diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 46f655673f..e9131a0ece 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -170,6 +170,7 @@ EKF2::~EKF2()
 	perf_free(_ecl_ekf_update_perf);
 	perf_free(_ecl_ekf_update_full_perf);
 	perf_free(_imu_missed_perf);
+	perf_free(_mag_missed_perf);
 }
 
 bool EKF2::multi_init(int imu, int mag)
@@ -222,6 +223,11 @@ int EKF2::print_status()
 	perf_print_counter(_ecl_ekf_update_perf);
 	perf_print_counter(_ecl_ekf_update_full_perf);
 	perf_print_counter(_imu_missed_perf);
+
+	if (_device_id_mag != 0) {
+		perf_print_counter(_mag_missed_perf);
+	}
+
 	return 0;
 }
 
@@ -1517,8 +1523,9 @@ void EKF2::UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps)
 	if (_magnetometer_sub.update(&magnetometer)) {
 
 		if (_magnetometer_sub.get_last_generation() != last_generation + 1) {
-			PX4_ERR("%d - vehicle_magnetometer lost, generation %d -> %d", _instance, last_generation,
-				_magnetometer_sub.get_last_generation());
+			perf_count(_mag_missed_perf);
+			PX4_DEBUG("%d - vehicle_magnetometer lost, generation %d -> %d", _instance, last_generation,
+				  _magnetometer_sub.get_last_generation());
 		}
 
 		bool reset = false;
diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp
index 4bf4ce610d..28711f24b5 100644
--- a/src/modules/ekf2/EKF2.hpp
+++ b/src/modules/ekf2/EKF2.hpp
@@ -177,6 +177,7 @@ private:
 	perf_counter_t _ecl_ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL update")};
 	perf_counter_t _ecl_ekf_update_full_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": ECL full update")};
 	perf_counter_t _imu_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};
+	perf_counter_t _mag_missed_perf{perf_alloc(PC_COUNT, MODULE_NAME": mag message missed")};
 
 	// Used to check, save and use learned magnetometer biases
 	hrt_abstime _mag_cal_last_us{0};	///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)