diff --git a/msg/sensor_hall.msg b/msg/sensor_hall.msg
new file mode 100644
index 0000000000..a64d07f31c
--- /dev/null
+++ b/msg/sensor_hall.msg
@@ -0,0 +1,7 @@
+uint64 timestamp			# time since system start (microseconds)
+
+int8 instance	            # sensor instance
+
+float32 mag_t	            # magnetic field measurement in Tesla
+
+float32 temp_c	            # temperature measurement in deg C