diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index a7841e5b5fd6..5a1bbace04bd 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -239,6 +239,7 @@ void EKF2::AdvertiseTopics()
 	_estimator_sensor_bias_pub.advertise();
 	_estimator_status_pub.advertise();
 	_estimator_status_flags_pub.advertise();
+	_estimator_fc_pub.advertise();
 
 	if (_multi_mode) {
 		// only force advertise these in multi mode to ensure consistent uORB instance numbering
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 98f3d155ec62..9292c12cb1cc 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2006,6 +2006,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", unlimited_rate);
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
+#if defined(MAVLINK_MSG_ID_ESTIMATOR_SENSOR_FUSION_STATUS)
+		configure_stream_local("ESTIMATOR_SENSOR_FUSION_STATUS", 1.0f);
+#endif
 		configure_stream_local("EXTENDED_SYS_STATE", 1.0f);
 		configure_stream_local("GLOBAL_POSITION_SENSOR", 10.0f);
 		configure_stream_local("GLOBAL_POSITION_INT", 10.0f);
@@ -2073,6 +2076,9 @@ Mavlink::configure_streams_to_default(const char *configure_single_stream)
 		configure_stream_local("CAMERA_IMAGE_CAPTURED", 2.0f);
 		configure_stream_local("CURRENT_MODE", 0.5f);
 		configure_stream_local("ESTIMATOR_STATUS", 1.0f);
+#if defined(MAVLINK_MSG_ID_ESTIMATOR_SENSOR_FUSION_STATUS)
+		configure_stream_local("ESTIMATOR_SENSOR_FUSION_STATUS", 1.0f);
+#endif
 		configure_stream_local("EXTENDED_SYS_STATE", 0.5f);
 		configure_stream_local("GLOBAL_POSITION_INT", 2.0f);
 		configure_stream_local("GLOBAL_POSITION_SENSOR", 2.0f);