diff --git a/src/drivers/camera_capture/camera_capture.cpp b/src/drivers/camera_capture/camera_capture.cpp
index 6d99627237..751302b56a 100644
--- a/src/drivers/camera_capture/camera_capture.cpp
+++ b/src/drivers/camera_capture/camera_capture.cpp
@@ -99,6 +99,7 @@ CameraCapture::CameraCapture() :
 		}
 	}
 
+	_trigger_pub.advertise();
 }
 
 CameraCapture::~CameraCapture()
diff --git a/src/drivers/dshot/DShot.cpp b/src/drivers/dshot/DShot.cpp
index 0764de6468..75da9b0a12 100644
--- a/src/drivers/dshot/DShot.cpp
+++ b/src/drivers/dshot/DShot.cpp
@@ -264,6 +264,8 @@ void DShot::init_telemetry(const char *device)
 		}
 	}
 
+	_telemetry->esc_status_pub.advertise();
+
 	int ret = _telemetry->handler.init(device);
 
 	if (ret != 0) {
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 78fabd3df3..88df4b6717 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -538,6 +538,8 @@ int PX4IO::init()
 		_mixing_output.setMaxTopicUpdateRate(MIN_TOPIC_UPDATE_INTERVAL);
 	}
 
+	_px4io_status_pub.advertise();
+
 	update_params();
 
 	ScheduleNow();
diff --git a/src/drivers/rpm/pcf8583/PCF8583.cpp b/src/drivers/rpm/pcf8583/PCF8583.cpp
index cbc8c701a4..bc5d54d19b 100644
--- a/src/drivers/rpm/pcf8583/PCF8583.cpp
+++ b/src/drivers/rpm/pcf8583/PCF8583.cpp
@@ -57,6 +57,8 @@ int PCF8583::init()
 	// start measurement
 	resetCounter();
 
+	_rpm_pub.advertise();
+
 	ScheduleOnInterval(_param_pcf8583_pool.get());
 
 	return PX4_OK;
diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index e4ee07b58f..5ce98b39c1 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -72,6 +72,7 @@ UavcanEscController::init()
 	// ESC status will be relayed from UAVCAN bus into ORB at this rate
 	_orb_timer.setCallback(TimerCbBinder(this, &UavcanEscController::orb_pub_timer_cb));
 	_orb_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / ESC_STATUS_UPDATE_RATE_HZ));
+	_esc_status_pub.advertise();
 
 	return res;
 }
diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp
index 45bd5c96c7..239faef6a9 100644
--- a/src/lib/mixer_module/mixer_module.cpp
+++ b/src/lib/mixer_module/mixer_module.cpp
@@ -113,6 +113,8 @@ _param_prefix(param_prefix)
 
 		updateParams();
 	}
+
+	_outputs_pub.advertise();
 }
 
 MixingOutput::~MixingOutput()
@@ -122,6 +124,8 @@ MixingOutput::~MixingOutput()
 	px4_sem_destroy(&_lock);
 
 	cleanupFunctions();
+
+	_outputs_pub.unadvertise();
 }
 
 void MixingOutput::initParamHandles()
diff --git a/src/lib/tecs/TECS.hpp b/src/lib/tecs/TECS.hpp
index cfede513a5..f95f483423 100644
--- a/src/lib/tecs/TECS.hpp
+++ b/src/lib/tecs/TECS.hpp
@@ -206,8 +206,6 @@ private:
 	static constexpr float _jerk_max =
 		1000.0f;	// maximum jerk for creating height rate trajectories, we want infinite jerk so set a high value
 
-	uORB::Publication<tecs_status_s>	_tecs_status_pub{ORB_ID(tecs_status)};	///< TECS status publication
-
 	enum ECL_TECS_MODE _tecs_mode {ECL_TECS_MODE_NORMAL};
 
 	// timestamps
diff --git a/src/modules/airspeed_selector/airspeed_selector_main.cpp b/src/modules/airspeed_selector/airspeed_selector_main.cpp
index 09716115a0..c03937dfe5 100644
--- a/src/modules/airspeed_selector/airspeed_selector_main.cpp
+++ b/src/modules/airspeed_selector/airspeed_selector_main.cpp
@@ -205,6 +205,7 @@ AirspeedModule::AirspeedModule():
 	update_params();
 
 	_perf_elapsed = perf_alloc(PC_ELAPSED, MODULE_NAME": elapsed");
+	_airspeed_validated_pub.advertise();
 }
 
 AirspeedModule::~AirspeedModule()
diff --git a/src/modules/angular_velocity_controller/AngularVelocityController.cpp b/src/modules/angular_velocity_controller/AngularVelocityController.cpp
index 0c06de2c90..8b0faf813b 100644
--- a/src/modules/angular_velocity_controller/AngularVelocityController.cpp
+++ b/src/modules/angular_velocity_controller/AngularVelocityController.cpp
@@ -50,6 +50,7 @@ AngularVelocityController::AngularVelocityController() :
 	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 
 	parameters_updated();
+	_rate_ctrl_status_pub.advertise();
 }
 
 AngularVelocityController::~AngularVelocityController()
diff --git a/src/modules/camera_feedback/CameraFeedback.cpp b/src/modules/camera_feedback/CameraFeedback.cpp
index 93723df12e..f12c27e72e 100644
--- a/src/modules/camera_feedback/CameraFeedback.cpp
+++ b/src/modules/camera_feedback/CameraFeedback.cpp
@@ -47,6 +47,8 @@ CameraFeedback::init()
 		return false;
 	}
 
+	_capture_pub.advertise();
+
 	return true;
 }
 
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index d902ebf9e0..5ad3f734af 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -194,6 +194,7 @@ bool EKF2::multi_init(int imu, int mag)
 	_ekf2_timestamps_pub.advertise();
 	_ekf_gps_drift_pub.advertise();
 	_estimator_baro_bias_pub.advertise();
+	_estimator_event_flags_pub.advertise();
 	_estimator_innovation_test_ratios_pub.advertise();
 	_estimator_innovation_variances_pub.advertise();
 	_estimator_innovations_pub.advertise();
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
index 9580ccaed5..cc8789f4e7 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp
@@ -65,6 +65,8 @@ FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
 	_pitch_ctrl.set_max_rate_pos(radians(_param_fw_acro_y_max.get()));
 	_pitch_ctrl.set_max_rate_neg(radians(_param_fw_acro_y_max.get()));
 	_yaw_ctrl.set_max_rate(radians(_param_fw_acro_z_max.get()));
+
+	_rate_ctrl_status_pub.advertise();
 }
 
 FixedwingAttitudeControl::~FixedwingAttitudeControl()
diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
index d58835f8b2..9fbd31e024 100644
--- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
+++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
@@ -47,6 +47,7 @@ FwAutotuneAttitudeControl::FwAutotuneAttitudeControl(bool is_vtol) :
 	_actuator_controls_sub(this, is_vtol ? ORB_ID(actuator_controls_1) : ORB_ID(actuator_controls_0)),
 	_actuator_controls_status_sub(is_vtol ? ORB_ID(actuator_controls_status_1) : ORB_ID(actuator_controls_status_0))
 {
+	_autotune_attitude_control_status_pub.advertise();
 	reset();
 }
 
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
index f037da53ac..0a452b3aaf 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
@@ -70,6 +70,8 @@ FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
 	// limit to 50 Hz
 	_local_pos_sub.set_interval_ms(20);
 
