diff --git a/src/modules/ekf2_replay/ekf2_replay_main.cpp b/src/modules/ekf2_replay/ekf2_replay_main.cpp
index 583b0d5548..62013b47ee 100644
--- a/src/modules/ekf2_replay/ekf2_replay_main.cpp
+++ b/src/modules/ekf2_replay/ekf2_replay_main.cpp
@@ -157,6 +157,13 @@ private:
 	struct vision_position_estimate_s _ev;
 	struct vehicle_status_s _vehicle_status;
 
+	uint32_t _numInnovSamples;	// number of samples used to calculate the RMS innovation values
+	float _velInnovSumSq;		// GPS velocity innovation sum of squares
+	float _posInnovSumSq;		// GPS position innovation sum of squares
+	float _hgtInnovSumSq;		// Vertical position innovation sum of squares
+	float _magInnovSumSq;		// magnetometer innovation sum of squares
+	float _tasInnovSumSq;		// airspeed innovation sum of squares
+
 	unsigned _message_counter; // counter which will increase with every message read from the log
 	unsigned _part1_counter_ref;		// this is the value of _message_counter when the part1 of the replay message is read (imu data)
 	bool _read_part2;				// indicates if part 2 of replay message has been read
@@ -227,6 +234,12 @@ Ekf2Replay::Ekf2Replay(char *logfile) :
 	_range{},
 	_airspeed{},
 	_vehicle_status{},
+	_numInnovSamples(0),
+	_velInnovSumSq(0.0f),
+	_posInnovSumSq(0.0f),
+	_hgtInnovSumSq(0.0f),
+	_magInnovSumSq(0.0f),
+	_tasInnovSumSq(0.0f),
 	_message_counter(0),
 	_part1_counter_ref(0),
 	_read_part2(false),
@@ -697,6 +710,16 @@ void Ekf2Replay::logIfUpdated()
 		log_message.body.innov3.s[4] = innov.hagl_innov;
 		log_message.body.innov3.s[5] = innov.hagl_innov_var;
 		writeMessage(_write_fd, (void *)&log_message.head1, _formats[LOG_EST6_MSG].length);
+
+		// Update tuning metrics
+		_numInnovSamples++;
+		_velInnovSumSq += innov.vel_pos_innov[0] * innov.vel_pos_innov[0] + innov.vel_pos_innov[1] * innov.vel_pos_innov[1];
+		_posInnovSumSq += innov.vel_pos_innov[3] * innov.vel_pos_innov[3] + innov.vel_pos_innov[4] * innov.vel_pos_innov[4];
+		_hgtInnovSumSq += innov.vel_pos_innov[5] * innov.vel_pos_innov[5];
+		_magInnovSumSq += innov.mag_innov[0] * innov.mag_innov[0] + innov.mag_innov[1] * innov.mag_innov[1] + innov.mag_innov[2]
+				  * innov.mag_innov[2];
+		_tasInnovSumSq += innov.airspeed_innov * innov.airspeed_innov;
+
 	}
 
 	// update control state
@@ -1005,6 +1028,16 @@ void Ekf2Replay::task_main()
 	::close(fd);
 	delete ekf2_replay::instance;
 	ekf2_replay::instance = nullptr;
+
+	// Report sensor innovation RMS values to assist with time delay tuning
+	if (_numInnovSamples > 0) {
+		PX4_INFO("GPS vel innov RMS = %6.3f", sqrt(_velInnovSumSq / _numInnovSamples));
+		PX4_INFO("GPS pos innov RMS = %6.3f", sqrt(_posInnovSumSq / _numInnovSamples));
+		PX4_INFO("Hgt innov RMS = %6.3f", sqrt(_hgtInnovSumSq / _numInnovSamples));
+		PX4_INFO("Mag innov RMS = %6.4f", sqrt(_magInnovSumSq / _numInnovSamples));
+		PX4_INFO("TAS innov RMS = %6.3f", sqrt(_tasInnovSumSq / _numInnovSamples));
+	}
+
 }
 
 void Ekf2Replay::task_main_trampoline(int argc, char *argv[])