diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 9d0da3371f..cd8f3f78a7 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -940,6 +940,15 @@ void NavEKF2::getInnovations(int8_t instance, Vector3f &velInnov, Vector3f &posI
     }
 }
 
+// publish output observer angular, velocity and position tracking error
+void NavEKF2::getOutputTrackingError(int8_t instance, Vector3f &error) const
+{
+    if (instance < 0 || instance >= num_cores) instance = primary;
+    if (core) {
+        core[instance].getOutputTrackingError(error);
+    }
+}
+
 // return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
 void NavEKF2::getVariances(int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset)
 {
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index ca93c9c0b6..1485695bc4 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -174,6 +174,9 @@ public:
     // An out of range instance (eg -1) returns data for the the primary instance
     void  getInnovations(int8_t index, Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov);
 
+    // publish output observer angular, velocity and position tracking error
+    void getOutputTrackingError(int8_t instance, Vector3f &error) const;
+
     // return the innovation consistency test ratios for the specified instance
     // An out of range instance (eg -1) returns data for the the primary instance
     void  getVariances(int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset);
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 52b1fba3cc..1249c5f16e 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -578,4 +578,10 @@ uint8_t NavEKF2_core::getFramesSincePredict(void) const
     return framesSincePredict;
 }
 
+// publish output observer angular, velocity and position tracking error
+void NavEKF2_core::getOutputTrackingError(Vector3f &error) const
+{
+    error = outputTrackError;
+}
+
 #endif // HAL_CPU_CLASS
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index a22bf1e3df..dc668a914e 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -258,6 +258,9 @@ public:
     // this is used by other instances to level load
     uint8_t getFramesSincePredict(void) const;
 
+    // publish output observer angular, velocity and position tracking error
+    void getOutputTrackingError(Vector3f &error) const;
+
 private:
     // Reference to the global EKF frontend for parameters
     NavEKF2 *frontend;
@@ -790,6 +793,8 @@ private:
     Vector3f delAngCorrected;       // corrected IMU delta angle vector at the EKF time horizon (rad)
     Vector3f delVelCorrected;       // corrected IMU delta velocity vector at the EKF time horizon (m/s)
 
+    Vector3f outputTrackError;
+
     // variables used to calculate a vertical velocity that is kinematically consistent with the verical position
     float posDownDerivative;        // Rate of chage of vertical position (dPosD/dt) in m/s. This is the first time derivative of PosD.
     float posDown;                  // Down position state used in calculation of posDownRate