diff --git a/msg/multirotor_motor_limits.msg b/msg/multirotor_motor_limits.msg
new file mode 100644
index 0000000000..2e03afc040
--- /dev/null
+++ b/msg/multirotor_motor_limits.msg
@@ -0,0 +1,4 @@
+uint8 lower_limit	# at least one actuator command has saturated on the lower limit
+uint8 upper_limit	# at least one actuator command has saturated on the upper limit
+uint8 yaw		# yaw limit reached
+uint8 reserved		# reserved