fix(ekf/mavlink): fix logging and mavlink stream of fusion-control-status

[haumarco]

Solved Problem & Solution

Currently, the estimator_fusion_control uORB topic wasn't being logged correctly. This change advertises it immediately.

Additionally, ESTIMATOR_SENSOR_FUSION_STATUS wasn't included in any low-bandwidth logging profile. Since this is a system-critical stream for the new fusion control logic over MAVLink, it has now been added.

Changelog Entry

For release notes:

Bugfix: fixed `estimator_fusion_control` logging and `ESTIMATOR_SENSOR_FUSION_STATUS` streaming

Test coverage

Tested in SITL.

[github-actions]

🔎 FLASH Analysis

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px4_fmu-v6x [Total VM Diff: 0 byte (0 %)]

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Updated: 2026-07-13T12:38:01

[mbjd]

I remember seeing logs where various aid_src topics were not present even though we never disable verbose logging. Are these topics affected by a similar issue?

Here they are advertised. If when the logger initialises these branches do not run (EKF2_GPS_CTRL not fully on) can that completely disable logging them?

[bresch]

I remember seeing logs where various aid_src topics were not present even though we never disable verbose logging. Are these topics affected by a similar issue?

Here they are advertised. If when the logger initialises these branches do not run (EKF2_GPS_CTRL not fully on) can that completely disable logging them?

Yes, so if the _CTRL parameter is not set when the EKF starts, you'll not have those topics in the log.

[mbjd]

Ah of course, it is because we still have some airframes that are not updated to the new runtime fusion control way, was confused