diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index e3bdf19894..ed47ca9d07 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -433,6 +433,7 @@ struct PACKED log_POWR {
 struct PACKED log_EKF1 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int16_t roll;
     int16_t pitch;
     uint16_t yaw;
@@ -452,6 +453,7 @@ struct PACKED log_EKF1 {
 struct PACKED log_EKF2 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int8_t Ratio;
     int8_t AZ1bias;
     int8_t AZ2bias;
@@ -468,6 +470,7 @@ struct PACKED log_EKF2 {
 struct PACKED log_NKF2 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int8_t AZbias;
     int16_t scaleX;
     int16_t scaleY;
@@ -486,6 +489,7 @@ struct PACKED log_NKF2 {
 struct PACKED log_NKF2a {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int16_t accBiasX;
     int16_t accBiasY;
     int16_t accBiasZ;
@@ -503,6 +507,7 @@ struct PACKED log_NKF2a {
 struct PACKED log_EKF3 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int16_t innovVN;
     int16_t innovVE;
     int16_t innovVD;
@@ -518,6 +523,7 @@ struct PACKED log_EKF3 {
 struct PACKED log_NKF3 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int16_t innovVN;
     int16_t innovVE;
     int16_t innovVD;
@@ -534,6 +540,7 @@ struct PACKED log_NKF3 {
 struct PACKED log_EKF4 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int16_t sqrtvarV;
     int16_t sqrtvarP;
     int16_t sqrtvarH;
@@ -552,6 +559,7 @@ struct PACKED log_EKF4 {
 struct PACKED log_NKF4 {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     int16_t sqrtvarV;
     int16_t sqrtvarP;
     int16_t sqrtvarH;
@@ -601,6 +609,7 @@ struct PACKED log_NKF5 {
 struct PACKED log_Quaternion {
     LOG_PACKET_HEADER;
     uint64_t time_us;
+    uint8_t core;
     float q1;
     float q2;
     float q3;
@@ -1271,10 +1280,10 @@ struct PACKED log_Arm_Disarm {
 #define PID_UNITS  "s-------"
 #define PID_MULTS  "F-------"
 
-#define QUAT_LABELS "TimeUS,Q1,Q2,Q3,Q4"
-#define QUAT_FMT    "Qffff"
-#define QUAT_UNITS  "s????"
-#define QUAT_MULTS  "F????"
+#define QUAT_LABELS "TimeUS,C,Q1,Q2,Q3,Q4"
+#define QUAT_FMT    "QBffff"
+#define QUAT_UNITS  "s#????"
+#define QUAT_MULTS  "F-????"
 
 #define CURR_LABELS "TimeUS,Volt,VoltR,Curr,CurrTot,EnrgTot,Temp,Res"
 #define CURR_FMT    "Qfffffcf"
@@ -1410,67 +1419,31 @@ struct PACKED log_Arm_Disarm {
     { LOG_SIMSTATE_MSG, sizeof(log_AHRS), \
       "SIM","QccCfLLffff","TimeUS,Roll,Pitch,Yaw,Alt,Lat,Lng,Q1,Q2,Q3,Q4", "sddhmDU????", "FBBB0GG????" }, \
     { LOG_NKF1_MSG, sizeof(log_EKF1), \
-      "NKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
+      "NKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \
     { LOG_NKF2_MSG, sizeof(log_NKF2), \
-      "NKF2","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
+      "NKF2","QBbccccchhhhhhB","TimeUS,C,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s#----nnGGGGGG-", "F-----BBCCCCCC-" }, \
     { LOG_NKF3_MSG, sizeof(log_NKF3), \
-      "NKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
+      "NKF3","QBcccccchhhcc","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "s#nnnmmmGGG??", "F-BBBBBBCCCBB" }, \
     { LOG_NKF4_MSG, sizeof(log_NKF4), \
-      "NKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
+      "NKF4","QBcccccfbbHBHHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
     { LOG_NKF5_MSG, sizeof(log_NKF5), \
       "NKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
-    { LOG_NKF6_MSG, sizeof(log_EKF1), \
-      "NKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
-    { LOG_NKF7_MSG, sizeof(log_NKF2), \
-      "NKF7","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
-    { LOG_NKF8_MSG, sizeof(log_NKF3), \
-      "NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
-    { LOG_NKF9_MSG, sizeof(log_NKF4), \
-      "NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
     { LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
       "NKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
-    { LOG_NKF11_MSG, sizeof(log_EKF1), \
-      "NK11","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
-    { LOG_NKF12_MSG, sizeof(log_NKF2), \
-      "NK12","QbccccchhhhhhB","TimeUS,AZbias,GSX,GSY,GSZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s----nnGGGGGG-", "F----BBCCCCCC-" }, \
-    { LOG_NKF13_MSG, sizeof(log_NKF3), \
-      "NK13","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