+	_tecs_status_pub.advertise();
+
 	/* fetch initial parameter values */
 	parameters_update();
 }
diff --git a/src/modules/gyro_fft/GyroFFT.cpp b/src/modules/gyro_fft/GyroFFT.cpp
index 32006d3338..1724505351 100644
--- a/src/modules/gyro_fft/GyroFFT.cpp
+++ b/src/modules/gyro_fft/GyroFFT.cpp
@@ -48,6 +48,8 @@ GyroFFT::GyroFFT() :
 		_sensor_gyro_fft.peak_frequencies_y[i] = NAN;
 		_sensor_gyro_fft.peak_frequencies_z[i] = NAN;
 	}
+
+	_sensor_gyro_fft_pub.advertise();
 }
 
 GyroFFT::~GyroFFT()
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 93bc748dc7..e6b030d046 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -51,25 +51,26 @@ void LoggedTopics::add_default_topics()
 	add_topic("actuator_controls_1", 100);
 	add_topic("actuator_controls_2", 100);
 	add_topic("actuator_controls_3", 100);
-	add_topic("actuator_controls_status_0", 300);
+	add_optional_topic("actuator_controls_status_0", 300);
 	add_topic("airspeed", 1000);
-	add_topic("airspeed_validated", 200);
-	add_topic("autotune_attitude_control_status", 100);
-	add_topic("camera_capture");
-	add_topic("camera_trigger");
+	add_optional_topic("airspeed_validated", 200);
+	add_optional_topic("autotune_attitude_control_status", 100);
+	add_optional_topic("camera_capture");
+	add_optional_topic("camera_trigger");
 	add_topic("cellular_status", 200);
 	add_topic("commander_state");
 	add_topic("cpuload");
-	add_topic("esc_status", 250);
+	add_optional_topic("esc_status", 250);
 	add_topic("failure_detector_status", 100);
 	add_topic("follow_target", 500);
-	add_topic("generator_status");
-	add_topic("heater_status");
+	add_optional_topic("generator_status");
+	add_optional_topic("gps_dump");
+	add_optional_topic("heater_status");
 	add_topic("home_position");
 	add_topic("hover_thrust_estimate", 100);
 	add_topic("input_rc", 500);
-	add_topic("internal_combustion_engine_status", 10);
-	add_topic("magnetometer_bias_estimate", 200);
+	add_optional_topic("internal_combustion_engine_status", 10);
+	add_optional_topic("magnetometer_bias_estimate", 200);
 	add_topic("manual_control_setpoint", 200);
 	add_topic("manual_control_switches");
 	add_topic("mission_result");
@@ -79,19 +80,19 @@ void LoggedTopics::add_default_topics()
 	add_topic("parameter_update");
 	add_topic("position_controller_status", 500);
 	add_topic("position_setpoint_triplet", 200);
-	add_topic("px4io_status");
+	add_optional_topic("px4io_status");
 	add_topic("radio_status");
-	add_topic("rpm", 500);
+	add_optional_topic("rpm", 500);
 	add_topic("rtl_flight_time", 1000);
 	add_topic("safety");
 	add_topic("sensor_combined");
-	add_topic("sensor_correction");
-	add_topic("sensor_gyro_fft", 50);
+	add_optional_topic("sensor_correction");
+	add_optional_topic("sensor_gyro_fft", 50);
 	add_topic("sensor_selection");
 	add_topic("sensors_status_imu", 200);
 	add_topic("system_power", 500);
-	add_topic("takeoff_status", 1000);
-	add_topic("tecs_status", 200);
+	add_optional_topic("takeoff_status", 1000);
+	add_optional_topic("tecs_status", 200);
 	add_topic("trajectory_setpoint", 200);
 	add_topic("transponder_report");
 	add_topic("vehicle_acceleration", 50);
@@ -112,15 +113,15 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_roi", 1000);
 	add_topic("vehicle_status");
 	add_topic("vehicle_status_flags");
-	add_topic("vtol_vehicle_status", 200);
+	add_optional_topic("vtol_vehicle_status", 200);
 	add_topic("wind", 1000);
 
