diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index d86238ceed..1d7830919b 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -70,6 +70,7 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _RFRN.opticalflow_enabled = AP::opticalflow() && AP::opticalflow()->enabled();
 #endif
     _RFRN.wheelencoder_enabled = AP::wheelencoder() && (AP::wheelencoder()->num_sensors() > 0);
+    _RFRN.ekf_type = ahrs.get_ekf_type();
     WRITE_REPLAY_BLOCK_IFCHANGED(RFRN, _RFRN, old);
 
     // update body conversion