diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 0bf69bcd2e..4355a4d820 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -131,6 +131,7 @@ set(msg_files
 	vehicle_local_position.msg
 	vehicle_local_position_setpoint.msg
 	vehicle_magnetometer.msg
+	vehicle_odometry.msg
 	vehicle_rates_setpoint.msg
 	vehicle_roi.msg
 	vehicle_status.msg
diff --git a/msg/vehicle_odometry.msg b/msg/vehicle_odometry.msg
new file mode 100644
index 0000000000..2b28cb22a9
--- /dev/null
+++ b/msg/vehicle_odometry.msg
@@ -0,0 +1,33 @@
+# Vehicle odometry data. Fits ROS REP 147 for aerial vehicles
+
+# Position in NED earth-fixed frame (meters). NaN if invalid/unknown
+float32 x			# North position
+float32 y			# East position
+float32 z			# Down position
+
+# Orientation quaternion. NaN if invalid/unknown
+float32[4] q			# Quaternion rotation from NED earth-fixed frame to XYZ body frame
+
+# Row-major representation of 6x6 pose cross-covariance matrix URT.
+# NED earth-fixed frame.
+# Order: x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis
+# If invalid/unknown, first cell is NaN
+float32[21] pose_covariance
+
+# Velocity in NED earth-fixed frame (meters/sec). NaN if invalid/unknown
+float32 vx 			# North velocity
+float32 vy			# East velocity
+float32 vz			# Down velocity
+
+# Angular rate in body-fixed frame (rad/s). NaN if invalid/unknown
+float32 rollspeed		# Angular velocity about X body axis
+float32 pitchspeed		# Angular velocity about Y body axis
+float32 yawspeed		# Angular velocity about Z body axis
+
+# Row-major representation of 6x6 velocity cross-covariance matrix URT.
+# Linear velocity in NED earth-fixed frame. Angular velocity in body-fixed frame.
+# Order: vx, vy, vz, rotation rate about X axis, rotation rate about Y axis, rotation rate about Z axis
+# If invalid/unknown, first cell is NaN
+float32[21] velocity_covariance
+
+# TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry