diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index b20b312a22..26a448b6d4 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1004,6 +1004,20 @@ FixedwingEstimator::task_main()
 					mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
 					break;
 				}
+				case 5:
+				{
+					const char* str = "diverged too far from GPS";
+					warnx("%s", str);
+					mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
+					break;
+				}
+				case 6:
+				{
+					const char* str = "excessive covariances";
+					warnx("%s", str);
+					mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
+					break;
+				}
 
 				default:
 				{
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index e55ae109df..db35fa4dff 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -440,7 +440,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GS0B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
 	LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB",	"s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
-	LOG_FORMAT(TECS, "fffffffffffffB",	"AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,Mod"),
+	LOG_FORMAT(TECS, "fffffffffffffB",	"AltSP,Alt,FpaSP,Fpa,AsSP,As,AsF,AsDSP,AsD,TERSP,TER,EDRSP,EDR,M"),
 	LOG_FORMAT(WIND, "ffff",	"X,Y,CovX,CovY"),
 
 	/* system-level messages, ID >= 0x80 */