-    { LOG_NKF14_MSG, sizeof(log_NKF4), \
-      "NK14","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
-    { LOG_NKQ1_MSG, sizeof(log_Quaternion), "NKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
-    { LOG_NKQ2_MSG, sizeof(log_Quaternion), "NKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
-    { LOG_NKQ3_MSG, sizeof(log_Quaternion), "NKQ3", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
+    { LOG_NKQ_MSG, sizeof(log_Quaternion), "NKQ", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_XKF1_MSG, sizeof(log_EKF1), \
-      "XKF1","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnnnmmmkkkm", "FBBB0000000BBBB" }, \
+      "XKF1","QBccCfffffffccce","TimeUS,C,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "s#ddhnnnnmmmkkkm", "F-BBB0000000BBBB" }, \
     { LOG_XKF2_MSG, sizeof(log_NKF2a), \
-      "XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
+      "XKF2","QBccccchhhhhhB","TimeUS,C,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s#---nnGGGGGG-", "F----BBCCCCCC-" }, \
     { LOG_XKF3_MSG, sizeof(log_NKF3), \
-      "XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGG??", "FBBBBBBCCCBB" }, \
+      "XKF3","QBcccccchhhcc","TimeUS,C,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "s#nnnmmmGGG??", "F-BBBBBBCCCBB" }, \
     { LOG_XKF4_MSG, sizeof(log_NKF4), \
-      "XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s------??-----", "F------??-----" }, \
+      "XKF4","QBcccccfbbHBHHb","TimeUS,C,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s#------??-----", "F-------??-----" }, \
     { LOG_XKF5_MSG, sizeof(log_NKF5), \
       "XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos", "s----m???mrnm", "F----BBBBB000" }, \
-    { LOG_XKF6_MSG, sizeof(log_EKF1), \
-      "XKF6","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
-    { LOG_XKF7_MSG, sizeof(log_NKF2a), \
-      "XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
-    { LOG_XKF8_MSG, sizeof(log_NKF3), \
-      "XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
-    { LOG_XKF9_MSG, sizeof(log_NKF4), \
-      "XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
     { LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
       "XKF0","QBccCCcccccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL,OFN,OFE,OFD", "s-m---mmmmmmmm", "F-B---BBBBBBBB" }, \
-    { LOG_XKF11_MSG, sizeof(log_EKF1), \
-      "XK11","QccCfffffffccce","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ,OH", "sddhnnn-mmmkkkm", "FBBB000-000BBBB" }, \
-    { LOG_XKF12_MSG, sizeof(log_NKF2a), \
-      "XK12","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI", "s---nnGGGGGG-", "F---BBCCCCCC-" }, \
-    { LOG_XKF13_MSG, sizeof(log_NKF3), \
-      "XK13","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT", "snnnmmmGGGd?", "FBBBBBBCCCBB" }, \
-    { LOG_XKF14_MSG, sizeof(log_NKF4), \
-      "XK14","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI", "s-----???-----", "F-----???-----" }, \
-    { LOG_XKQ1_MSG, sizeof(log_Quaternion), "XKQ1", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
-    { LOG_XKQ2_MSG, sizeof(log_Quaternion), "XKQ2", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
-    { LOG_XKQ3_MSG, sizeof(log_Quaternion), "XKQ3", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
+    { LOG_XKQ_MSG, sizeof(log_Quaternion), "XKQ", QUAT_FMT, QUAT_LABELS, QUAT_UNITS, QUAT_MULTS }, \
     { LOG_XKFD_MSG, sizeof(log_ekfBodyOdomDebug), \
       "XKFD","Qffffff","TimeUS,IX,IY,IZ,IVX,IVY,IVZ", "s------", "F------" }, \
     { LOG_XKV1_MSG, sizeof(log_ekfStateVar), \
@@ -1610,35 +1583,15 @@ enum LogMessages : uint8_t {
     LOG_NKF3_MSG,
     LOG_NKF4_MSG,
     LOG_NKF5_MSG,
-    LOG_NKF6_MSG,
-    LOG_NKF7_MSG,
-    LOG_NKF8_MSG,
-    LOG_NKF9_MSG,
     LOG_NKF10_MSG,
-    LOG_NKF11_MSG,
-    LOG_NKF12_MSG,
-    LOG_NKF13_MSG,
-    LOG_NKF14_MSG,
-    LOG_NKQ1_MSG,
-    LOG_NKQ2_MSG,
-    LOG_NKQ3_MSG,
+    LOG_NKQ_MSG,
     LOG_XKF1_MSG,
     LOG_XKF2_MSG,
     LOG_XKF3_MSG,
     LOG_XKF4_MSG,
     LOG_XKF5_MSG,
-    LOG_XKF6_MSG,
-    LOG_XKF7_MSG,
-    LOG_XKF8_MSG,
-    LOG_XKF9_MSG,
     LOG_XKF10_MSG,
-    LOG_XKF11_MSG,
-    LOG_XKF12_MSG,
-    LOG_XKF13_MSG,
-    LOG_XKF14_MSG,
-    LOG_XKQ1_MSG,
-    LOG_XKQ2_MSG,
-    LOG_XKQ3_MSG,
+    LOG_XKQ_MSG,
     LOG_XKFD_MSG,
     LOG_XKV1_MSG,
     LOG_XKV2_MSG,