ArduPilot · landswellsong · Sep 24, 2025 · Sep 30, 2025
diff --git a/libraries/AP_AHRS/AP_AHRS_SIM.cpp b/libraries/AP_AHRS/AP_AHRS_SIM.cpp
@@ -187,7 +187,7 @@ void AP_AHRS_SIM::send_ekf_status_report(GCS_MAVLINK &link) const
         //EKF_CONST_POS_MODE | /* EKF is in constant position mode and does not know it's absolute or relative position. | */
         EKF_PRED_POS_HORIZ_REL | /* Set if EKF's predicted horizontal position (relative) estimate is good. | */
         EKF_PRED_POS_HORIZ_ABS; /* Set if EKF's predicted horizontal position (absolute) estimate is good. | */
-    mavlink_msg_ekf_status_report_send(link.get_chan(), flags, 0, 0, 0, 0, 0, 0);
+    mavlink_msg_ekf_status_report_send(link.get_chan(), flags, 0, 0, 0, 0, 0, 0, ESTIMATOR_TYPE_SIM, 1, 0);
 #endif // HAL_GCS_ENABLED
 }
 

diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
@@ -389,7 +389,7 @@ void AP_ExternalAHRS::send_status_report(GCS_MAVLINK &link) const
                                        velVar,
                                        posVar,
                                        hgtVar,
-                                       mag_var, 0, 0);
+                                       mag_var, 0, 0, ESTIMATOR_TYPE_EXTERNAL, 0, 0);
 }
 
 void AP_ExternalAHRS::update(void)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
@@ -556,7 +556,7 @@ void NavEKF2_core::send_status_report(GCS_MAVLINK &link) const
     }
 
     // send message
-    mavlink_msg_ekf_status_report_send(link.get_chan(), flags, velVar, posVar, hgtVar, mag_max, temp, tasVar);
+    mavlink_msg_ekf_status_report_send(link.get_chan(), flags, velVar, posVar, hgtVar, mag_max, temp, tasVar, ESTIMATOR_TYPE_EKF2, core_index + 1, 0);
 }
 #endif  // HAL_GCS_ENABLED
 

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -651,7 +651,10 @@ void NavEKF3_core::send_status_report(GCS_MAVLINK &link) const
         fmaxf(fmaxf(magVar.x,magVar.y),magVar.z),
         temp,
         flags,
-        tasVar
+        tasVar,
+        ESTIMATOR_TYPE_EKF3,
+        uint8_t(core_index + 1),
+        uint8_t(frontend->sources.getActiveSourceSet(core_index) + 1),
     };
 
     // send message

diff --git a/modules/mavlink b/modules/mavlink
-Original file line number
+Diff line change
@@ Expand Up @@
                                            velVar,
                                            posVar,
                                            hgtVar,
-                                           mag_var, 0, 0);
+                                           mag_var, 0, 0, ESTIMATOR_TYPE_EXTERNAL, 0, 0);
     }
     void AP_ExternalAHRS::update(void)
@@ Expand Down @@