diff --git a/libraries/AP_UAVCAN/dsdl/ardupilot/gnss/20002.Heading.uavcan b/libraries/AP_UAVCAN/dsdl/ardupilot/gnss/20002.Heading.uavcan
new file mode 100644
index 0000000000..58036acf82
--- /dev/null
+++ b/libraries/AP_UAVCAN/dsdl/ardupilot/gnss/20002.Heading.uavcan
@@ -0,0 +1,5 @@
+bool heading_valid
+bool heading_accuracy_valid
+
+float16 heading_rad
+float16 heading_accuracy_rad