Unable to get ekf2 / vehicle_odometry topic to publish

We are porting PX4 to custom hardware.

Our hardware does not have a magnetometer.

Currently, we have accel, gryo, and gps output and can see those outputting at the correct rates using uorb top -a. However, the vehicle odometry (we need the q matrix) never outputs anything.

We don’t have the ability to debug on target, at the moment, and I am really out of ideas on what could be causing this. Running our custom module within px4_sitl_default works fine but I don’t believe the parameters are the same; which now gives me an idea to cross-check those.

I’m not really sure what to look at as I am still familiarizing myself with PX4 (which is really great so far)

Here is our param output if that helps:
Symbols: x = used, + = saved, * = unsaved
x ASPD_SCALE [0,9] : 1.0000
x BAT_A_PER_V [1,39] : -1.0000
x BAT_CRIT_THR [2,41] : 0.0700
x BAT_EMERGEN_THR [3,42] : 0.0500
x BAT_LOW_THR [4,43] : 0.1500
x BAT_N_CELLS [5,44] : 4
x BAT_V_CHARGED [6,47] : 4.0500
x BAT_V_DIV [7,48] : -1.0000
x BAT_V_EMPTY [8,49] : 3.5000
x + CAL_ACC0_ID [9,51] : 1310988
x + CAL_ACC1_ID [10,60] : 1310996
x + CAL_ACC2_ID [11,69] : 1311004
x CAL_ACC3_ID [12,78] : 0
x CAL_AIR_CMODEL [13,87] : 0
x CAL_AIR_TUBED_MM [14,88] : 1.5000
x CAL_AIR_TUBELEN [15,89] : 0.2000
x + CAL_GYRO0_ID [16,90] : 176
x + CAL_GYRO0_PRIO [17,91] : 50
x CAL_GYRO0_ROT [18,92] : -1
x + CAL_GYRO0_XOFF [19,93] : 0.0249
x + CAL_GYRO0_YOFF [20,94] : -0.1179
x + CAL_GYRO0_ZOFF [21,95] : 0.0466
x + CAL_MAG0_ID [22,114] : 197388
x CAL_MAG0_ROT [23,116] : -1
x + CAL_MAG1_ID [24,129] : 197644
x CAL_MAG1_ROT [25,131] : -1
x CAL_MAG2_ID [26,144] : 0
x CAL_MAG2_ROT [27,146] : -1
x CAL_MAG3_ID [28,159] : 0
x CAL_MAG3_ROT [29,161] : -1
x CBRK_AIRSPD_CHK [30,177] : 0
x CBRK_ENGINEFAIL [31,179] : 284953
x CBRK_FLIGHTTERM [32,180] : 121212
x CBRK_SUPPLY_CHK [33,183] : 894281
x CBRK_USB_CHK [34,184] : 197848
x CBRK_VELPOSERR [35,185] : 0
x CBRK_VTOLARMING [36,186] : 0
x COM_ARM_AUTH_ID [37,188] : 10
x COM_ARM_AUTH_MET [38,189] : 0
x COM_ARM_AUTH_REQ [39,190] : 0
x COM_ARM_AUTH_TO [40,191] : 1.0000
x COM_ARM_CHK_ESCS [41,192] : 0
x COM_ARM_EKF_HGT [42,193] : 1.0000
x COM_ARM_EKF_POS [43,194] : 0.5000
x COM_ARM_EKF_VEL [44,195] : 0.5000
x COM_ARM_EKF_YAW [45,196] : 0.5000
x COM_ARM_IMU_ACC [46,197] : 0.7000
x COM_ARM_IMU_GYR [47,198] : 0.2500
x COM_ARM_MAG_ANG [48,199] : 45
x COM_ARM_MAG_STR [49,200] : 1
