diff --git a/msg/vehicle_local_position.msg b/msg/vehicle_local_position.msg
index 981fec4ba8..2a1e79a995 100644
--- a/msg/vehicle_local_position.msg
+++ b/msg/vehicle_local_position.msg
@@ -64,6 +64,8 @@ float32 epv				# Standard deviation of vertical position error, (metres)
 float32 evh				# Standard deviation of horizontal velocity error, (metres/sec)
 float32 evv				# Standard deviation of horizontal velocity error, (metres/sec)
 
+bool dead_reckoning                     # True if this position is estimated through dead-reckoning
+
 # estimator specified vehicle limits
 float32 vxy_max				# maximum horizontal speed - set to 0 when limiting not required (meters/sec)
 float32 vz_max				# maximum vertical speed - set to 0 when limiting not required (meters/sec)
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 5ee4688169..64b6329bef 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -1019,6 +1019,9 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
 	_ekf.get_posNE_reset(&lpos.delta_xy[0], &lpos.xy_reset_counter);
 	_ekf.get_velNE_reset(&lpos.delta_vxy[0], &lpos.vxy_reset_counter);
 
+	lpos.dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning
+			      || _ekf.control_status_flags().wind_dead_reckoning;
+
 	// get control limit information
 	_ekf.get_ekf_ctrl_limits(&lpos.vxy_max, &lpos.vz_max, &lpos.hagl_min, &lpos.hagl_max);