From e025ecb2656631d6ae511a112264a495b95c0c21 Mon Sep 17 00:00:00 2001
From: Oleksiy Protas <elfy@ecognize.me>
Date: Wed, 24 Sep 2025 13:02:55 +0300
Subject: [PATCH 1/2] ardupilotmega.xml: report active EKF source sets and
 lanes

---
 message_definitions/v1.0/ardupilotmega.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/message_definitions/v1.0/ardupilotmega.xml b/message_definitions/v1.0/ardupilotmega.xml
index 85ed066f7ec..d61ad521ee0 100644
--- a/message_definitions/v1.0/ardupilotmega.xml
+++ b/message_definitions/v1.0/ardupilotmega.xml
@@ -1723,6 +1723,8 @@
       <field type="float" name="terrain_alt_variance">Terrain Altitude variance.</field>
       <extensions/>
       <field type="float" name="airspeed_variance">Airspeed variance.</field>
+      <field type="uint8_t" name="active_srcset_id" minValue="1" maxValue="3">Currently active source set.</field>
+      <field type="uint8_t" name="active_lane_id" minValue="1" maxValue="6">Currently estimator lane (core).</field>
     </message>
     <!-- realtime PID tuning message -->
     <message id="194" name="PID_TUNING">

From 8d32670a277fad8645e31de2998c89695ec72848 Mon Sep 17 00:00:00 2001
From: Oleksiy Protas <elfy@ecognize.me>
Date: Wed, 1 Oct 2025 01:40:58 +0300
Subject: [PATCH 2/2] ardupilotmega.xml: ESTIMATOR_TYPE enum

Reshuffled EKF_STATUS_REPORT a little in order to make core/srcsets optional.
---
 message_definitions/v1.0/ardupilotmega.xml | 14 +++++++++++++-
 1 file changed, 13 insertions(+), 1 deletion(-)

diff --git a/message_definitions/v1.0/ardupilotmega.xml b/message_definitions/v1.0/ardupilotmega.xml
index d61ad521ee0..8b552b55a35 100644
--- a/message_definitions/v1.0/ardupilotmega.xml
+++ b/message_definitions/v1.0/ardupilotmega.xml
@@ -997,6 +997,17 @@
         <description>Set if EKF has never been healthy.</description>
       </entry>
     </enum>
+    <enum name="ESTIMATOR_TYPE">
+        <entry value="0" name="ESTIMATOR_TYPE_UNKNOWN"/>
+        <!-- for consistency, remember we had an EKF1 -->
+        <entry value="1" name="ESTIMATOR_TYPE_EKF1"/>
+        <entry value="2" name="ESTIMATOR_TYPE_EKF2"/>
+        <entry value="3" name="ESTIMATOR_TYPE_EKF3"/>
+        <!-- -->
+        <entry value="10" name="ESTIMATOR_TYPE_EXTERNAL"/>
+        <!-- -->
+        <entry value="100" name="ESTIMATOR_TYPE_SIM"/>
+    </enum>
     <enum name="PID_TUNING_AXIS">
       <entry value="1" name="PID_TUNING_ROLL"/>
       <entry value="2" name="PID_TUNING_PITCH"/>
@@ -1723,8 +1734,9 @@
       <field type="float" name="terrain_alt_variance">Terrain Altitude variance.</field>
       <extensions/>
       <field type="float" name="airspeed_variance">Airspeed variance.</field>
+      <field type="uint8_t" enum="ESTIMATOR_TYPE" name="type">Estimator type that produced the report.</field>
+      <field type="uint8_t" name="active_lane_id" minValue="1" maxValue="6">Estimator lane (core) that produced the report.</field>
       <field type="uint8_t" name="active_srcset_id" minValue="1" maxValue="3">Currently active source set.</field>
-      <field type="uint8_t" name="active_lane_id" minValue="1" maxValue="6">Currently estimator lane (core).</field>
     </message>
     <!-- realtime PID tuning message -->
     <message id="194" name="PID_TUNING">