 	// multi topics
-	add_topic_multi("actuator_outputs", 100, 3);
-	add_topic_multi("airspeed_wind", 1000);
+	add_optional_topic_multi("actuator_outputs", 100, 3);
+	add_topic_multi("airspeed_wind", 1000, 4);
 	add_topic_multi("control_allocator_status", 200, 2);
-	add_topic_multi("rate_ctrl_status", 200, 2);
-	add_topic_multi("telemetry_status", 1000, 4);
+	add_optional_topic_multi("rate_ctrl_status", 200, 2);
+	add_optional_topic_multi("telemetry_status", 1000, 4);
 
 	// EKF multi topics (currently max 9 estimators)
 #if CONSTRAINED_MEMORY
@@ -128,39 +129,54 @@ void LoggedTopics::add_default_topics()
 #else
 	static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificially limited until PlotJuggler fixed
 	add_topic("estimator_selector_status");
-	add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
 #endif
 
-	add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
+	// always add the first instance
+	add_topic("ekf_gps_drift", 1000);
+	add_topic("estimator_baro_bias", 500);
+	add_topic("estimator_event_flags", 0);
+	add_topic("estimator_innovation_test_ratios", 500);
+	add_topic("estimator_innovation_variances", 500);
+	add_topic("estimator_innovations", 500);
+	add_topic("estimator_optical_flow_vel", 200);
+	add_topic("estimator_sensor_bias", 0);
+	add_topic("estimator_states", 1000);
+	add_topic("estimator_status", 200);
+	add_topic("estimator_status_flags", 0);
+	add_topic("estimator_visual_odometry_aligned", 200);
+	add_topic("yaw_estimator_status", 1000);
+
+	add_optional_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
+	add_optional_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
 
 	// log all raw sensors at minimal rate (at least 1 Hz)
 	add_topic_multi("battery_status", 200, 2);
 	add_topic_multi("differential_pressure", 1000, 2);
-	add_topic_multi("distance_sensor", 1000, 2);
+	add_optional_topic_multi("distance_sensor", 1000, 2);
 	add_topic_multi("optical_flow", 1000, 1);
-	add_topic_multi("sensor_accel", 1000, 4);
-	add_topic_multi("sensor_baro", 1000, 4);
+	add_optional_topic_multi("sensor_accel", 1000, 4);
+	add_optional_topic_multi("sensor_baro", 1000, 4);
 	add_topic_multi("sensor_gps", 1000, 2);
-	add_topic_multi("sensor_gyro", 1000, 4);
-	add_topic_multi("sensor_mag", 1000, 4);
+	add_optional_topic_multi("sensor_gyro", 1000, 4);
+	add_optional_topic_multi("sensor_mag", 1000, 4);
 	add_topic_multi("vehicle_imu", 500, 4);
 	add_topic_multi("vehicle_imu_status", 1000, 4);
-	add_topic_multi("vehicle_magnetometer", 500, 4);
+	add_optional_topic_multi("vehicle_magnetometer", 500, 4);
 
 #ifdef CONFIG_ARCH_BOARD_PX4_SITL
 	add_topic("actuator_controls_virtual_fw");
@@ -175,12 +191,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("vehicle_local_position_groundtruth", 100);
 #endif /* CONFIG_ARCH_BOARD_PX4_SITL */
 
-	int32_t gps_dump_comm = 0;
-	param_get(param_find("GPS_DUMP_COMM"), &gps_dump_comm);
-
-	if (gps_dump_comm >= 1) {
-		add_topic("gps_dump");
-	}
 
 	int32_t sys_ctrl_alloc = 0;
 	param_get(param_find("SYS_CTRL_ALLOC"), &sys_ctrl_alloc);
@@ -362,13 +372,18 @@ void LoggedTopics::add_mission_topic(const char *name, uint16_t interval_ms)
 	}
 }
 
