diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 292543a4a6..530df1be1a 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -2188,6 +2188,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_INO2.s[7] = buf.innovations.heading_innov_var;
 				log_msg.body.log_INO2.s[8] = buf.innovations.airspeed_innov;
 				log_msg.body.log_INO2.s[9] = buf.innovations.airspeed_innov_var;
+				log_msg.body.log_INO2.s[10] = buf.innovations.beta_innov;
+ 				log_msg.body.log_INO2.s[11] = buf.innovations.beta_innov_var;
 				LOGBUFFER_WRITE_AND_COUNT(EST5);
 
 				log_msg.msg_type = LOG_EST6_MSG;
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index 6150e7e7b8..5db02e1d92 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -509,7 +509,7 @@ struct log_EST4_s {
 /* --- EST5 - ESTIMATOR INNOVATIONS --- */
 #define LOG_EST5_MSG 49
 struct log_EST5_s {
-    float s[10];
+    float s[12];
 };
 
 #define LOG_OUT1_MSG 50
@@ -689,8 +689,8 @@ static const struct log_format_s log_formats[] = {
 	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, "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(EST5, "ffffffffffff", "MaxI,MayI,MazI,MaxIV,MayIV,MazIV,HeI,HeIV,AiI,AiIV,BeI,BeIV"),
+	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"),