diff --git a/ROMFS/px4fmu_common/init.d-posix/rc.replay b/ROMFS/px4fmu_common/init.d-posix/rc.replay
index f4f0f210f8..25a9612197 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rc.replay
+++ b/ROMFS/px4fmu_common/init.d-posix/rc.replay
@@ -2,6 +2,17 @@
 
 # EKF2 replay script
 
+# shellcheck disable=SC2154
+if [ ! -f ${replay} ]; then
+	echo "Invalid replay log file ${replay}"
+	exit 1
+fi
+
+if [ ! -f replay_params.txt ]; then
+	echo "Creating $(pwd)/replay_params.txt"
+	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+fi
+
 publisher_rules_file="orb_publisher.rules"
 cat <<EOF > "$publisher_rules_file"
 restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected