diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 81e5d98dcb..2f8b25aa58 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -683,6 +683,17 @@ void Ekf2::task_main()
 			replay.vel_d_m_s = gps.vel_d_m_s;
 			replay.vel_ned_valid = gps.vel_ned_valid;
 
+			replay.flow_timestamp = optical_flow.timestamp;
+			replay.range_to_ground = range_finder.current_distance;
+
+			replay.rng_timestamp = range_finder.timestamp;
+			replay.flow_pixel_integral[0] = optical_flow.pixel_flow_x_integral;
+			replay.flow_pixel_integral[1] = optical_flow.pixel_flow_y_integral;
+			replay.flow_gyro_integral[0] = optical_flow.gyro_x_rate_integral;
+			replay.flow_gyro_integral[1] = optical_flow.gyro_y_rate_integral;
+			replay.flow_time_integral = optical_flow.integration_timespan;
+			replay.flow_quality = optical_flow.quality;
+
 			if (_replay_pub == nullptr) {
 				_replay_pub = orb_advertise(ORB_ID(ekf2_replay), &replay);