diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 56a96fa6b1..b8d36d2095 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -605,11 +605,13 @@ void Ekf2::task_main()
 		_ekf->get_mag_innov(&innovations.mag_innov[0]);
 		_ekf->get_heading_innov(&innovations.heading_innov);
 		_ekf->get_flow_innov(&innovations.flow_innov[0]);
+		_ekf->get_hagl_innov(&innovations.hagl_innov);
 
 		_ekf->get_vel_pos_innov_var(&innovations.vel_pos_innov_var[0]);
 		_ekf->get_mag_innov_var(&innovations.mag_innov_var[0]);
 		_ekf->get_heading_innov_var(&innovations.heading_innov_var);
 		_ekf->get_flow_innov_var(&innovations.flow_innov_var[0]);
+		_ekf->get_hagl_innov_var(&innovations.hagl_innov_var);
 		if (_estimator_innovations_pub == nullptr) {
 			_estimator_innovations_pub = orb_advertise(ORB_ID(ekf2_innovations), &innovations);