diff --git a/msg/ekf2_innovations.msg b/msg/ekf2_innovations.msg
index 5d635eb31d..ce68e9ff48 100644
--- a/msg/ekf2_innovations.msg
+++ b/msg/ekf2_innovations.msg
@@ -3,7 +3,9 @@ float32[6] vel_pos_innov  # velocity and position innovations
 float32[3] mag_innov 	# earth magnetic field innovations
 float32 heading_innov 	# heading innovation
 float32[2] flow_innov   # flow innovation
+float32 hagl_innov      # innovation from the terrain estimator for the height above ground level measurement  (m)
 float32[6] vel_pos_innov_var 	# velocity and position innovation variances
 float32[3] mag_innov_var	# earth magnetic field innovation variance
 float32 heading_innov_var 	# heading innovation variance
-float32[2] flow_innov_var	# flow innovation variance
\ No newline at end of file
+float32[2] flow_innov_var	# flow innovation variance
+float32 hagl_innov_var          # innovation variance from the terrain estimator for the height above ground level measurement (m^2)