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‎docs/en/advanced_config/parameter_reference.md‎

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| ------ | -------- | -------- | --------- | ------- | ---- |
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| &nbsp; | 0.1 | 1.5 | | 0.2 | m/s |
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### EKF2_RNGBC_CTRL (`INT32`) {#EKF2_RNGBC_CTRL}
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Ranging beacon fusion control.
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Enable/disable ranging beacon fusion.
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**Values:**
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- `0`: Disable ranging beacon fusion
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- `1`: Enable ranging beacon fusion
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| &nbsp; | | | | 0 | |
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### EKF2_RNGBC_DELAY (`FLOAT`) {#EKF2_RNGBC_DELAY}
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Ranging beacon measurement delay relative to IMU measurements.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------- | -------- | -------- | --------- | ------- | ---- |
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| &check; | 0 | 1000 | | 0 | ms |
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### EKF2_RNGBC_GATE (`FLOAT`) {#EKF2_RNGBC_GATE}
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Gate size for ranging beacon fusion.
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Sets the number of standard deviations used by the innovation consistency test.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| &nbsp; | 1.0 | | | 5.0 | SD |
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### EKF2_RNGBC_NOISE (`FLOAT`) {#EKF2_RNGBC_NOISE}
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Measurement noise for ranging beacon fusion.
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Used to lower bound or replace the uncertainty included in the message
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| &nbsp; | 0.1 | 500.0 | | 30.0 | m |
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### EKF2_RNG_A_HMAX (`FLOAT`) {#EKF2_RNG_A_HMAX}
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Maximum height above ground allowed for conditional range aid mode.
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| &nbsp; | 0.0 | | 0.05 | 0.1 | Nm |
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### SIH_RNGBC_NOISE (`FLOAT`) {#SIH_RNGBC_NOISE}
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Ranging beacon measurement noise standard deviation.
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Gaussian noise added to simulated ranging beacon measurements. Set to 0 to disable noise.
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| Reboot | minValue | maxValue | increment | default | unit |
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| ------ | -------- | -------- | --------- | ------- | ---- |
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| &nbsp; | 0.0 | 100.0 | | 30.0 | m |
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### SIH_T_MAX (`FLOAT`) {#SIH_T_MAX}
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Max propeller thrust force.

‎docs/en/middleware/dds_topics.md‎

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‎docs/en/msg_docs/EstimatorAidSource1d.md‎

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# EstimatorAidSource1d (UORB message)
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**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
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**TOPICS:** estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon estimator_aid_src_airspeed estimator_aid_src_sideslip estimator_aid_src_fake_hgt estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw
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## Fields
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
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# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt estimator_aid_src_ranging_beacon
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# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
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# TOPICS estimator_aid_src_fake_hgt
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# TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw

‎docs/en/msg_docs/RangingBeacon.md‎

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---
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pageClass: is-wide-page
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---
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# RangingBeacon (UORB message)
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Ranging beacon measurement data (e.g. LoRa, UWB).
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**TOPICS:** ranging_beacon
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| ---------------- | --------- | ------------ | --------------------- | ------------------------------------------- |
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| timestamp | `uint64` | us | | time since system start |
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| timestamp_sample | `uint64` | us | | the timestamp of the raw data |
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| beacon_id | `uint8` | | |
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| range | `float32` | m | | Range measurement |
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| lat | `float64` | deg | | Latitude |
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| lon | `float64` | deg | | Longitude |
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| alt | `float32` | m | | Beacon altitude (frame defined in alt_type) |
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| alt_type | `uint8` | | [ALT_TYPE](#ALT_TYPE) | Altitude frame for alt field |
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| hacc | `float32` | m | | Groundbeacon horizontal accuracy |
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| vacc | `float32` | m | | Groundbeacon vertical accuracy |
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| sequence_nr | `uint8` | | |
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| status | `uint8` | | |
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| carrier_freq | `uint16` | MHz | | Carrier frequency |
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| range_accuracy | `float32` | m | | Range accuracy estimate |
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## Enums
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### ALT_TYPE {#ALT_TYPE}
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| Name | Type | Value | Description |
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| ------------------------------------------- | ------- | ----- | ------------------------------------ |
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| <a id="#ALT_TYPE_WGS84"></a> ALT_TYPE_WGS84 | `uint8` | 0 | Altitude above WGS84 ellipsoid |
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| <a id="#ALT_TYPE_MSL"></a> ALT_TYPE_MSL | `uint8` | 1 | Altitude above Mean Sea Level (AMSL) |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/RangingBeacon.msg)
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::: details Click here to see original file
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```c
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# Ranging beacon measurement data (e.g. LoRa, UWB)
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uint64 timestamp # [us] time since system start
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uint64 timestamp_sample # [us] the timestamp of the raw data
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uint8 beacon_id
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float32 range # [m] Range measurement
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float64 lat # [deg] Latitude
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float64 lon # [deg] Longitude
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float32 alt # [m] Beacon altitude (frame defined in alt_type)
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uint8 alt_type # [@enum ALT_TYPE] Altitude frame for alt field
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uint8 ALT_TYPE_WGS84 = 0 # Altitude above WGS84 ellipsoid
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uint8 ALT_TYPE_MSL = 1 # Altitude above Mean Sea Level (AMSL)
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float32 hacc # [m] Groundbeacon horizontal accuracy
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float32 vacc # [m] Groundbeacon vertical accuracy
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uint8 sequence_nr
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uint8 status
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uint16 carrier_freq # [MHz] Carrier frequency
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float32 range_accuracy # [m] Range accuracy estimate
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# TOPICS ranging_beacon
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```
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:::

‎docs/en/msg_docs/index.md‎

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- [QshellReq](QshellReq.md)
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- [QshellRetval](QshellRetval.md)
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- [RadioStatus](RadioStatus.md)
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- [RangingBeacon](RangingBeacon.md) — Ranging beacon measurement data (e.g. LoRa, UWB).
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- [RateCtrlStatus](RateCtrlStatus.md)
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- [RcChannels](RcChannels.md)
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- [RcParameterMap](RcParameterMap.md)

‎docs/public/config/failsafe/index.js‎

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‎docs/public/config/failsafe/index.wasm‎

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‎docs/public/config/failsafe/parameters.json‎

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