32[3] magnetometer_ga 			# magnetometer measurement vector (body fixed NED) in ga
+float32 baro_alt_meter				# barometer altitude measurement in m
+
+uint64 time_usec # timestamp of gps position measurement in us
+uint64 time_usec_vel # timestamp of gps velocity measurement in us
+int32 lat			# Latitude in 1E-7 degrees
+int32 lon			# Longitude in 1E-7 degrees 
+int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
+uint8 fix_type
+float32 eph			# GPS horizontal position accuracy (metres) 
+float32 epv			# GPS vertical position accuracy (metres)
+float32 vel_m_s			# GPS ground speed, (metres/sec) 
+float32 vel_n_m_s		# GPS North velocity, (metres/sec) 
+float32 vel_e_m_s		# GPS East velocity, (metres/sec)
+float32 vel_d_m_s		# GPS Down velocity, (metres/sec) 
+bool vel_ned_valid		# True if NED velocity is valid 
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 0ff426e3b5..a0d30ccded 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -276,3 +276,6 @@ ORB_DEFINE(vehicle_command_ack, struct vehicle_command_ack_s);
 
 #include "topics/ekf2_innovations.h"
 ORB_DEFINE(ekf2_innovations, struct ekf2_innovations_s);
+
+#include "topics/ekf2_replay.h"
+ORB_DEFINE(ekf2_replay, struct ekf2_replay_s);