diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 8dc3a76ecc..4be40211aa 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1211,6 +1211,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			struct log_GPS_s log_GPS;
 			struct log_ATTC_s log_ATTC;
 			struct log_STAT_s log_STAT;
+			struct log_LOAD_s log_LOAD;
+			struct log_COMM_s log_COMM;
 			struct log_VTOL_s log_VTOL;
 			struct log_RC_s log_RC;
 			struct log_OUT_s log_OUT;
@@ -1515,6 +1517,24 @@ int sdlog2_thread_main(int argc, char *argv[])
 			LOGBUFFER_WRITE_AND_COUNT(STAT);
 		}
 
+		/* --- COMMANDER INTERNAL STATE --- */
+		bool commander_state_updated = copy_if_updated(ORB_ID(commander_state), &subs.commander_state_sub,
+							       &buf.commander_state);
+
+		if (commander_state_updated) {
+			log_msg.msg_type = LOG_COMM_MSG;
+			log_msg.body.log_COMM.main_state = buf.commander_state.main_state;
+			LOGBUFFER_WRITE_AND_COUNT(COMM);
+		}
+
+
+		bool cpuload_updated = copy_if_updated(ORB_ID(cpuload), &subs.cpuload_sub, &buf.cpuload);
+		if (cpuload_updated) {
+			log_msg.msg_type = LOG_LOAD_MSG;
+			log_msg.body.log_LOAD.cpu_load = buf.cpuload.load;
+			LOGBUFFER_WRITE_AND_COUNT(LOAD);
+		}
+
 		/* --- EKF2 REPLAY --- */
 		if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_REPLAY_ONLY) {
 
diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h
index c5dbffe6f3..e0c934e629 100644
--- a/src/modules/sdlog2/sdlog2_messages.h
+++ b/src/modules/sdlog2/sdlog2_messages.h
@@ -177,11 +177,9 @@ struct log_ATTC_s {
 /* --- STAT - VEHICLE STATE --- */
 #define LOG_STAT_MSG 10
 struct log_STAT_s {
-	uint8_t main_state;
 	uint8_t nav_state;
 	uint8_t arming_state;
 	uint8_t failsafe;
-	float load;
 };
 
 /* --- RC - RC INPUT CHANNELS --- */
@@ -597,11 +595,24 @@ struct log_CAMT_s {
 	uint32_t seq;
 };
 
+/* --- LAND DETECTOR --- */
 #define LOG_LAND_MSG 57
 struct log_LAND_s {
 	uint8_t landed;
 };
 
+/* --- SYSTEM LOAD --- */
+#define LOG_LOAD_MSG 58
+struct log_LOAD_s {
+	float cpu_load;
+};
+
+/* --- COMMANDER INTERNAL STATE --- */
+#define LOG_COMM_MSG 59
+struct log_COMM_s {
+	uint8_t main_state;
+};
+
 /********** SYSTEM MESSAGES, ID > 0x80 **********/
 
 /* --- TIME - TIME STAMP --- */
@@ -643,7 +654,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(GPS, "QBffLLfffffBHHH",	"GPSTime,Fix,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog,nSat,SNR,N,J"),
 	LOG_FORMAT_S(ATTC, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
 	LOG_FORMAT_S(ATC1, ATTC, "ffff",		"Roll,Pitch,Yaw,Thrust"),
-	LOG_FORMAT(STAT, "BBBBf",		"MainState,NavState,ArmS,Failsafe,Load"),
+	LOG_FORMAT(STAT, "BBB",		"NavState,ArmS,Failsafe"),
 	LOG_FORMAT(VTOL, "fBBB",		"Arsp,RwMode,TransMode,Failsafe"),
 	LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
 	LOG_FORMAT(RC, "ffffffffffffBBBL",		"C0,C1,C2,C3,C4,C5,C6,C7,C8,C9,C10,C11,RSSI,CNT,Lost,Drop"),
@@ -688,6 +699,8 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(RPL4, "Qf", "Trng,rng"),
 	LOG_FORMAT(RPL6, "Qfffff", "Tasp,inAsp,trAsp,ufAsp,tpAsp,confAsp"),
 	LOG_FORMAT(LAND, "B", "Landed"),
+	LOG_FORMAT(LOAD, "f", "CPU"),
+	LOG_FORMAT(COMM, "B", "MainState"),
 	/* system-level messages, ID >= 0x80 */
 	/* FMT: don't write format of format message, it's useless */
 	LOG_FORMAT(TIME, "Q", "StartTime"),