x COM_ARM_MIS_REQ [50,201] : 0
x COM_ARM_SDCARD [51,202] : 1
x COM_ARM_SWISBTN [52,203] : 0
x COM_ARM_WO_GPS [53,204] : 1
x COM_DISARM_LAND [54,206] : 2.0000
x COM_DISARM_PRFLT [55,207] : 10.0000
x COM_DL_LOSS_T [56,208] : 10
x COM_EF_C2T [57,209] : 5.0000
x COM_EF_THROT [58,210] : 0.5000
x COM_EF_TIME [59,211] : 10.0000
x COM_FLIGHT_UUID [60,212] : 0
x COM_FLTMODE1 [61,213] : -1
x COM_FLTMODE2 [62,214] : -1
x COM_FLTMODE3 [63,215] : -1
x COM_FLTMODE4 [64,216] : -1
x COM_FLTMODE5 [65,217] : -1
x COM_FLTMODE6 [66,218] : -1
x COM_FLT_PROFILE [67,219] : 0
x COM_HLDL_LOSS_T [68,220] : 120
x COM_HLDL_REG_T [69,221] : 0
x COM_HOME_H_T [70,222] : 5.0000
x COM_HOME_IN_AIR [71,223] : 0
x COM_HOME_V_T [72,224] : 10.0000
x COM_KILL_DISARM [73,225] : 5.0000
x COM_LKDOWN_TKO [74,226] : 3.0000
x COM_LOW_BAT_ACT [75,227] : 0
x COM_MOT_TEST_EN [76,228] : 1
x COM_OBC_LOSS_T [77,229] : 5.0000
x COM_OBL_ACT [78,230] : 0
x COM_OBL_RC_ACT [79,231] : 0
x COM_OBS_AVOID [80,232] : 0
x COM_OF_LOSS_T [81,233] : 1.0000
x COM_POSCTL_NAVL [82,234] : 0
x COM_POS_FS_DELAY [83,235] : 1
x COM_POS_FS_EPH [84,236] : 5.0000
x COM_POS_FS_EPV [85,237] : 10.0000
x COM_POS_FS_GAIN [86,238] : 10
x COM_POS_FS_PROB [87,239] : 30
x COM_PREARM_MODE [88,241] : 0
x COM_RCL_ACT_T [89,242] : 15.0000
x COM_RC_ARM_HYST [90,243] : 1000
x COM_RC_IN_MODE [91,244] : 1
x COM_RC_LOSS_T [92,245] : 0.5000
x COM_RC_OVERRIDE [93,246] : 1
x COM_RC_STICK_OV [94,247] : 30.0000
x COM_REARM_GRACE [95,248] : 1
x COM_TAKEOFF_ACT [96,249] : 0
x COM_VEL_FS_EVH [97,250] : 1.0000
x CP_DIST [98,252] : -1.0000
x EKF2_ABIAS_INIT [99,255] : 0.2000
x EKF2_ABL_ACCLIM [100,256] : 25.0000
x EKF2_ABL_GYRLIM [101,257] : 3.0000
x EKF2_ABL_LIM [102,258] : 0.4000
x EKF2_ABL_TAU [103,259] : 0.5000
x EKF2_ACC_B_NOISE [104,260] : 0.0030
x EKF2_ACC_NOISE [105,261] : 0.3500
x EKF2_AID_MASK [106,262] : 201
x EKF2_ANGERR_INIT [107,263] : 0.1000
x EKF2_ARSP_THR [108,264] : 0.0000
x EKF2_ASPD_MAX [109,265] : 20.0000
x EKF2_ASP_DELAY [110,266] : 100.0000
x EKF2_AVEL_DELAY [111,267] : 5.0000
x EKF2_BARO_DELAY [112,268] : 0.0000
x EKF2_BARO_GATE [113,269] : 5.0000
x EKF2_BARO_NOISE [114,270] : 3.5000
x EKF2_BCOEF_X [115,271] : 25.0000
x EKF2_BCOEF_Y [116,272] : 25.0000
x EKF2_BETA_GATE [117,273] : 5.0000
x EKF2_BETA_NOISE [118,274] : 0.3000
x EKF2_DECL_TYPE [119,275] : 7
x EKF2_DRAG_NOISE [120,276] : 2.5000
x EKF2_EAS_NOISE [121,277] : 1.4000
x EKF2_EVA_NOISE [122,278] : 0.0500
