diff --git a/src/mavsdk/core/mavlink_parameter_cache.cpp b/src/mavsdk/core/mavlink_parameter_cache.cpp
index 64c67270b..8e8dae2af 100644
--- a/src/mavsdk/core/mavlink_parameter_cache.cpp
+++ b/src/mavsdk/core/mavlink_parameter_cache.cpp
@@ -138,6 +138,19 @@ bool MavlinkParameterCache::exists(uint16_t param_index) const
     return it != _all_params.end();
 }
 
+uint16_t MavlinkParameterCache::missing_count(uint16_t count) const
+{
+    uint16_t missing = 0;
+
+    for (uint16_t i = 0; i < count; ++i) {
+        if (!exists(i)) {
+            ++missing;
+        }
+    }
+
+    return missing;
+}
+
 std::optional<uint16_t> MavlinkParameterCache::next_missing_index(uint16_t count)
 {
     // Extended doesn't matter here because we use this function in the sender
diff --git a/src/mavsdk/core/mavlink_parameter_cache.h b/src/mavsdk/core/mavlink_parameter_cache.h
index 12c118dde..a5909b8cd 100644
--- a/src/mavsdk/core/mavlink_parameter_cache.h
+++ b/src/mavsdk/core/mavlink_parameter_cache.h
@@ -2,6 +2,7 @@
 
 #include "param_value.h"
 
+#include <cstdint>
 #include <limits>
 #include <map>
 #include <string>
@@ -46,6 +47,8 @@ class MavlinkParameterCache {
 
     [[nodiscard]] std::optional<uint16_t> next_missing_index(uint16_t count);
 
+    [[nodiscard]] uint16_t missing_count(uint16_t count) const;
+
     void print_missing(uint16_t count);
 
     void clear();
diff --git a/src/mavsdk/core/mavlink_parameter_client.cpp b/src/mavsdk/core/mavlink_parameter_client.cpp
index ea4a4ae85..83561d9f3 100644
--- a/src/mavsdk/core/mavlink_parameter_client.cpp
+++ b/src/mavsdk/core/mavlink_parameter_client.cpp
@@ -826,6 +826,8 @@ void MavlinkParameterClient::process_param_value(const mavlink_message_t& messag
                                         assert(false);
                                     }
 
+                                    LogInfo() << "Requesting " << _param_cache.missing_count() << " parameters missed during initial burst.";
+
                                     if (_parameter_debugging) {
                                         LogDebug() << "Requesting missing parameter "
                                                    << (int)maybe_next_missing_index.value();