diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 62ae55e38a..d2a6358716 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -82,6 +82,7 @@ set(msg_files
 	mount_orientation.msg
 	multirotor_motor_limits.msg
 	obstacle_distance.msg
+	omni_attitude_status.msg
 	offboard_control_mode.msg
 	onboard_computer_status.msg
 	optical_flow.msg
diff --git a/msg/omni_attitude_status.msg b/msg/omni_attitude_status.msg
new file mode 100644
index 0000000000..34b0eb4351
--- /dev/null
+++ b/msg/omni_attitude_status.msg
@@ -0,0 +1,14 @@
+uint64 timestamp		# time since system start (microseconds)
+
+float32 att_mode		# attitude modes as defined in OMNI_ATT_MODE parameter
+
+float32 tilt_angle_est		# estimated optimal tilt angle of the robot in rad
+float32 tilt_angle_meas		# measured tilt angle of the robot in rad
+
+float32 tilt_direction_est	# estimated optimal tilt direction in local NED frame
+float32 tilt_direction_meas	# tilt direction in local NED frame
+
+float32 tilt_roll_est		# estimated optimal roll angle of the robot in rad
+float32 tilt_pitch_est		# estimated optimal pitch angle of the robot in rad
+
+# TOPICS omni_attitude_status