diff --git a/msg/ekf2_replay.msg b/msg/ekf2_replay.msg
index 8ded25c1f1..8ac96d29cb 100644
--- a/msg/ekf2_replay.msg
+++ b/msg/ekf2_replay.msg
@@ -1,26 +1,37 @@
-uint64 time_ref 					# ekf2 reference time. This is a timestamp passed to the
-									# estimator which it uses a absolute reference.
-uint64 gyro_integral_dt				# gyro integration period in us
+uint64 time_ref 			# ekf2 reference time. This is a timestamp passed to the
+					# estimator which it uses a absolute reference.
+uint64 gyro_integral_dt			# gyro integration period in us
 uint64 accelerometer_integral_dt 	# accelerometer integration period in us
 uint64 magnetometer_timestamp 		# timestamp of magnetometer measurement in us
-uint64 baro_timestamp 				# timestamp of barometer measurement in us
+uint64 baro_timestamp			# timestamp of barometer measurement in us
+uint64 rng_timestamp			# timestamp of range finder measurement in us
+uint64 flow_timestamp			# timestamp of optical flow measurement in us
 
-float32[3] gyro_integral_rad			# integrated gyro vector in rad
+float32[3] gyro_integral_rad		# integrated gyro vector in rad
 float32[3] accelerometer_integral_m_s  	# integrated accelerometer vector in m/s
 
-float32[3] magnetometer_ga 			# magnetometer measurement vector (body fixed NED) in ga
-float32 baro_alt_meter				# barometer altitude measurement in m
+float32[3] magnetometer_ga 		# magnetometer measurement vector (body fixed NED) in ga
+float32 baro_alt_meter			# barometer altitude measurement in m
 
-uint64 time_usec # timestamp of gps position measurement in us
-uint64 time_usec_vel # timestamp of gps velocity measurement in us
-int32 lat			# Latitude in 1E-7 degrees
-int32 lon			# Longitude in 1E-7 degrees 
-int32 alt			# Altitude in 1E-3 meters above MSL, (millimetres)
+uint64 time_usec			# timestamp of gps position measurement in us
+uint64 time_usec_vel			# timestamp of gps velocity measurement in us
+int32 lat				# Latitude in 1E-7 degrees
+int32 lon				# Longitude in 1E-7 degrees
+int32 alt				# Altitude in 1E-3 meters above MSL, (millimetres)
 uint8 fix_type
-float32 eph			# GPS horizontal position accuracy (metres) 
-float32 epv			# GPS vertical position accuracy (metres)
-float32 vel_m_s			# GPS ground speed, (metres/sec) 
-float32 vel_n_m_s		# GPS North velocity, (metres/sec) 
-float32 vel_e_m_s		# GPS East velocity, (metres/sec)
-float32 vel_d_m_s		# GPS Down velocity, (metres/sec) 
-bool vel_ned_valid		# True if NED velocity is valid 
+float32 eph				# GPS horizontal position accuracy (metres)
+float32 epv				# GPS vertical position accuracy (metres)
+float32 vel_m_s				# GPS ground speed, (metres/sec)
+float32 vel_n_m_s			# GPS North velocity, (metres/sec)
+float32 vel_e_m_s			# GPS East velocity, (metres/sec)
+float32 vel_d_m_s			# GPS Down velocity, (metres/sec)
+bool vel_ned_valid			# True if NED velocity is valid
+
+# range finder measurements
+float32 range_to_ground			# range finder measured range to ground (m)
+
+# optical flow sensor measurements
+float32[2] flow_pixel_integral		# integrated optical flow rate around x and y axes (rad)
+float32[2] flow_gyro_integral		# integrated gyro rate around x and y axes (rad)
+uint32 flow_time_integral		# integration timespan (usec)
+uint8 flow_quality			# Quality of accumulated optical flow data (0 - 255)