diff --git a/.ci/Jenkinsfile-hardware b/.ci/Jenkinsfile-hardware
index ae55849141..503fba6934 100644
--- a/.ci/Jenkinsfile-hardware
+++ b/.ci/Jenkinsfile-hardware
@@ -864,12 +864,13 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 0709971fd2..2064d91ba2 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -77,6 +77,9 @@ set(msg_files
 	estimator_states.msg
 	estimator_status.msg
 	estimator_status_flags.msg
+	estimator_aid_source_1d.msg
+	estimator_aid_source_2d.msg
+	estimator_aid_source_3d.msg
 	event.msg
 	follow_target.msg
 	failure_detector_status.msg
diff --git a/msg/estimator_aid_source_1d.msg b/msg/estimator_aid_source_1d.msg
new file mode 100644
index 0000000000..5670ab9e07
--- /dev/null
+++ b/msg/estimator_aid_source_1d.msg
@@ -0,0 +1,21 @@
+uint64 timestamp             # time since system start (microseconds)
+uint64 timestamp_sample      # the timestamp of the raw data (microseconds)
+
+uint8 estimator_instance
+
+uint32 device_id
+
+uint64 time_last_fuse
+
+float32 observation
+float32 observation_variance
+
+float32 innovation
+float32 innovation_variance
+float32 test_ratio
+
+bool fusion_enabled          # true when measurements are being fused
+bool innovation_rejected     # true if the observation has been rejected
+bool fused                   # true if the sample was successfully fused
+
+# TOPICS estimator_aid_source_1d
diff --git a/msg/estimator_aid_source_2d.msg b/msg/estimator_aid_source_2d.msg
new file mode 100644
index 0000000000..c70403ff99
--- /dev/null
+++ b/msg/estimator_aid_source_2d.msg
@@ -0,0 +1,22 @@
+uint64 timestamp             # time since system start (microseconds)
+uint64 timestamp_sample      # the timestamp of the raw data (microseconds)
+
+uint8 estimator_instance
+
+uint32 device_id
+
+uint64[2] time_last_fuse
+
+float32[2] observation
+float32[2] observation_variance
+
+float32[2] innovation
+float32[2] innovation_variance
+float32[2] test_ratio
+
+bool[2] fusion_enabled       # true when measurements are being fused
+bool[2] innovation_rejected  # true if the observation has been rejected
+bool[2] fused                # true if the sample was successfully fused
+
+# TOPICS estimator_aid_source_2d
+# TOPICS estimator_aid_src_fake_pos
diff --git a/msg/estimator_aid_source_3d.msg b/msg/estimator_aid_source_3d.msg
new file mode 100644
index 0000000000..52ad3fccb9
--- /dev/null
+++ b/msg/estimator_aid_source_3d.msg
@@ -0,0 +1,21 @@
+uint64 timestamp             # time since system start (microseconds)
+uint64 timestamp_sample      # the timestamp of the raw data (microseconds)
+
+uint8 estimator_instance
+
+uint32 device_id
+
+uint64[3] time_last_fuse
+
+float32[3] observation
+float32[3] observation_variance
+
+float32[3] innovation
+float32[3] innovation_variance
+float32[3] test_ratio
+
+bool[3] fusion_enabled       # true when measurements are being fused
+bool[3] innovation_rejected  # true if the observation has been rejected
+bool[3] fused                # true if the sample was successfully fused
+
+# TOPICS estimator_aid_source_3d
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index f96b7a0714..092e0f2c80 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -48,6 +48,10 @@
 #include "EKFGSF_yaw.h"
 #include "baro_bias_estimator.hpp"
 
+#include <uORB/topics/estimator_aid_source_1d.h>
+#include <uORB/topics/estimator_aid_source_2d.h>
+#include <uORB/topics/estimator_aid_source_3d.h>
+
 class Ekf final : public EstimatorInterface
 {
 public:
@@ -336,6 +340,8 @@ public:
 
 	const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
 
+	const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
+
 private:
 