x EKF2_EVP_GATE [123,279] : 5.0000
x EKF2_EVP_NOISE [124,280] : 0.1000
x EKF2_EVV_GATE [125,281] : 3.0000
x EKF2_EVV_NOISE [126,282] : 0.1000
x EKF2_EV_DELAY [127,283] : 175.0000
x EKF2_EV_NOISE_MD [128,284] : 0
x EKF2_EV_POS_X [129,285] : 0.0000
x EKF2_EV_POS_Y [130,286] : 0.0000
x EKF2_EV_POS_Z [131,287] : 0.0000
x EKF2_FUSE_BETA [132,288] : 0
x EKF2_GBIAS_INIT [133,289] : 0.1000
x EKF2_GND_EFF_DZ [134,290] : 0.0000
x EKF2_GND_MAX_HGT [135,291] : 0.5000
x EKF2_GPS_CHECK [136,292] : 245
x EKF2_GPS_DELAY [137,293] : 110.0000
x EKF2_GPS_POS_X [138,294] : 0.0000
x EKF2_GPS_POS_Y [139,295] : 0.0000
x EKF2_GPS_POS_Z [140,296] : 0.0000
x EKF2_GPS_P_GATE [141,297] : 5.0000
x EKF2_GPS_P_NOISE [142,298] : 0.5000
x EKF2_GPS_V_GATE [143,299] : 5.0000
x EKF2_GPS_V_NOISE [144,300] : 0.3000
x EKF2_GSF_TAS [145,301] : 15.0000
x EKF2_GYR_B_NOISE [146,302] : 0.0010
x EKF2_GYR_NOISE [147,303] : 0.0150
x EKF2_HDG_GATE [148,304] : 2.6000
x EKF2_HEAD_NOISE [149,305] : 0.3000
x EKF2_HGT_MODE [150,306] : 0
x EKF2_IMU_POS_X [151,307] : 0.0000
x EKF2_IMU_POS_Y [152,308] : 0.0000
x EKF2_IMU_POS_Z [153,309] : 0.0000
x EKF2_MAG_ACCLIM [154,310] : 0.5000
x EKF2_MAG_B_NOISE [155,311] : 0.0001
x EKF2_MAG_CHECK [156,312] : 0
x EKF2_MAG_DECL [157,313] : 0.0000
x EKF2_MAG_DELAY [158,314] : 0.0000
x EKF2_MAG_E_NOISE [159,315] : 0.0010
x EKF2_MAG_GATE [160,316] : 3.0000
x EKF2_MAG_NOISE [161,317] : 0.0500
x EKF2_MAG_TYPE [162,318] : 5
x EKF2_MAG_YAWLIM [163,319] : 0.2500
x EKF2_MIN_OBS_DT [164,320] : 20
x EKF2_MIN_RNG [165,321] : 0.1000
x EKF2_MOVE_TEST [166,322] : 1.0000
x EKF2_MULTI_IMU [167,323] : 1
x + EKF2_MULTI_MAG [168,324] : 1
x EKF2_NOAID_NOISE [169,325] : 10.0000
x EKF2_NOAID_TOUT [170,326] : 5000000
x EKF2_OF_DELAY [171,327] : 20.0000
x EKF2_OF_GATE [172,328] : 3.0000
x EKF2_OF_N_MAX [173,329] : 0.5000
x EKF2_OF_N_MIN [174,330] : 0.1500
x EKF2_OF_POS_X [175,331] : 0.0000
x EKF2_OF_POS_Y [176,332] : 0.0000
x EKF2_OF_POS_Z [177,333] : 0.0000
x EKF2_OF_QMIN [178,334] : 1
x EKF2_PCOEF_XN [179,335] : 0.0000
x EKF2_PCOEF_XP [180,336] : 0.0000
x EKF2_PCOEF_YN [181,337] : 0.0000
x EKF2_PCOEF_YP [182,338] : 0.0000
x EKF2_PCOEF_Z [183,339] : 0.0000
x EKF2_REQ_EPH [184,340] : 3.0000
x EKF2_REQ_EPV [185,341] : 5.0000
x EKF2_REQ_GPS_H [186,342] : 0.5000
x EKF2_REQ_HDRIFT [187,343] : 0.1000
x EKF2_REQ_NSATS [188,344] : 6
x EKF2_REQ_PDOP [189,345] : 2.5000
x EKF2_REQ_SACC [190,346] : 0.5000
