diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 05d3c86362..cf973009e5 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -1270,9 +1270,6 @@ void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
                 RI : (int16_t)(100*rngInnov),
                 meaRng : (uint16_t)(100*range),
                 errHAGL : (uint16_t)(100*gndOffsetErr),
-                angErr : 0.0f,
-                velErr : 0.0f,
-                posErr : 0.0f
             };
             WriteBlock(&pkt5, sizeof(pkt5));
         }
@@ -1425,7 +1422,7 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
     Vector3f predictorErrors; // output predictor angle, velocity and position tracking error
     ahrs.get_NavEKF2().getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
     ahrs.get_NavEKF2().getOutputTrackingError(-1,predictorErrors);
-    struct log_EKF5 pkt5 = {
+    struct log_NKF5 pkt5 = {
         LOG_PACKET_HEADER_INIT(LOG_NKF5_MSG),
         time_us : time_us,
         normInnov : (uint8_t)(MIN(100*normInnov,255)),
diff --git a/libraries/DataFlash/LogStructure.h b/libraries/DataFlash/LogStructure.h
index 828fe8c13f..37b6b262db 100644
--- a/libraries/DataFlash/LogStructure.h
+++ b/libraries/DataFlash/LogStructure.h
@@ -352,6 +352,20 @@ struct PACKED log_EKF5 {
     int16_t RI;
     uint16_t meaRng;
     uint16_t errHAGL;
+};
+
+struct PACKED log_NKF5 {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint8_t normInnov;
+    int16_t FIX;
+    int16_t FIY;
+    int16_t AFI;
+    int16_t HAGL;
+    int16_t offset;
+    int16_t RI;
+    uint16_t meaRng;
+    uint16_t errHAGL;
     float angErr;
     float velErr;
     float posErr;
@@ -798,7 +812,7 @@ Format characters in the format string for binary log messages
     { LOG_EKF4_MSG, sizeof(log_EKF4), \
       "EKF4","QcccccccbbHBHH","TimeUS,SV,SP,SH,SMX,SMY,SMZ,SVT,OFN,OFE,FS,TS,SS,GPS" }, \
     { LOG_EKF5_MSG, sizeof(log_EKF5), \
-      "EKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,_,_,_" }, \
+      "EKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr" }, \
     { LOG_NKF1_MSG, sizeof(log_EKF1), \
       "NKF1","QccCfffffffccc","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ" }, \
     { LOG_NKF2_MSG, sizeof(log_NKF2), \
@@ -807,7 +821,7 @@ Format characters in the format string for binary log messages
       "NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
     { LOG_NKF4_MSG, sizeof(log_NKF4), \
       "NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
-    { LOG_NKF5_MSG, sizeof(log_EKF5), \
+    { LOG_NKF5_MSG, sizeof(log_NKF5), \
       "NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos" }, \
     { LOG_NKF6_MSG, sizeof(log_EKF1), \
       "NKF6","QccCfffffffccc","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ" }, \