 	// set the internal states and status to their default value
@@ -394,7 +400,6 @@ private:
 	uint64_t _time_last_flow_terrain_fuse{0}; ///< time the last fusion of optical flow measurements for terrain estimation were performed (uSec)
 	uint64_t _time_last_arsp_fuse{0};	///< time the last fusion of airspeed measurements were performed (uSec)
 	uint64_t _time_last_beta_fuse{0};	///< time the last fusion of synthetic sideslip measurements were performed (uSec)
-	uint64_t _time_last_fake_pos_fuse{0};	///< last time we faked position measurements to constrain tilt errors during operation without external aiding (uSec)
 	uint64_t _time_last_zero_velocity_fuse{0}; ///< last time of zero velocity update (uSec)
 	uint64_t _time_last_gps_yaw_fuse{0};	///< time the last fusion of GPS yaw measurements were performed (uSec)
 	uint64_t _time_last_gps_yaw_data{0};	///< time the last GPS yaw measurement was available (uSec)
@@ -491,6 +496,8 @@ private:
 	bool _inhibit_flow_use{false};	///< true when use of optical flow and range finder is being inhibited
 	Vector2f _flow_compensated_XY_rad{};	///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
 
+	estimator_aid_source_2d_s _aid_src_fake_pos{};
+
 	// output predictor states
 	Vector3f _delta_angle_corr{};	///< delta angle correction vector (rad)
 	Vector3f _vel_err_integ{};	///< integral of velocity tracking error (m)
@@ -676,7 +683,7 @@ private:
 				  Vector3f &innov_var, Vector2f &test_ratio);
 
 	bool fuseHorizontalPosition(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
-				    Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate = false);
+				    Vector3f &innov_var, Vector2f &test_ratiov);
 
 	bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
 				  float &innov_var, float &test_ratio);
@@ -1048,6 +1055,65 @@ private:
 	bool isYawEmergencyEstimateAvailable() const;
 
 	void resetGpsDriftCheckFilters();
+
+	bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status)
+	{
+		if (status.timestamp_sample != 0) {
+			status.timestamp_sample = 0;
+			status.fusion_enabled = false;
+			status.innovation_rejected = false;
+			status.fused = false;
+
+			return true;
+		}
+
+		return false;
+	}
+
+	void resetEstimatorAidStatus(estimator_aid_source_1d_s &status)
+	{
+		if (resetEstimatorAidStatusFlags(status)) {
+			status.observation = 0;
+			status.observation_variance = 0;
+
+			status.innovation = 0;
+			status.innovation_variance = 0;
+			status.test_ratio = 0;
+		}
+	}
+
+	template <typename T>
+	bool resetEstimatorAidStatusFlags(T &status)
+	{
+		if (status.timestamp_sample != 0) {
+			status.timestamp_sample = 0;
+
+			for (size_t i = 0; i < (sizeof(status.fusion_enabled) / sizeof(status.fusion_enabled[0])); i++) {
+				status.fusion_enabled[i] = false;
+				status.innovation_rejected[i] = false;
+				status.fused[i] = false;
+			}
+
+			return true;
+		}
+
+		return false;
+	}
+
+	template <typename T>
+	void resetEstimatorAidStatus(T &status)
+	{
+		if (resetEstimatorAidStatusFlags(status)) {
+			for (size_t i = 0; i < (sizeof(status.fusion_enabled) / sizeof(status.fusion_enabled[0])); i++) {
+				status.observation[i] = 0;
+				status.observation_variance[i] = 0;
+
+				status.innovation[i] = 0;
+				status.innovation_variance[i] = 0;
+				status.test_ratio[i] = 0;
+			}
+		}
+	}
 };
 
