diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index a055ccc613..118330a1e7 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -2172,6 +2172,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 					log_msg.body.log_INO1.s[i] = buf.innovations.vel_pos_innov[i];
 					log_msg.body.log_INO1.s[i + 6] = buf.innovations.vel_pos_innov_var[i];
 				}
+				for (unsigned i = 0; i < 3; i++) {
+					log_msg.body.log_INO1.s[i + 12] = buf.innovations.output_tracking_error[i];
+				}
 				LOGBUFFER_WRITE_AND_COUNT(EST4);
 
 				log_msg.msg_type = LOG_EST5_MSG;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 8578fd0321..fd7e8be7fe 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -506,7 +506,7 @@ struct log_CTS_s {
 /* --- EST4 - ESTIMATOR INNOVATIONS --- */
 #define LOG_EST4_MSG 48
 struct log_EST4_s {
-    float s[12];
+    float s[15];
 };
 
 /* --- EST5 - ESTIMATOR INNOVATIONS --- */
@@ -691,9 +691,9 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(EST1, "ffffffffffffffff",	"s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
 	LOG_FORMAT(EST2, "ffffffffffffHHBH",     "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL,fHealth,IC"),
 	LOG_FORMAT(EST3, "ffffffffffffffff",    "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"),
-	LOG_FORMAT(EST4, "ffffffffffff", "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV"),
-	LOG_FORMAT(EST5, "ffffffffff", "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV,AirI,AirIV"),
-	LOG_FORMAT(EST6, "ffffff", "FxI,FyI,FxIV,FyIV,HAGLI,HAGLIV"),
+	LOG_FORMAT(EST4, "fffffffffffffff",     "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV,e1,e2,e3"),
+	LOG_FORMAT(EST5, "ffffffffff",          "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV,AirI,AirIV"),
+	LOG_FORMAT(EST6, "ffffff",              "FxI,FyI,FxIV,FyIV,HAGLI,HAGLIV"),
 	LOG_FORMAT(PWR, "fffBBBBB",		"Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
 	LOG_FORMAT(MOCP, "fffffff",		"QuatW,QuatX,QuatY,QuatZ,X,Y,Z"),
 	LOG_FORMAT(VISN, "ffffffffff",		"X,Y,Z,VX,VY,VZ,QuatW,QuatX,QuatY,QuatZ"),