diff --git a/proto/gz/msgs/air_flow_sensor.proto b/proto/gz/msgs/air_flow_sensor.proto
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+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package gz.msgs;
+option java_package = "com.gz.msgs";
+option java_outer_classname = "AirFlowSensorProtos";
+
+/// \ingroup gz.msgs
+/// \interface AirFlowSensor
+/// \brief Definition of an airflow sensor
+
+import "gz/msgs/header.proto";
+import "gz/msgs/sensor_noise.proto";
+
+/// \brief Message that describes an airflow sensor.
+message AirFlowSensor
+{
+  /// \brief header data
+  Header header               = 1;
+
+  /// \brief airflow speed Mag in the xy plane (m/s).
+  double xy_speed             = 2;
+
+  /// \brief airflow direction in xy plane (rad).
+  double xy_direction         = 3;
+
+  /// \brief Sensor speed noise.
+  SensorNoise speed_noise     = 4;
+
+  /// \brief Sensor direction noise.
+  SensorNoise direction_noise = 5;
+}