2 files changed, 8 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
index 3d504d395..ffdd29a5b 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp
@@ -3028,6 +3028,10 @@ void AttPosEKF::GetFilterState(struct ekf_status_report *err)
         current_ekf_state.states[i] = states[i];
     }
     current_ekf_state.n_states = n_states;
+    current_ekf_state.onGround = onGround;
+    current_ekf_state.staticMode = staticMode;
+    current_ekf_state.useCompass = useCompass;
+    current_ekf_state.useAirspeed = useAirspeed;
 
     memcpy(err, &current_ekf_state, sizeof(*err));
 
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
index 6d1f47b68..a6b670c4d 100644
--- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
@@ -68,6 +68,10 @@ struct ekf_status_report {
     bool posTimeout;
     bool hgtTimeout;
     bool imuTimeout;
+    bool onGround;
+    bool staticMode;
+    bool useCompass;
+    bool useAirspeed;
     uint32_t velFailTime;
     uint32_t posFailTime;
     uint32_t hgtFailTime;