diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 01f05463ac..18e7a6c45f 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3612,14 +3612,14 @@ bool NavEKF::getHAGL(float &HAGL) const
 }
 
 // return data for debugging optical flow fusion
-void NavEKF::getFlowDebug(float &dummy, float &estHAGL, float &flowInnovX, float &flowInnovY, float &flowVarX, float &flowVarY, float &rngInnov, float &range, float &gndOffsetErr) const
+void NavEKF::getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const
 {
-    dummy = 0.0f;
-    estHAGL = terrainState - state.position.z;
+    varFlow = max(flowTestRatio[0],flowTestRatio[1]);
+    gndOffset = terrainState;
     flowInnovX = innovOptFlow[0];
     flowInnovY = innovOptFlow[1];
-    auxInnovX = auxFlowObsInnov;
-    auxInnovY = auxFlowObsInnov;
+    auxInnov = auxFlowObsInnov;
+    HAGL = terrainState - state.position.z;
     rngInnov = innovRng;
     range = rngMea;
     gndOffsetErr = sqrtf(Popt); // note Popt is constrained to be non-negative in EstimateTerrainOffset()
diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h
index 4901c0a2b3..c552a781ab 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.h
+++ b/libraries/AP_NavEKF/AP_NavEKF.h
@@ -171,7 +171,7 @@ public:
     void  writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange);
 
     // return data for debugging optical flow fusion
-    void getFlowDebug(float &scaleFactor, float &gndPos, float &flowInnovX, float &flowInnovY, float &flowVarX, float &flowVarY, float &rngInnov, float &range, float &gndOffsetErr) const;
+    void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const;
 
     /*
     return the filter fault status as a bitmasked integer