diff --git a/src/components/Globals.js b/src/components/Globals.js
index 09a3732..ca2bc49 100644
--- a/src/components/Globals.js
+++ b/src/components/Globals.js
@@ -15,6 +15,7 @@ export const store = {
     showMessages: false,
     showDeviceIDs: false,
     showAttitude: false,
+    showEkfHelper: false,
     flightModeChanges: [],
     file: null,
     events: [],
diff --git a/src/components/Home.vue b/src/components/Home.vue
index e68c3fc..52caf9e 100644
--- a/src/components/Home.vue
+++ b/src/components/Home.vue
@@ -15,6 +15,7 @@
         <DeviceIDViewer @close="state.showDeviceIDs = false" v-if="state.showDeviceIDs"></DeviceIDViewer>
         <AttitudeViewer @close="state.showAttitude = false" v-if="state.showAttitude"></AttitudeViewer>
         <MagFitTool     @close="state.showMagfit = false" v-if="state.showMagfit"></MagFitTool>
+        <EkfHelperTool  @close="state.showEkfHelper = false" v-if="state.showEkfHelper"></EkfHelperTool>
         <div class="container-fluid" style="height: 100%; overflow: hidden;">
 
             <sidebar/>
@@ -57,6 +58,7 @@ import colormap from 'colormap'
 import { DataflashDataExtractor } from '../tools/dataflashDataExtractor'
 import { MavlinkDataExtractor } from '../tools/mavlinkDataExtractor'
 import MagFitTool from '@/components/widgets/MagFitTool.vue'
+import EkfHelperTool from '@/components/widgets/EkfHelperTool.vue'
 import Vue from 'vue'
 
 export default {
@@ -224,7 +226,8 @@ export default {
         MessageViewer,
         DeviceIDViewer,
         AttitudeViewer,
-        MagFitTool
+        MagFitTool,
+        EkfHelperTool
     },
     computed: {
         mapOk () {
diff --git a/src/components/Sidebar.vue b/src/components/Sidebar.vue
index 5e348f2..cc0fcb8 100644
--- a/src/components/Sidebar.vue
+++ b/src/components/Sidebar.vue
@@ -57,6 +57,11 @@
                           <input type="checkbox" v-model="state.showMagfit">
                           <a class="check-font"> Mag Fit Tool </a>
                         </label>
+                        <label>
+                          <i class="fa fa-compass circle"></i>
+                          <input type="checkbox" v-model="state.showEkfHelper">
+                          <a class="check-font"> EKF helper </a>
+                        </label>
                         <label v-if="state.textMessages">
                           <i class="fa fa-comment circle"></i>
                           <input type="checkbox" v-model="state.showMessages">
diff --git a/src/components/widgets/EkfHelperTool.vue b/src/components/widgets/EkfHelperTool.vue
new file mode 100644
index 0000000..4b7c1a8
--- /dev/null
+++ b/src/components/widgets/EkfHelperTool.vue
@@ -0,0 +1,196 @@
+<template>
+    <div :id="getDivName()"
+         v-bind:style="{width:  width + 'px', height: height + 'px', top: top + 'px', left: left + 'px' }">
+        <div id="paneContent">
+            {{ solutionValue }} {{ closestIndex }}
+          <span style="float: right; margin: 3px; cursor: pointer;" @click="close()"> X </span>
+          <table>
+            <thead>
+            <tr>
+                <th>Property</th>
+                <th>Value</th>
+            </tr>
+            </thead>
+            <tbody>
+            <tr v-for="(value, key) in decodedSolution" :key="key">
+                <td>{{ key }}</td>
+                <td>{{ value }}</td>
+            </tr>
+            </tbody>
+          </table>
+        </div>
+    </div>
+</template>
+
+<script>
+import { store } from '../Globals.js'
+import { baseWidget } from './baseWidget'
+
+export default {
+    name: 'EkfHelperViewer',
+    mixins: [baseWidget],
+    created () {
+        this.$eventHub.$on('cesium-time-changed', this.setTime)
+        this.$eventHub.$on('hoveredTime', this.setTime)
+    },
+    data () {
+        return {
+            name: 'EkfHelperViewer',
+            filter: '',
+            state: store,
+            width: 220,
+            height: 215,
+            left: 310,
+            top: 0,
+            forceRecompute: 0,
+            cursorTime: 0
+        }
+    },
+    methods: {
+        setTime (time) {
+            this.cursorTime = time
+        },
+        waitForMessage (fieldname) {
+            this.$eventHub.$emit('loadType', fieldname.split('.')[0])
+            let interval
+            const _this = this
+            let counter = 0
+            return new Promise((resolve, reject) => {
