diff --git a/msg/VehicleOpticalFlowVel.msg b/msg/VehicleOpticalFlowVel.msg
index c89207f4ab..940f03650d 100644
--- a/msg/VehicleOpticalFlowVel.msg
+++ b/msg/VehicleOpticalFlowVel.msg
@@ -10,4 +10,6 @@ float32[2] flow_compensated_integral   # integrated optical flow measurement com
 float32[3] gyro_rate                   # gyro measurement synchronized with flow measurements (rad/s)
 float32[3] gyro_rate_integral          # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
 
+float32[3] gyro_bias
+
 # TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 87b39db92f..28a5adf795 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -183,6 +183,7 @@ public:
 
 	const Vector3f getFlowGyro() const { return _flow_sample_delayed.gyro_xyz * (1.f / _flow_sample_delayed.dt); }
 	const Vector3f &getFlowGyroIntegral() const { return _flow_sample_delayed.gyro_xyz; }
+	const Vector3f &getFlowGyroBias() const { return _flow_gyro_bias; }
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
 #if defined(CONFIG_EKF2_AUXVEL)
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 426707abb9..a6a67c6763 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2001,6 +2001,8 @@ void EKF2::PublishOpticalFlowVel(const hrt_abstime &timestamp)
 		_ekf.getFlowGyro().copyTo(flow_vel.gyro_rate);
 		_ekf.getFlowGyroIntegral().copyTo(flow_vel.gyro_rate_integral);
 
+		_ekf.getFlowGyroBias().copyTo(flow_vel.gyro_bias);
+
 		flow_vel.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
 
 		_estimator_optical_flow_vel_pub.publish(flow_vel);