diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 682722339a..3ad0168a21 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -962,7 +962,7 @@ void NavEKF2::setTouchdownExpected(bool val)
   7 = badly conditioned synthetic sideslip fusion
   7 = filter is not initialised
 */
-void NavEKF2::getFilterFaults(int8_t instance, uint8_t &faults)
+void NavEKF2::getFilterFaults(int8_t instance, uint16_t &faults)
 {
     if (instance < 0 || instance >= num_cores) instance = primary;
     if (core) {
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index b80e511107..c64d22cb42 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -214,7 +214,7 @@ public:
      7 = badly conditioned synthetic sideslip fusion
      7 = filter is not initialised
     */
-    void  getFilterFaults(int8_t instance, uint8_t &faults);
+    void  getFilterFaults(int8_t instance, uint16_t &faults);
 
     /*
     return filter timeout status as a bitmasked integer for the specified instance
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
index 932e6cc695..67c3d9bfd9 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -17,7 +17,7 @@ extern const AP_HAL::HAL& hal;
 // Check basic filter health metrics and return a consolidated health status
 bool NavEKF2_core::healthy(void) const
 {
-    uint8_t faultInt;
+    uint16_t faultInt;
     getFilterFaults(faultInt);
     if (faultInt > 0) {
         return false;
@@ -409,7 +409,7 @@ return the filter fault status as a bitmasked integer
  7 = badly conditioned synthetic sideslip fusion
  7 = filter is not initialised
 */
-void  NavEKF2_core::getFilterFaults(uint8_t &faults) const
+void  NavEKF2_core::getFilterFaults(uint16_t &faults) const
 {
     faults = (stateStruct.quat.is_nan()<<0 |
               stateStruct.velocity.is_nan()<<1 |
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.h b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
index 47a2d64772..f5a11a3c17 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.h
@@ -202,7 +202,7 @@ public:
      7 = badly conditioned synthetic sideslip fusion
      7 = filter is not initialised
     */
-    void  getFilterFaults(uint8_t &faults) const;
+    void  getFilterFaults(uint16_t &faults) const;
 
     /*
     return filter timeout status as a bitmasked integer
@@ -878,6 +878,12 @@ private:
         bool bad_zmag:1;
         bool bad_airspeed:1;
         bool bad_sideslip:1;
+        bool bad_nvel:1;
+        bool bad_evel:1;
+        bool bad_dvel:1;
+        bool bad_npos:1;
+        bool bad_epos:1;
+        bool bad_dpos:1;
     } faultStatus;
 
     // flags indicating which GPS quality checks are failing