 #endif // !EKF_EKF_H
diff --git a/src/modules/ekf2/EKF/fake_pos_control.cpp b/src/modules/ekf2/EKF/fake_pos_control.cpp
index 2962771c9b..2975109f3d 100644
--- a/src/modules/ekf2/EKF/fake_pos_control.cpp
+++ b/src/modules/ekf2/EKF/fake_pos_control.cpp
@@ -40,9 +40,14 @@
 
 void Ekf::controlFakePosFusion()
 {
+	auto &fake_pos = _aid_src_fake_pos;
+
+	// clear
+	resetEstimatorAidStatusFlags(fake_pos);
+
 	// If we aren't doing any aiding, fake position measurements at the last known position to constrain drift
 	// During intial tilt aligment, fake position is used to perform a "quasi-stationary" leveling of the EKF
-	const bool fake_pos_data_ready = isTimedOut(_time_last_fake_pos_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate
+	const bool fake_pos_data_ready = isTimedOut(fake_pos.time_last_fuse[0], (uint64_t)2e5); // Fuse fake position at a limited rate
 
 	if (fake_pos_data_ready) {
 		const bool continuing_conditions_passing = !isHorizontalAidingActive();
@@ -52,7 +57,7 @@ void Ekf::controlFakePosFusion()
 			if (continuing_conditions_passing) {
 				fuseFakePosition();
 
-				const bool is_fusion_failing = isTimedOut(_time_last_fake_pos_fuse, (uint64_t)4e5);
+				const bool is_fusion_failing = isTimedOut(fake_pos.time_last_fuse[0], (uint64_t)4e5);
 
 				if (is_fusion_failing) {
 					resetFakePosFusion();
@@ -79,6 +84,7 @@ void Ekf::controlFakePosFusion()
 void Ekf::startFakePosFusion()
 {
 	if (!_using_synthetic_position) {
+		ECL_INFO("start fake position fusion");
 		_using_synthetic_position = true;
 		_fuse_hpos_as_odom = false; // TODO: needed?
 		resetFakePosFusion();
@@ -87,39 +93,66 @@ void Ekf::startFakePosFusion()
 
 void Ekf::resetFakePosFusion()
 {
+	ECL_INFO("reset fake position fusion");
 	_last_known_posNE = _state.pos.xy();
+
 	resetHorizontalPositionToLastKnown();
 	resetHorizontalVelocityToZero();
-	_time_last_fake_pos_fuse = _time_last_imu;
+
+	_aid_src_fake_pos.time_last_fuse[0] = _time_last_imu;
+	_aid_src_fake_pos.time_last_fuse[1] = _time_last_imu;
 }
 
 void Ekf::stopFakePosFusion()
 {
-	_using_synthetic_position = false;
+	if (_using_synthetic_position) {
+		ECL_INFO("stop fake position fusion");
+		_using_synthetic_position = false;
+
+		resetEstimatorAidStatus(_aid_src_fake_pos);
+	}
 }
 
 void Ekf::fuseFakePosition()
 {
-	Vector3f fake_pos_obs_var;
+	Vector2f obs_var;
 
 	if (_control_status.flags.in_air && _control_status.flags.tilt_align) {
-		fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise));
+		obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise));
 
 	} else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) {
 		// Accelerate tilt fine alignment by fusing more
 		// aggressively when the vehicle is at rest
-		fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.01f);
+		obs_var(0) = obs_var(1) = sq(0.01f);
 
 	} else {
-		fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.5f);
+		obs_var(0) = obs_var(1) = sq(0.5f);
 	}
 
-	_gps_pos_innov.xy() = Vector2f(_state.pos) - _last_known_posNE;
+	const float innov_gate = 3.f;
 
-	const float fake_pos_innov_gate = 3.f;
+	auto &fake_pos = _aid_src_fake_pos;
 
