diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 2cf33d9b0b..58692e92ea 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -1263,10 +1263,14 @@ void AttitudePositionEstimatorEKF::pollData()
 			(double)deltaT, (double)deltaTIntegral, (double)deltaTIntAcc,
 			dtoverflow5, dtoverflow10);
 
-		warnx("dang: %8.4f %8.4f dvel: %8.4f %8.4f",
+		warnx("DRV: dang: %8.4f %8.4f dvel: %8.4f %8.4f",
 		(double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.z,
 		(double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.z);
 
+		warnx("EKF: dang: %8.4f %8.4f dvel: %8.4f %8.4f",
+		(double)(_sensor_combined.gyro_rad_s[0] * deltaT), (double)(_sensor_combined.gyro_rad_s[2] * deltaT),
+		(double)(_sensor_combined.accelerometer_m_s2[0] * deltaT), (double)(_sensor_combined.accelerometer_m_s2[2] * deltaT));
+
 		lastprint = hrt_absolute_time();
 	}