diff --git a/proposed_aerial_msgs/CMakeLists.txt b/proposed_aerial_msgs/CMakeLists.txt
index 2a6abf8..cd80aff 100644
--- a/proposed_aerial_msgs/CMakeLists.txt
+++ b/proposed_aerial_msgs/CMakeLists.txt
@@ -57,6 +57,7 @@ add_message_files(
   LinearAcceleration.msg
   MavlinkAnnotatedWaypoints.msg
   MavlinkWaypointParameters.msg
+  OdometryWithAcceleration.msg
   UpperTriangularCovariance.msg
   UpperTriangularCovariance3.msg
 )
diff --git a/proposed_aerial_msgs/msg/OdometryWithAcceleration.msg b/proposed_aerial_msgs/msg/OdometryWithAcceleration.msg
new file mode 100644
index 0000000..f9f906a
--- /dev/null
+++ b/proposed_aerial_msgs/msg/OdometryWithAcceleration.msg
@@ -0,0 +1,12 @@
+# This represents an estimate of a position, velocity, and acceleration in free space.  
+# The pose in this message should be specified in the coordinate frame given by header.frame_id.
+# The velocity in this message should be specified in the coordinate frame given by the child_frame_id.
+# The acceleration in this message should be specified in the coordinate frame given by the child_frame_id.
+Header header
+string child_frame_id
+geometry_msgs/Pose pose
+UpperTriangularCovariance pose_covariance
+geometry_msgs/Twist velocity
+UpperTriangularCovariance velocity_covariance
+geometry_msgs/Twist acceleration
+UpperTriangularCovariance acceleration_covariance