diff --git a/ROMFS/px4fmu_common/init.d-posix/rc.replay b/ROMFS/px4fmu_common/init.d-posix/rc.replay
index afea36b3954..ea0510280f5 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay
@@ -21,6 +21,7 @@ ignore_others: false
 EOF
 
 param set SDLOG_DIRS_MAX 7
+param set SDLOG_PROFILE 3
 
 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 3a799025d7b..89633391a74 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -191,6 +191,25 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_attitude_groundtruth", 10);
 	add_topic("vehicle_global_position_groundtruth", 100);
 	add_topic("vehicle_local_position_groundtruth", 100);
+
+	// EKF replay
+	add_topic("ekf_gps_drift");
+	add_topic("estimator_baro_bias");
+	add_topic("estimator_event_flags");
+	add_topic("estimator_innovation_test_ratios");
+	add_topic("estimator_innovation_variances");
+	add_topic("estimator_innovations");
+	add_topic("estimator_optical_flow_vel");
+	add_topic("estimator_sensor_bias");
+	add_topic("estimator_states");
+	add_topic("estimator_status");
+	add_topic("estimator_status_flags");
+	add_topic("estimator_visual_odometry_aligned");
+	add_topic("vehicle_attitude");
+	add_topic("vehicle_global_position");
+	add_topic("vehicle_local_position");
+	add_topic("wind");
+	add_topic("yaw_estimator_status");
 #endif /* CONFIG_ARCH_BOARD_PX4_SITL */