diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml
index 3e83b72da8..fc543ebd11 100644
--- a/autoware_launch/config/localization/ekf_localizer.param.yaml
+++ b/autoware_launch/config/localization/ekf_localizer.param.yaml
@@ -21,6 +21,12 @@
     proc_stddev_yaw_c: 0.005
     proc_stddev_vx_c: 10.0
     proc_stddev_wz_c: 5.0
+    
+    # for diagnostics
+    pose_no_update_count_threshold_warn: 50
+    pose_no_update_count_threshold_error: 250
+    twist_no_update_count_threshold_warn: 50
+    twist_no_update_count_threshold_error: 250
 
     # for velocity measurement limitation (Set 0.0 if you want to ignore)
-    threshold_observable_velocity_mps: 0.0 # [m/s]
+    threshold_observable_velocity_mps: 0.0 # [m/s]
\ No newline at end of file