diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg
index cb8d6451116790d045e98f67aa02719eb204d792..fbd1f90afd65eab78de9baae6443e8ecccdc8d07 100644
--- a/msg/estimator_status.msg
+++ b/msg/estimator_status.msg
@@ -45,6 +45,8 @@ uint8 CS_MAG_FAULT = 18		# 18 - true when the magnetomer has been declared fault
 uint8 CS_ASPD = 19		# 19 - true when airspeed measurements are being fused
 uint8 CS_GND_EFFECT = 20	# 20 - true when when protection from ground effect induced static pressure rise is active
 uint8 CS_RNG_STUCK = 21		# 21 - true when a stuck range finder sensor has been detected
+uint8 CS_GPS_YAW = 22		# 22 - true when yaw (not ground course) data from a GPS receiver is being fused
+uint8 CS_MAG_ALIGNED = 23	# 23 - true when the in-flight mag field alignment has been completed
 
 uint16 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 0 - true if the fusion of the magnetometer X-axis has encountered a numerical error