x EKF2_REQ_VDRIFT [191,347] : 0.2000
x EKF2_RNG_AID [192,348] : 1
x EKF2_RNG_A_HMAX [193,349] : 5.0000
x EKF2_RNG_A_IGATE [194,350] : 1.0000
x EKF2_RNG_A_VMAX [195,351] : 1.0000
x EKF2_RNG_DELAY [196,352] : 5.0000
x EKF2_RNG_GATE [197,353] : 5.0000
x EKF2_RNG_NOISE [198,354] : 0.1000
x EKF2_RNG_PITCH [199,355] : 0.0000
x EKF2_RNG_POS_X [200,356] : 0.0000
x EKF2_RNG_POS_Y [201,357] : 0.0000
x EKF2_RNG_POS_Z [202,358] : 0.0000
x EKF2_RNG_QLTY_T [203,359] : 1.0000
x EKF2_RNG_SFE [204,360] : 0.0500
x EKF2_SEL_ERR_RED [205,361] : 0.2000
x EKF2_SEL_IMU_ACC [206,362] : 1.0000
x EKF2_SEL_IMU_ANG [207,363] : 15.0000
x EKF2_SEL_IMU_RAT [208,364] : 7.0000
x EKF2_SEL_IMU_VEL [209,365] : 2.0000
x EKF2_SYNT_MAG_Z [210,366] : 0
x EKF2_TAS_GATE [211,367] : 3.0000
x EKF2_TAU_POS [212,368] : 0.2500
x EKF2_TAU_VEL [213,369] : 0.2500
x EKF2_TERR_GRAD [214,370] : 0.5000
x EKF2_TERR_MASK [215,371] : 3
x EKF2_TERR_NOISE [216,372] : 5.0000
x EKF2_WIND_NOISE [217,373] : 0.1000
x FD_ESCS_EN [218,379] : 1
x FD_EXT_ATS_EN [219,380] : 0
x FD_EXT_ATS_TRIG [220,381] : 1900
x FD_FAIL_P [221,382] : 60
x FD_FAIL_P_TTRI [222,383] : 0.3000
x FD_FAIL_R [223,384] : 60
x FD_FAIL_R_TTRI [224,385] : 0.3000
x GF_ACTION [225,386] : 2
x GF_ALTMODE [226,387] : 0
x GF_COUNT [227,388] : -1
x GF_MAX_HOR_DIST [228,389] : 0.0000
x GF_MAX_VER_DIST [229,390] : 0.0000
x GF_SOURCE [230,391] : 0
x GPS_1_GNSS [231,410] : 0
x GPS_1_PROTOCOL [232,411] : 1
x GPS_DUMP_COMM [233,415] : 0
x GPS_UBX_DYNMODEL [234,416] : 7
x GPS_UBX_MODE [235,417] : 0
x GPS_YAW_OFFSET [236,418] : 0.0000
x IMU_ACCEL_CUTOFF [237,422] : 30.0000
x IMU_DGYRO_CUTOFF [238,423] : 20.0000
x IMU_GYRO_CAL_EN [239,424] : 1
x IMU_GYRO_CUTOFF [240,425] : 30.0000
x IMU_GYRO_DYN_NF [241,426] : 0
x IMU_GYRO_FFT_EN [242,427] : 1
x IMU_GYRO_FFT_LEN [243,428] : 1024
x IMU_GYRO_FFT_MAX [244,429] : 192.0000
x IMU_GYRO_FFT_MIN [245,430] : 32.0000
x IMU_GYRO_NF_BW [246,431] : 20.0000
x IMU_GYRO_NF_FREQ [247,432] : 0.0000
x IMU_GYRO_RATEMAX [248,433] : 400
x + IMU_INTEG_RATE [249,434] : 250
x MAV_COMP_ID [250,507] : 1
x MAV_FWDEXTSP [251,508] : 1
x MAV_HASH_CHK_EN [252,509] : 1
x MAV_HB_FORW_EN [253,510] : 1
x MAV_ODOM_LP [254,511] : 0
x MAV_PROTO_VER [255,512] : 0
x MAV_RADIO_TOUT [256,513] : 5
x MAV_SIK_RADIO_ID [257,514] : 0
x MAV_SYS_ID [258,515] : 1
x MAV_TYPE [259,516] : 2
x MAV_USEHILGPS [260,517] : 0
x MC_AIRMODE [261,525] : 0
x MIS_DIST_1WP [262,553] : 900.0000
