diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index 39cdef5efd..c6abd5f7da 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -350,13 +350,13 @@ struct PACKED log_EKF4 {
 struct PACKED log_EKF5 {
     LOG_PACKET_HEADER;
     uint32_t time_ms;
-    float flowX;
-    float flowY;
-    float omegaX;
-    float omegaY;
-    float gndPos;
+    int16_t FIX;
+    int16_t FIY;
+    int16_t AFIX;
+    int16_t AFIY;
+    int16_t gndPos;
     uint8_t scaler;
-    uint8_t quality;
+    int16_t RI;
     uint16_t range;
 };
 
@@ -529,7 +529,7 @@ struct PACKED log_Esc {
     { LOG_ESC8_MSG, sizeof(log_Esc), \
       "ESC8",  "Icccc", "TimeMS,RPM,Volt,Curr,Temp" }, \
     { LOG_EKF5_MSG, sizeof(log_EKF5), \
-      "EKF5","IfffffBBc","TimeMS,flowX,flowY,omegaX,omegaY,gndPos,fScaler,flowQual,rng" }
+      "EKF5","IhhhhcBcC","TimeMS,FIX,FIY,AFIX,AFIY,gndPos,fScaler,RI,rng" }
 
 #if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
 #define LOG_COMMON_STRUCTURES LOG_BASE_STRUCTURES, LOG_EXTRA_STRUCTURES
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 663b4af6d4..fd7a240548 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -996,21 +996,21 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs)
     // Write fifth EKF packet
     float fscale;
     float gndPos;
-    float flowX, flowY;
-    float omegaX, omegaY;
+    float flowInnovX, flowInnovY;
+    float augFlowInnovX, augFlowInnovY;
+    float rngInnov;
     float range;
-    uint8_t flowQual;
-    ahrs.get_NavEKF().getFlowDebug(fscale, gndPos, flowX, flowY, omegaX, omegaY, flowQual, range);
+    ahrs.get_NavEKF().getFlowDebug(fscale, gndPos, flowInnovX, flowInnovY, flowInnovY, augFlowInnovY, rngInnov, range);
     struct log_EKF5 pkt5 = {
         LOG_PACKET_HEADER_INIT(LOG_EKF5_MSG),
         time_ms : hal.scheduler->millis(),
-        flowX : (float)(flowX),
-        flowY : (float)(flowY),
-        omegaX : (float)(omegaX),
-        omegaY : (float)(omegaY),
-        gndPos : (float)(gndPos),
+        FIX : (int16_t)(1000*flowInnovX),
+        FIY : (int16_t)(1000*flowInnovY),
+        AFIX : (int16_t)(1000*flowInnovY),
+        AFIY : (int16_t)(1000*augFlowInnovY),
+        gndPos : (int16_t)(100*gndPos),
         scaler: (uint8_t)(100*fscale),
-        quality : (uint8_t)(flowQual),
+        RI : (int16_t)(100*rngInnov),
         range : (uint16_t)(100*range)
      };
     WriteBlock(&pkt5, sizeof(pkt5));