diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index b047f00f2e..c112e01ec3 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -52,6 +52,7 @@ set(msg_files
 	distance_sensor.msg
 	ekf2_innovations.msg
 	ekf2_timestamps.msg
+	ekf_gps_drift.msg
 	ekf_gps_position.msg
 	esc_report.msg
 	esc_status.msg
diff --git a/msg/ekf_gps_drift.msg b/msg/ekf_gps_drift.msg
new file mode 100644
index 0000000000..5016c97c0e
--- /dev/null
+++ b/msg/ekf_gps_drift.msg
@@ -0,0 +1,5 @@
+uint64 timestamp		# time since system start (microseconds)
+float32 hpos_drift_rate		# Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
+float32 vpos_drift_rate		# Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
+float32 hspd			# Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
+bool blocked			# true when drift calculation is blocked due to IMU movement check controlled by EKF2_MOVE_TEST