diff --git a/msg/esc_status.msg b/msg/esc_status.msg
index 83a485d19a..cb5ea77d41 100644
--- a/msg/esc_status.msg
+++ b/msg/esc_status.msg
@@ -17,4 +17,14 @@ uint16 counter  					# incremented by the writing thread everytime new data is s
 uint8 esc_count						# number of connected ESCs
 uint8 esc_connectiontype				# how ESCs connected to the system
 
+uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
+# esc_online_flags bit 0 : Set to 1 if ESC0 is online
+# esc_online_flags bit 1 : Set to 1 if ESC1 is online
+# esc_online_flags bit 2 : Set to 1 if ESC2 is online
+# esc_online_flags bit 3 : Set to 1 if ESC3 is online
+# esc_online_flags bit 4 : Set to 1 if ESC4 is online
+# esc_online_flags bit 5 : Set to 1 if ESC5 is online
+# esc_online_flags bit 6 : Set to 1 if ESC6 is online
+# esc_online_flags bit 7 : Set to 1 if ESC7 is online
+
 esc_report[8] esc
diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg
index 923f62c569..35d3e6dab8 100644
--- a/msg/vehicle_status_flags.msg
+++ b/msg/vehicle_status_flags.msg
@@ -36,3 +36,5 @@ bool usb_connected                                # status of the USB power supp
 
 bool avoidance_system_required					  # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
 bool avoidance_system_valid                       # Status of the obstacle avoidance system
+
+uint8 number_of_actuators       # Number of active actuators