diff --git a/msg/control_state.msg b/msg/control_state.msg
index 96efea0f81..74ace91967 100644
--- a/msg/control_state.msg
+++ b/msg/control_state.msg
@@ -17,6 +17,8 @@ bool airspeed_valid		# False: Non-finite values or non-updating sensor
 float32[3] vel_variance	# Variance in body velocity estimate
 float32[3] pos_variance	# Variance in local position estimate
 float32[4] q 			# Attitude Quaternion
+float32[4] delta_q_reset 	# Amount by which quaternion has changed during last reset
+uint8 quat_reset_counter	# Quaternion reset counter
 float32 roll_rate		# Roll body angular rate (rad/s, x forward/y right/z down)
 float32 pitch_rate		# Pitch body angular rate (rad/s, x forward/y right/z down)
 float32 yaw_rate		# Yaw body angular rate (rad/s, x forward/y right/z down)