-bool LoggedTopics::add_topic(const orb_metadata *topic, uint16_t interval_ms, uint8_t instance)
+bool LoggedTopics::add_topic(const orb_metadata *topic, uint16_t interval_ms, uint8_t instance, bool optional)
 {
 	if (_subscriptions.count >= MAX_TOPICS_NUM) {
 		PX4_WARN("Too many subscriptions, failed to add: %s %" PRIu8, topic->o_name, instance);
 		return false;
 	}
 
+	if (optional && orb_exists(topic, instance) != 0) {
+		PX4_DEBUG("Not adding non-existing optional topic %s %i", topic->o_name, instance);
+		return false;
+	}
+
 	RequestedSubscription &sub = _subscriptions.sub[_subscriptions.count++];
 	sub.interval_ms = interval_ms;
 	sub.instance = instance;
@@ -376,7 +391,7 @@ bool LoggedTopics::add_topic(const orb_metadata *topic, uint16_t interval_ms, ui
 	return true;
 }
 
-bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t instance)
+bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t instance, bool optional)
 {
 	const orb_metadata *const *topics = orb_get_topics();
 	bool success = false;
@@ -401,7 +416,7 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
 			}
 
 			if (!already_added) {
-				success = add_topic(topics[i], interval_ms, instance);
+				success = add_topic(topics[i], interval_ms, instance, optional);
 				PX4_DEBUG("logging topic: %s(%" PRUu8 "), interval: %" PRUu16, topics[i]->o_name, instance, interval_ms);
 				break;
 			}
@@ -411,11 +426,11 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
 	return success;
 }
 
-bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8_t max_num_instances)
+bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8_t max_num_instances, bool optional)
 {
 	// add all possible instances
 	for (uint8_t instance = 0; instance < max_num_instances; instance++) {
-		add_topic(name, interval_ms, instance);
+		add_topic(name, interval_ms, instance, optional);
 	}
 
 	return true;
diff --git a/src/modules/logger/logged_topics.h b/src/modules/logger/logged_topics.h
index 6cf4cfcd53..57f1eddb3b 100644
--- a/src/modules/logger/logged_topics.h
+++ b/src/modules/logger/logged_topics.h
@@ -107,9 +107,15 @@ private:
 	 * @param name topic name
 	 * @param interval limit in milliseconds if >0, otherwise log as fast as the topic is updated.
 	 * @param instance orb topic instance
+	 * @param optional if true, the topic is only added if it exists
 	 * @return true on success
 	 */
-	bool add_topic(const char *name, uint16_t interval_ms = 0, uint8_t instance = 0);
+	bool add_topic(const char *name, uint16_t interval_ms = 0, uint8_t instance = 0, bool optional = false);
+
+	bool add_optional_topic(const char *name, uint16_t interval_ms = 0, uint8_t instance = 0)
+	{
+		return add_topic(name, interval_ms, instance, true);
+	}
 
 	/**
 	 * Add a topic to be logged.
@@ -117,9 +123,17 @@ private:
 	 * @param interval limit in milliseconds if >0, otherwise log as fast as the topic is updated.
 	 * @param instance orb topic instance
 	 * @param max_num_instances the max multi-instance to add.
+	 * @param optional if true, the topic is only added if it exists
 	 * @return true on success
 	 */
-	bool add_topic_multi(const char *name, uint16_t interval_ms = 0, uint8_t max_num_instances = ORB_MULTI_MAX_INSTANCES);
+	bool add_topic_multi(const char *name, uint16_t interval_ms = 0, uint8_t max_num_instances = ORB_MULTI_MAX_INSTANCES,
+			     bool optional = false);
+
+	bool add_optional_topic_multi(const char *name, uint16_t interval_ms = 0,
+				      uint8_t max_num_instances = ORB_MULTI_MAX_INSTANCES)
+	{
+		return add_topic_multi(name, interval_ms, max_num_instances, true);
+	}
 