x MIS_DIST_WPS [263,554] : 900.0000
x MIS_LTRMIN_ALT [264,555] : -1.0000
x MIS_MNT_YAW_CTL [265,556] : 0
x MIS_TAKEOFF_ALT [266,557] : 2.5000
x MIS_TAKEOFF_REQ [267,558] : 0
x MIS_YAW_ERR [268,559] : 12.0000
x MIS_YAW_TMT [269,560] : -1.0000
x MNT_MODE_IN [270,567] : -1
x MPC_ACC_DOWN_MAX [271,581] : 3.0000
x MPC_ACC_HOR [272,582] : 3.0000
x MPC_ACC_HOR_MAX [273,583] : 5.0000
x MPC_ACC_UP_MAX [274,584] : 4.0000
x MPC_JERK_AUTO [275,589] : 4.0000
x MPC_JERK_MAX [276,590] : 8.0000
x MPC_XY_CRUISE [277,613] : 5.0000
x NAV_ACC_RAD [278,634] : 10.0000
x NAV_DLL_ACT [279,638] : 0
x NAV_FORCE_VT [280,639] : 1
x NAV_FT_DST [281,640] : 8.0000
x NAV_FT_FS [282,641] : 1
x NAV_FT_RS [283,642] : 0.5000
x NAV_FW_ALTL_RAD [284,643] : 5.0000
x NAV_FW_ALT_RAD [285,644] : 10.0000
x NAV_GPSF_LT [286,645] : 0.0000
x NAV_GPSF_P [287,646] : 0.0000
x NAV_GPSF_R [288,647] : 15.0000
x NAV_GPSF_TR [289,648] : 0.0000
x NAV_LOITER_RAD [290,649] : 50.0000
x NAV_MC_ALT_RAD [291,650] : 0.8000
x NAV_MIN_FT_HT [292,651] : 8.0000
x NAV_RCL_ACT [293,652] : 2
x NAV_TRAFF_AVOID [294,653] : 1
x NAV_TRAFF_A_RADM [295,654] : 500.0000
x NAV_TRAFF_A_RADU [296,655] : 10.0000
x PLD_BTOUT [297,656] : 5.0000
x PLD_FAPPR_ALT [298,657] : 0.1000
x PLD_HACC_RAD [299,658] : 0.2000
x PLD_MAX_SRCH [300,659] : 3
x PLD_SRCH_ALT [301,660] : 10.0000
x PLD_SRCH_TOUT [302,661] : 10.0000
x RC10_DZ [303,857] : 0.0000
x RC10_MAX [304,858] : 2000.0000
x RC10_MIN [305,859] : 1000.0000
x RC10_REV [306,860] : 1.0000
x RC10_TRIM [307,861] : 1500.0000
x RC11_DZ [308,862] : 0.0000
x RC11_MAX [309,863] : 2000.0000
x RC11_MIN [310,864] : 1000.0000
x RC11_REV [311,865] : 1.0000
x RC11_TRIM [312,866] : 1500.0000
x RC12_DZ [313,867] : 0.0000
x RC12_MAX [314,868] : 2000.0000
x RC12_MIN [315,869] : 1000.0000
x RC12_REV [316,870] : 1.0000
x RC12_TRIM [317,871] : 1500.0000
x RC13_DZ [318,872] : 0.0000
x RC13_MAX [319,873] : 2000.0000
x RC13_MIN [320,874] : 1000.0000
x RC13_REV [321,875] : 1.0000
x RC13_TRIM [322,876] : 1500.0000
x RC14_DZ [323,877] : 0.0000
x RC14_MAX [324,878] : 2000.0000
x RC14_MIN [325,879] : 1000.0000
x RC14_REV [326,880] : 1.0000
x RC14_TRIM [327,881] : 1500.0000
x RC15_DZ [328,882] : 0.0000
x RC15_MAX [329,883] : 2000.0000
x RC15_MIN [330,884] : 1000.0000
x RC15_REV [331,885] : 1.0000
x RC15_TRIM [332,886] : 1500.0000
x RC16_DZ [333,887] : 0.0000
x RC16_MAX [334,888] : 2000.0000
x RC16_MIN [335,889] : 1000.0000
x RC16_REV [336,890] : 1.0000
