diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 2b41edc053..214ea41bbd 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -116,11 +116,11 @@ void LoggedTopics::add_default_topics()
 	add_topic("wind", 1000);
 
 	// Control allocation topics
-	add_topic("vehicle_angular_acceleration_setpoint", 20);
+	add_topic("vehicle_actuator_setpoint", 20);
 	add_topic("vehicle_angular_acceleration", 20);
+	add_topic("vehicle_angular_acceleration_setpoint", 20);
 	add_topic("vehicle_thrust_setpoint", 20);
 	add_topic("vehicle_torque_setpoint", 20);
-	add_topic("vehicle_actuator_setpoint", 20);
 
 	// multi topics
 	add_topic_multi("actuator_outputs", 100, 3);
@@ -132,27 +132,27 @@ void LoggedTopics::add_default_topics()
 
 	// EKF multi topics (currently max 9 estimators)
 #if CONSTRAINED_MEMORY
-	static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 2;
+	static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 1;
 #else
 	static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 6; // artificailly limited until PlotJuggler fixed
+	add_topic("estimator_selector_status");
+	add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
+	add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
 #endif
 
-	add_topic("estimator_selector_status");
 	add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
-	add_topic_multi("estimator_wind", 1000, MAX_ESTIMATOR_INSTANCES);
 	add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
 
 	// log all raw sensors at minimal rate (at least 1 Hz)