diff --git a/msg/FailsafeFlags.msg b/msg/FailsafeFlags.msg
index 2cd31bf..de514fb 100644
--- a/msg/FailsafeFlags.msg
+++ b/msg/FailsafeFlags.msg
@@ -49,6 +49,7 @@ bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure fai
 bool wind_limit_exceeded              # Wind limit exceeded
 bool flight_time_limit_exceeded       # Maximum flight time exceeded
 bool local_position_accuracy_low      # Local position estimate has dropped below threshold, but is currently still declared valid
+bool navigator_failure        	      # Navigator failed to execute a mode
 
 # Failure detector
 bool fd_critical_failure              # Critical failure (attitude/altitude limit exceeded, or external ATS)
diff --git a/msg/NavigatorStatus.msg b/msg/NavigatorStatus.msg
new file mode 100644
index 0000000..da66653
--- /dev/null
+++ b/msg/NavigatorStatus.msg
@@ -0,0 +1,9 @@
+# Current status of a Navigator mode
+# The possible values of nav_state are defined in the VehicleStatus msg.
+uint64 timestamp  # time since system start (microseconds)
+
+uint8 nav_state   # Source mode (values in VehicleStatus)
+uint8 failure     # Navigator failure enum
+
+uint8 FAILURE_NONE = 0
+uint8 FAILURE_HAGL = 1 # Target altitude exceeds maximum height above ground