diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg
new file mode 100644
index 0000000000..cb2ab03146
--- /dev/null
+++ b/msg/ekf2_innovations.msg
@@ -0,0 +1,7 @@
+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[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
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 15dab60df4..0ff426e3b5 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -273,3 +273,6 @@ ORB_DEFINE(camera_trigger, struct camera_trigger_s);
 
 #include "topics/vehicle_command_ack.h"
 ORB_DEFINE(vehicle_command_ack, struct vehicle_command_ack_s);
+
+#include "topics/ekf2_innovations.h"
+ORB_DEFINE(ekf2_innovations, struct ekf2_innovations_s);