No direct evidence exists of Indonesians (as a historical national/ethnic group) voyaging to Madagascar.
However, the Malagasy people of Madagascar speak an Austronesian language (Malagasy) most closely related to Ma'anyan (Barito River, Borneo). Genetic studies confirm ~50–60% Austronesian ancestry (maternal line) mixed with ~40–50% Bantu African ancestry (paternal line).
So: Ancestors of modern Indonesians' relatives (Austronesians from Borneo) settled Madagascar—not "Indonesians" per se. The modern Indonesian state didn't exist; the migration was part of a 4,000-year oceanic diaspora.