diff --git a/msg/distance_sensor.msg b/msg/distance_sensor.msg
index ca688ca79b..f158828c3e 100644
--- a/msg/distance_sensor.msg
+++ b/msg/distance_sensor.msg
@@ -23,3 +23,8 @@ uint8 ROTATION_BACKWARD_FACING = 12 # MAV_SENSOR_ROTATION_PITCH_180
 uint8 ROTATION_FORWARD_FACING  = 0  # MAV_SENSOR_ROTATION_NONE
 uint8 ROTATION_LEFT_FACING     = 6  # MAV_SENSOR_ROTATION_YAW_270
 uint8 ROTATION_RIGHT_FACING    = 2  # MAV_SENSOR_ROTATION_YAW_90
+uint8 ROTATION_CUSTOM          =100 # MAV_SENSOR_ROTATION_CUSTOM
+
+float32 h_fov # Sensor horizontal field of view (rad)
+float32 v_fov # Sensor vertical field of view (rad)
+float32[4] q # Quaterion sensor orientation to specify the orientation ROTATION_CUSTOM