x RC16_TRIM [337,891] : 1500.0000
x RC17_DZ [338,892] : 0.0000
x RC17_MAX [339,893] : 2000.0000
x RC17_MIN [340,894] : 1000.0000
x RC17_REV [341,895] : 1.0000
x RC17_TRIM [342,896] : 1500.0000
x RC18_DZ [343,897] : 0.0000
x RC18_MAX [344,898] : 2000.0000
x RC18_MIN [345,899] : 1000.0000
x RC18_REV [346,900] : 1.0000
x RC18_TRIM [347,901] : 1500.0000
x RC1_DZ [348,902] : 10.0000
x RC1_MAX [349,903] : 2000.0000
x RC1_MIN [350,904] : 1000.0000
x RC1_REV [351,905] : 1.0000
x RC1_TRIM [352,906] : 1500.0000
x RC2_DZ [353,907] : 10.0000
x RC2_MAX [354,908] : 2000.0000
x RC2_MIN [355,909] : 1000.0000
x RC2_REV [356,910] : 1.0000
x RC2_TRIM [357,911] : 1500.0000
x RC3_DZ [358,912] : 10.0000
x RC3_MAX [359,913] : 2000.0000
x RC3_MIN [360,914] : 1000.0000
x RC3_REV [361,915] : 1.0000
x RC3_TRIM [362,916] : 1500.0000
x RC4_DZ [363,917] : 10.0000
x RC4_MAX [364,918] : 2000.0000
x RC4_MIN [365,919] : 1000.0000
x RC4_REV [366,920] : 1.0000
x RC4_TRIM [367,921] : 1500.0000
x RC5_DZ [368,922] : 10.0000
x RC5_MAX [369,923] : 2000.0000
x RC5_MIN [370,924] : 1000.0000
x RC5_REV [371,925] : 1.0000
x RC5_TRIM [372,926] : 1500.0000
x RC6_DZ [373,927] : 10.0000
x RC6_MAX [374,928] : 2000.0000
x RC6_MIN [375,929] : 1000.0000
x RC6_REV [376,930] : 1.0000
x RC6_TRIM [377,931] : 1500.0000
x RC7_DZ [378,932] : 10.0000
x RC7_MAX [379,933] : 2000.0000
x RC7_MIN [380,934] : 1000.0000
x RC7_REV [381,935] : 1.0000
x RC7_TRIM [382,936] : 1500.0000
x RC8_DZ [383,937] : 10.0000
x RC8_MAX [384,938] : 2000.0000
x RC8_MIN [385,939] : 1000.0000
x RC8_REV [386,940] : 1.0000
x RC8_TRIM [387,941] : 1500.0000
x RC9_DZ [388,942] : 0.0000
x RC9_MAX [389,943] : 2000.0000
x RC9_MIN [390,944] : 1000.0000
x RC9_REV [391,945] : 1.0000
x RC9_TRIM [392,946] : 1500.0000
x RC_ACRO_TH [393,947] : 0.7500
x RC_ARMSWITCH_TH [394,948] : 0.7500
x RC_ASSIST_TH [395,949] : 0.2500
x RC_AUTO_TH [396,950] : 0.7500
x RC_CHAN_CNT [397,951] : 0
x RC_FAILS_THR [398,952] : 0
x RC_GEAR_TH [399,953] : 0.7500
x RC_KILLSWITCH_TH [400,954] : 0.7500
x RC_LOITER_TH [401,955] : 0.7500
x RC_MAN_TH [402,956] : 0.7500
x RC_MAP_ACRO_SW [403,957] : 0
x RC_MAP_ARM_SW [404,958] : 0
x RC_MAP_AUX1 [405,959] : 0
x RC_MAP_AUX2 [406,960] : 0
x RC_MAP_AUX3 [407,961] : 0
x RC_MAP_AUX4 [408,962] : 0
x RC_MAP_AUX5 [409,963] : 0
x RC_MAP_AUX6 [410,964] : 0
x RC_MAP_FAILSAFE [411,965] : 0
x RC_MAP_FLAPS [412,966] : 0
x RC_MAP_FLTMODE [413,967] : 0
x RC_MAP_GEAR_SW [414,968] : 0