-	if (fuseHorizontalPosition(_gps_pos_innov, fake_pos_innov_gate, fake_pos_obs_var,
-	                           _gps_pos_innov_var, _gps_pos_test_ratio, true)) {
-		_time_last_fake_pos_fuse = _time_last_imu;
+	for (int i = 0; i < 2; i++) {
+		fake_pos.observation[i] = _last_known_posNE(i);
+		fake_pos.observation_variance[i] = obs_var(i);
+
+		fake_pos.innovation[i] = _state.pos(i) - _last_known_posNE(i);
+		fake_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
+		fake_pos.test_ratio[i] = sq(fake_pos.innovation[i]) / (sq(innov_gate) * fake_pos.innovation_variance[i]);
+
+		fake_pos.innovation_rejected[i] = (fake_pos.test_ratio[i] > 1.f);
+
+		// always protect against extreme values that could result in a NaN
+		fake_pos.fusion_enabled[i] = fake_pos.test_ratio[i] < sq(100.0f / innov_gate);
+
+		if (fake_pos.fusion_enabled[i] && !fake_pos.innovation_rejected[i]) {
+			if (fuseVelPosHeight(fake_pos.innovation[i], fake_pos.innovation_variance[i], 3 + i)) {
+				fake_pos.fused[i] = true;
+				fake_pos.time_last_fuse[i] = _time_last_imu;
+			}
+		}
 	}
+
+	fake_pos.timestamp_sample = _time_last_imu;
 }
diff --git a/src/modules/ekf2/EKF/vel_pos_fusion.cpp b/src/modules/ekf2/EKF/vel_pos_fusion.cpp
index 8826ce4ab8..431fd6d82b 100644
--- a/src/modules/ekf2/EKF/vel_pos_fusion.cpp
+++ b/src/modules/ekf2/EKF/vel_pos_fusion.cpp
@@ -102,7 +102,7 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const float innov_gate, co
 }
 
 bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
-				 Vector3f &innov_var, Vector2f &test_ratio, bool inhibit_gate)
+				 Vector3f &innov_var, Vector2f &test_ratio)
 {
 
 	innov_var(0) = P(7, 7) + obs_var(0);
@@ -112,12 +112,7 @@ bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const float innov_gate,
 
 	const bool innov_check_pass = test_ratio(0) <= 1.0f;
 
-	if (innov_check_pass || inhibit_gate) {
-		if (inhibit_gate && test_ratio(0) > sq(100.0f / innov_gate)) {
-			// always protect against extreme values that could result in a NaN
-			return false;
-		}
-
+	if (innov_check_pass) {
 		_innov_check_fail_status.flags.reject_hor_pos = false;
 
 		bool fuse_x = fuseVelPosHeight(innov(0), innov_var(0), 3);
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 8ab17c8807..c8a49c6f85 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -614,6 +614,8 @@ void EKF2::Run()
 			UpdateMagCalibration(now);
 			PublishSensorBias(now);
 
+			PublishAidSourceStatus(now);
+
 		} else {
 			// ekf no update
 			perf_set_elapsed(_ecl_ekf_update_perf, hrt_elapsed_time(&ekf_update_start));
@@ -632,6 +634,12 @@ void EKF2::Run()
 	ScheduleDelayed(100_ms);
 }
 
+void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
+{
+	// fake position
+	PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
+}
+
 void EKF2::PublishAttitude(const hrt_abstime &timestamp)
 {
 	if (_ekf.attitude_valid()) {
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index fe7fbdca63..3c5127cab6 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -135,6 +135,7 @@ private:
 
 	void Run() override;
 
+	void PublishAidSourceStatus(const hrt_abstime &timestamp);
 	void PublishAttitude(const hrt_abstime &timestamp);
 	void PublishBaroBias(const hrt_abstime &timestamp);
 	void PublishEventFlags(const hrt_abstime &timestamp);
@@ -167,6 +168,21 @@ private:
 	void UpdateGyroCalibration(const hrt_abstime &timestamp);
 	void UpdateMagCalibration(const hrt_abstime &timestamp);
 
