diff --git a/libraries/mogo-adas-data/src/main/proto/point_cloud.proto b/libraries/mogo-adas-data/src/main/proto/point_cloud.proto
index e745750060..0bb8371f2c 100644
--- a/libraries/mogo-adas-data/src/main/proto/point_cloud.proto
+++ b/libraries/mogo-adas-data/src/main/proto/point_cloud.proto
@@ -8,7 +8,10 @@ message LidarPointCloud
     optional common.Header header = 1; 
     optional double self_longitude = 2;
     optional double self_latitude = 3;
-    optional double self_yaw = 4;
-    repeated float del_data = 7 [packed=true];
-    repeated float add_data = 8 [packed=true];
+    optional double self_altitude = 4;
+    optional double self_roll = 5;
+    optional double self_pitch = 6;
+    optional double self_yaw = 7;
+    repeated float del_data = 8 [packed=true];
+    repeated float add_data = 9 [packed=true];
 }
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