diff --git a/msg/pwm_input.msg b/msg/pwm_input.msg
new file mode 100644
index 0000000000..beb82021d2
--- /dev/null
+++ b/msg/pwm_input.msg
@@ -0,0 +1,5 @@
+
+uint64 timestamp	# Microseconds since system boot
+uint64 error_count
+uint32 pulse_width	# Pulse width, timer counts 
+uint32 period		# Period, timer counts