+	// publish helper for estimator_aid_source topics
+	template <typename T>
+	void PublishAidSourceStatus(const T &status, hrt_abstime &status_publish_last, uORB::PublicationMulti<T> &pub)
+	{
+		if (status.timestamp_sample > status_publish_last) {
+			// publish if updated
+			T status_out{status};
+			status_out.estimator_instance = _instance;
+			status_out.timestamp = hrt_absolute_time();
+			pub.publish(status_out);
+
+			// record timestamp sample
+			status_publish_last = status.timestamp_sample;
+		}
+	}
 
 	/*
 	 * Calculate filtered WGS84 height from estimated AMSL height
@@ -239,6 +255,8 @@ private:
 	hrt_abstime _last_sensor_bias_published{0};
 	hrt_abstime _last_gps_status_published{0};
 
+	hrt_abstime _status_fake_pos_pub_last{0};
+
 	float _last_baro_bias_published{};
 
 	float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
@@ -298,6 +316,8 @@ private:
 	uORB::PublicationMulti<vehicle_odometry_s>           _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
 	uORB::PublicationMulti<yaw_estimator_status_s>       _yaw_est_pub{ORB_ID(yaw_estimator_status)};
 
+	uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
+
 	// publications with topic dependent on multi-mode
 	uORB::PublicationMulti<vehicle_attitude_s>           _attitude_pub;
 	uORB::PublicationMulti<vehicle_local_position_s>     _local_position_pub;
diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
index 8276ba5450..d6f7806c33 100644
--- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
+++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
@@ -14,8 +14,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
 1190000,1,-0.0112,-0.0137,-0.0166,0.0163,-0.0049,-0.155,0.00161,-0.000401,-0.0818,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,1.85e-06,0.00506,0.00506,0.00108,0.85,0.85,0.491,0.151,0.151,0.328,9.88e-07,9.88e-07,6.56e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
 1290000,1,-0.0113,-0.0139,-0.0166,0.0212,-0.00611,-0.169,0.00349,-0.000977,-0.098,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.06e-06,0.0056,0.0056,0.00108,1.03,1.03,0.5,0.214,0.214,0.402,9.88e-07,9.88e-07,5.97e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
 1390000,1,-0.0114,-0.0142,-0.0166,0.0275,-0.00825,-0.181,0.00597,-0.00168,-0.115,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.31e-06,0.00618,0.00619,0.00108,1.26,1.26,0.509,0.301,0.301,0.487,9.88e-07,9.88e-07,5.41e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
-1490000,1,-0.0114,-0.0143,-0.0166,0.0277,-0.00795,-0.196,0.00506,-0.00142,-0.134,-4.58e-07,-2.01e-06,-2.38e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.42e-06,0.00637,0.00637,0.00108,1.01,1.01,0.519,0.189,0.189,0.582,9.62e-07,9.62e-07,4.87e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
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diff --git a/src/modules/ekf2/test/change_indication/iris_gps.csv b/src/modules/ekf2/test/change_indication/iris_gps.csv
index d6e7662622..ff4a87a21c 100644
--- a/src/modules/ekf2/test/change_indication/iris_gps.csv
+++ b/src/modules/ekf2/test/change_indication/iris_gps.csv
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@@ -206,12 +206,12 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -277,7 +277,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -293,7 +293,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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diff --git a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp
index d686f140f3..c9b503331d 100644
--- a/src/modules/ekf2/test/test_EKF_fusionLogic.cpp
+++ b/src/modules/ekf2/test/test_EKF_fusionLogic.cpp
@@ -157,7 +157,7 @@ TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
 	EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
 
 	// BUT THEN: GPS fusion should reset after a while
-	// (it takes some time beacuse vel fusion is still good)
+	// (it takes some time because vel fusion is still good)
 	_sensor_simulator.runSeconds(14);
 	pos_new = _ekf->getPosition();
 	vel_new = _ekf->getVelocity();