 	/**
 	 * Parse a file containing a list of uORB topics to log, calling add_topic for each
@@ -157,7 +171,7 @@ private:
 	 * add a logged topic (called by add_topic() above).
 	 * @return true on success
 	 */
-	bool add_topic(const orb_metadata *topic, uint16_t interval_ms = 0, uint8_t instance = 0);
+	bool add_topic(const orb_metadata *topic, uint16_t interval_ms = 0, uint8_t instance = 0, bool optional = false);
 
 	RequestedSubscriptionArray _subscriptions;
 	int _num_mission_subs{0};
diff --git a/src/modules/mag_bias_estimator/MagBiasEstimator.cpp b/src/modules/mag_bias_estimator/MagBiasEstimator.cpp
index 15d05ba483..f8a52ea659 100644
--- a/src/modules/mag_bias_estimator/MagBiasEstimator.cpp
+++ b/src/modules/mag_bias_estimator/MagBiasEstimator.cpp
@@ -43,6 +43,7 @@ MagBiasEstimator::MagBiasEstimator() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
+	_magnetometer_bias_estimate_pub.advertise();
 }
 
 MagBiasEstimator::~MagBiasEstimator()
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 53edf1b89b..2721485f42 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -133,6 +133,7 @@ Mavlink::Mavlink() :
 	}
 
 	_event_sub.subscribe();
+	_telemetry_status_pub.advertise();
 }
 
 Mavlink::~Mavlink()
diff --git a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
index bf71b0b1e6..561ae136ad 100644
--- a/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
+++ b/src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
@@ -45,6 +45,7 @@ McAutotuneAttitudeControl::McAutotuneAttitudeControl() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
+	_autotune_attitude_control_status_pub.advertise();
 	reset();
 }
 
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index 0622f22250..5b3352c831 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -54,6 +54,7 @@ MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
 	_failsafe_land_hysteresis.set_hysteresis_time_from(false, LOITER_TIME_BEFORE_DESCEND);
 	_tilt_limit_slew_rate.setSlewRate(.2f);
 	reset_setpoint_to_nan(_setpoint);
+	_takeoff_status_pub.advertise();
 }
 
 MulticopterPositionControl::~MulticopterPositionControl()
diff --git a/src/modules/mc_rate_control/MulticopterRateControl.cpp b/src/modules/mc_rate_control/MulticopterRateControl.cpp
index c53a810998..c282099846 100644
--- a/src/modules/mc_rate_control/MulticopterRateControl.cpp
+++ b/src/modules/mc_rate_control/MulticopterRateControl.cpp
@@ -52,6 +52,7 @@ MulticopterRateControl::MulticopterRateControl(bool vtol) :
 	_vehicle_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
 
 	parameters_updated();
+	_controller_status_pub.advertise();
 }
 
 MulticopterRateControl::~MulticopterRateControl()
diff --git a/src/modules/temperature_compensation/TemperatureCompensationModule.cpp b/src/modules/temperature_compensation/TemperatureCompensationModule.cpp
index b7c21fe6a1..161ce9ef07 100644
--- a/src/modules/temperature_compensation/TemperatureCompensationModule.cpp
+++ b/src/modules/temperature_compensation/TemperatureCompensationModule.cpp
@@ -52,6 +52,8 @@ TemperatureCompensationModule::TemperatureCompensationModule() :
 		_corrections.gyro_temperature[i] = NAN;
 		_corrections.baro_temperature[i] = NAN;
 	}
+
+	_sensor_correction_pub.advertise();
 }
 
 TemperatureCompensationModule::~TemperatureCompensationModule()
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index 8e592a1ca3..ad17e7865d 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -116,6 +116,8 @@ VtolAttitudeControl::VtolAttitudeControl() :
 	} else {
 		exit_and_cleanup();
 	}
+
+	_vtol_vehicle_status_pub.advertise();
 }
 
 VtolAttitudeControl::~VtolAttitudeControl()