diff --git a/libraries/AP_DAL/AP_DAL_VisualOdom.cpp b/libraries/AP_DAL/AP_DAL_VisualOdom.cpp
index d24c04a184..e5824a5c56 100644
--- a/libraries/AP_DAL/AP_DAL_VisualOdom.cpp
+++ b/libraries/AP_DAL/AP_DAL_VisualOdom.cpp
@@ -14,7 +14,10 @@ void AP_DAL_VisualOdom::start_frame()
     const log_RVOH old = RVOH;
     RVOH.ptr_is_nullptr = (vo == nullptr);
     if (vo != nullptr) {
+        RVOH.pos_offset = vo->get_pos_offset();
+        RVOH.delay_ms = vo->get_delay_ms();
         RVOH.healthy = vo->healthy();
+        RVOH.enabled = vo->enabled();
     }
 
     WRITE_REPLAY_BLOCK_IFCHANGED(RVOH, RVOH, old);