+                interval = setInterval(function () {
+                    if (_this.state.messages[fieldname.split('.')[0]]) {
+                        clearInterval(interval)
+                        counter += 1
+                        resolve()
+                    } else {
+                        if (counter > 6) {
+                            console.log('not resolving')
+                            clearInterval(interval)
+                            reject(new Error('Could not load messageType'))
+                        }
+                    }
+                }, 2000)
+            })
+        },
+        setup () {
+            this.waitForMessage('EKF4.SS')
+        }
+    },
+    computed: {
+        closestIndex () {
+            const messages = this.state.messages['XKF4[0]']
+            console.log(messages)
+            if (!messages) {
+                return 0
+            }
+            for (const index in messages.time_boot_ms) {
+                if (messages.time_boot_ms[index] > this.cursorTime) {
+                    return index
+                }
+            }
+            console.log(messages.time_boot_ms[messages.time_boot_ms.length - 1])
+            return 0
+        },
+        solutionValue () {
+            const messages = this.state.messages['XKF4[0]']
+            if (!this.closestIndex || !messages) {
+                return 0
+            }
+            return messages.SS[this.closestIndex]
+        },
+        decodedSolution () {
+            const solution = this.solutionValue
+            return {
+                attitude: !!(solution & (1 << 0)),
+                horizVel: !!(solution & (1 << 1)),
+                vertVel: !!(solution & (1 << 2)),
+                horizPosRel: !!(solution & (1 << 3)),
+                horizPosAbs: !!(solution & (1 << 4)),
+                vertPos: !!(solution & (1 << 5)),
+                terrainAlt: !!(solution & (1 << 6)),
+                constPosMode: !!(solution & (1 << 7)),
+                predHorizPosRel: !!(solution & (1 << 8)),
+                predHorizPosAbs: !!(solution & (1 << 9)),
+                takeoffDetected: !!(solution & (1 << 10)),
+                takeoff: !!(solution & (1 << 11)),
+                touchdown: !!(solution & (1 << 12)),
+                usingGps: !!(solution & (1 << 13)),
+                gpsGlitching: !!(solution & (1 << 14)),
+                gpsQualityGood: !!(solution & (1 << 15)),
+                initialized: !!(solution & (1 << 16)),
+                rejectingAirspeed: !!(solution & (1 << 17)),
+                deadReckoning: !!(solution & (1 << 18))
+            }
+        }
+    }
+}
+</script>
+
+<style scoped>
+    div #paneEkfHelperViewer {
+        min-width: 220px;
+        min-height: 150px;
+        position: absolute;
+        background: rgba(253, 254, 255, 0.856);
+        color: #141924;
+        font-size: 11px;
+        font-weight: 600;
+        text-transform: uppercase;
+        z-index: 10000;
+        box-shadow: 9px 9px 3px -6px rgba(26, 26, 26, 0.699);
+        border-radius: 5px;
+        user-select: none;
+    }
+
+    div #paneEkfHelperViewer::before {
+        content: '\25e2';
+        color: #ffffff;
+        background-color: rgb(38, 53, 71);
+        position: absolute;
+        bottom: -1px;
+        right: 0;
+        width: 17px;
+        height: 21px;
+        padding: 2px 3px;
+        border-radius: 10px 0px 1px 0px;
+        box-sizing: border-box;
+        align-items: center;
+        justify-content: center;
+        font-size: 10px;
+        cursor: se-resize;
+    }
+
+     div #paneEkfHelperViewer::after {
+        content: '\2725';
+        color: #2E3F54;
+        position: absolute;
+        top: 0;
+        left: 0;
+        width: 18px;
+        height: 17px;
+        margin-top: -3px;
+        padding: 0px 2px;
+        box-sizing: border-box;
+        align-items: center;
+        justify-content: center;
+        font-size: 17px;
+         cursor: grab;
+    }
+
+    div#paneContent {
+        height: 100%;
+        overflow: auto;
+        margin: 20px;
+        -webkit-user-select: none; /* Chrome all / Safari all */
+        -moz-user-select: none; /* Firefox all */
+        -ms-user-select: none; /* IE 10+ */
+        user-select: none;
+    }
+
+    div#paneContent ul {
+        list-style: none;
+        line-height: 22px;
+        padding: 16px;
+        margin: 0;
+    }
+
+</style>