diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 00dcbaff63..a08b8bd627 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -106,9 +106,9 @@ void LoggedTopics::add_default_topics()
 	add_topic("yaw_estimator_status", 200);
 
 	// multi topics
-	add_topic_multi("actuator_outputs", 100);
-	add_topic_multi("logger_status");
-	add_topic_multi("multirotor_motor_limits", 1000);
+	add_topic_multi("actuator_outputs", 100, 2);
+	add_topic_multi("logger_status", 0, 2);
+	add_topic_multi("multirotor_motor_limits", 1000, 2);
 	add_topic_multi("telemetry_status", 1000);
 	add_topic_multi("wind_estimate", 1000);
 
@@ -117,13 +117,13 @@ void LoggedTopics::add_default_topics()
 	add_topic_multi("differential_pressure", 1000);
 	add_topic_multi("distance_sensor", 1000);
 	add_topic_multi("optical_flow", 1000);
-	add_topic_multi("sensor_accel", 1000);
-	add_topic_multi("sensor_baro", 1000);
-	add_topic_multi("sensor_gyro", 1000);
-	add_topic_multi("sensor_mag", 1000);
-	add_topic_multi("vehicle_gps_position", 1000);
-	add_topic_multi("vehicle_imu", 500);
-	add_topic_multi("vehicle_imu_status", 1000);
+	add_topic_multi("sensor_accel", 1000, 3);
+	add_topic_multi("sensor_baro", 1000, 3);
+	add_topic_multi("sensor_gyro", 1000, 3);
+	add_topic_multi("sensor_mag", 1000, 4);
+	add_topic_multi("vehicle_gps_position", 1000, 2);
+	add_topic_multi("vehicle_imu", 500, 3);
+	add_topic_multi("vehicle_imu_status", 1000, 3);
 
 #ifdef CONFIG_ARCH_BOARD_PX4_SITL
 	add_topic("actuator_controls_virtual_fw");
@@ -180,22 +180,22 @@ void LoggedTopics::add_estimator_replay_topics()
 	add_topic("vehicle_visual_odometry");
 	add_topic("vehicle_visual_odometry_aligned");
 	add_topic_multi("distance_sensor");
-	add_topic_multi("vehicle_gps_position");
+	add_topic_multi("vehicle_gps_position", 0, 2);
 }
 
 void LoggedTopics::add_thermal_calibration_topics()
 {
-	add_topic_multi("sensor_accel", 100);
-	add_topic_multi("sensor_baro", 100);
-	add_topic_multi("sensor_gyro", 100);
+	add_topic_multi("sensor_accel", 100, 3);
+	add_topic_multi("sensor_baro", 100, 3);
+	add_topic_multi("sensor_gyro", 100, 3);
 }
 
 void LoggedTopics::add_sensor_comparison_topics()
 {
-	add_topic_multi("sensor_accel", 100);
-	add_topic_multi("sensor_baro", 100);
-	add_topic_multi("sensor_gyro", 100);
-	add_topic_multi("sensor_mag", 100);
+	add_topic_multi("sensor_accel", 100, 3);
+	add_topic_multi("sensor_baro", 100, 3);
+	add_topic_multi("sensor_gyro", 100, 3);
+	add_topic_multi("sensor_mag", 100, 4);
 }
 
 void LoggedTopics::add_vision_and_avoidance_topics()
@@ -358,10 +358,10 @@ bool LoggedTopics::add_topic(const char *name, uint16_t interval_ms, uint8_t ins
 	return success;
 }
 
-bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms)
+bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8_t max_num_instances)
 {
 	// add all possible instances
-	for (uint8_t instance = 0; instance < ORB_MULTI_MAX_INSTANCES; instance++) {
+	for (uint8_t instance = 0; instance < max_num_instances; instance++) {
 		add_topic(name, interval_ms, instance);
 	}
 
diff --git a/src/modules/logger/logged_topics.h b/src/modules/logger/logged_topics.h
index 648d6c046c..1a15daaf38 100644
--- a/src/modules/logger/logged_topics.h
+++ b/src/modules/logger/logged_topics.h
@@ -110,7 +110,16 @@ private:
 	 * @return true on success
 	 */
 	bool add_topic(const char *name, uint16_t interval_ms = 0, uint8_t instance = 0);
-	bool add_topic_multi(const char *name, uint16_t interval_ms = 0);
+
+	/**
+	 * Add a topic to be logged.
+	 * @param name topic name
+	 * @param interval limit in milliseconds if >0, otherwise log as fast as the topic is updated.
+	 * @param instance orb topic instance
+	 * @param max_num_instances the max multi-instance to add.
+	 * @return true on success
+	 */
+	bool add_topic_multi(const char *name, uint16_t interval_ms = 0, uint8_t max_num_instances = ORB_MULTI_MAX_INSTANCES);
 
 	/**
 	 * Parse a file containing a list of uORB topics to log, calling add_topic for each