x RC_MAP_KILL_SW [415,969] : 0
x RC_MAP_LOITER_SW [416,970] : 0
x RC_MAP_MAN_SW [417,971] : 0
x RC_MAP_MODE_SW [418,972] : 0
x RC_MAP_OFFB_SW [419,973] : 0
x RC_MAP_PARAM1 [420,974] : 0
x RC_MAP_PARAM2 [421,975] : 0
x RC_MAP_PARAM3 [422,976] : 0
x RC_MAP_PITCH [423,977] : 0
x RC_MAP_POSCTL_SW [424,978] : 0
x RC_MAP_RATT_SW [425,979] : 0
x RC_MAP_RETURN_SW [426,980] : 0
x RC_MAP_ROLL [427,981] : 0
x RC_MAP_STAB_SW [428,982] : 0
x RC_MAP_THROTTLE [429,983] : 0
x RC_MAP_TRANS_SW [430,984] : 0
x RC_MAP_YAW [431,985] : 0
x RC_OFFB_TH [432,986] : 0.7500
x RC_POSCTL_TH [433,987] : 0.7500
x RC_RETURN_TH [434,988] : 0.7500
x RC_STAB_TH [435,992] : 0.5000
x RC_TRANS_TH [436,993] : 0.7500
x RTL_CONE_ANG [437,994] : 45
x RTL_DESCEND_ALT [438,995] : 30.0000
x RTL_FLT_TIME [439,996] : 15.0000
x RTL_LAND_DELAY [440,997] : 0.0000
x RTL_LOITER_RAD [441,998] : 50.0000
x RTL_MIN_DIST [442,999] : 10.0000
x RTL_PLD_MD [443,1000] : 0
x RTL_RETURN_ALT [444,1001] : 60.0000
x RTL_TYPE [445,1002] : 0
x SDLOG_BOOT_BAT [446,1004] : 0
x SDLOG_DIRS_MAX [447,1005] : 7
x SDLOG_MISSION [448,1006] : 0
x SDLOG_MODE [449,1007] : 1
x SDLOG_PROFILE [450,1008] : 131
x SDLOG_UTC_OFFSET [451,1009] : 0
x SDLOG_UUID [452,1010] : 1
x SENS_BOARD_ROT [453,1013] : 0
x + SENS_BOARD_X_OFF [454,1014] : 0.0000
x SENS_BOARD_Y_OFF [455,1015] : 0.0000
x SENS_BOARD_Z_OFF [456,1016] : 0.0000
x SENS_DPRES_ANSC [457,1017] : 0.0000
x + SENS_DPRES_OFF [458,1018] : 0.0010
x SENS_FLOW_MAXHGT [459,1021] : 3.0000
x SENS_FLOW_MAXR [460,1022] : 2.5000
x SENS_FLOW_MINHGT [461,1023] : 0.7000
x SENS_FLOW_ROT [462,1024] : 6
x SENS_GPS_MASK [463,1025] : 0
x SENS_GPS_PRIME [464,1026] : 0
x SENS_GPS_TAU [465,1027] : 10.0000
x SENS_IMU_MODE [466,1028] : 0
x SENS_MAG_MODE [467,1030] : 0
x SYS_AUTOCONFIG [468,1061] : 0
x + SYS_AUTOSTART [469,1062] : 10031
x SYS_CAL_TDEL [470,1067] : 24
x SYS_CAL_TMAX [471,1068] : 10
x SYS_CAL_TMIN [472,1069] : 5
x SYS_FAC_CAL_MODE [473,1070] : 0
x SYS_FAILURE_EN [474,1071] : 0
x SYS_HAS_BARO [475,1072] : 1
x SYS_HAS_MAG [476,1073] : 1
x SYS_HITL [477,1074] : 0
x SYS_MC_EST_GROUP [478,1075] : 2
x SYS_RESTART_TYPE [479,1076] : 2
x SYS_STCK_EN [480,1077] : 1
x VT_B_DEC_MSS [481,1295] : 2.0000
x VT_B_REV_DEL [482,1296] : 0.0000

Ok well after some digging into EKF2.cpp and ecl/ekf.cpp it turns out that a magnetometer and a barometer are required for the EKF2 to start spitting out qs. So that answers that question!