diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg
index 5c3e765b50..7f8dc28cb0 100644
--- a/msg/estimator_status.msg
+++ b/msg/estimator_status.msg
@@ -105,6 +105,12 @@ uint16 solution_status_flags # Bitmask indicating which filter kinematic state o
 # 10 - True if the EKF has detected a GPS glitch
 # 11 - True if the EKF has detected bad accelerometer data
 
+uint8 reset_count_vel_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
+uint8 reset_count_vel_d  # number of vertical velocity reset events (allow to wrap if count exceeds 255)
+uint8 reset_count_pos_ne # number of horizontal position reset events (allow to wrap if count exceeds 255)
+uint8 reset_count_pod_d  # number of vertical position reset events (allow to wrap if count exceeds 255)
+uint8 reset_count_quat   # number of quaternion reset events (allow to wrap if count exceeds 255)
+
 float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
 
 bool pre_flt_fail_innov_heading
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 9d34954b20..5c6f72fbe9 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -966,6 +966,13 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	_ekf.get_ekf_soln_status(&status.solution_status_flags);
 	_ekf.getImuVibrationMetrics().copyTo(status.vibe);
 
+	// reset counters
+	status.reset_count_vel_ne = _ekf.state_reset_status().velNE_counter;
+	status.reset_count_vel_d = _ekf.state_reset_status().velD_counter;
+	status.reset_count_pos_ne = _ekf.state_reset_status().posNE_counter;
+	status.reset_count_pod_d = _ekf.state_reset_status().posD_counter;
+	status.reset_count_quat = _ekf.state_reset_status().quat_counter;
+
 	status.time_slip = _last_time_slip_us * 1e-6f;
 
 	status.pre_flt_fail_innov_heading = _preflt_checker.hasHeadingFailed();