diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
index b1df687d48..841743b3fa 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
@@ -328,14 +328,12 @@ void NavEKF3_core::setAidingMode()
                 PV_AidingMode = AID_NONE;
                 posTimeout = true;
                 velTimeout = true;
-                rngBcnTimeout = true;
                 tasTimeout = true;
                 gpsNotAvailable = true;
              } else if (posAidLossCritical) {
                 // if the loss of position is critical, declare all sources of position aiding as being timed out
                 posTimeout = true;
                 velTimeout = !optFlowUsed && !gpsVelUsed && !bodyOdmUsed;
-                rngBcnTimeout = true;
                 gpsNotAvailable = true;
 
             }
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 017eeb4558..8297470e64 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -342,7 +342,6 @@ void NavEKF3_core::InitialiseVariables()
     lastRngBcnPassTime_ms = 0;
     rngBcnTestRatio = 0.0f;
     rngBcnHealth = false;
-    rngBcnTimeout = true;
     varInnovRngBcn = 0.0f;
     innovRngBcn = 0.0f;
     memset(&lastTimeRngBcn_ms, 0, sizeof(lastTimeRngBcn_ms));
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 72aa564c14..36607ceab5 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1216,7 +1216,6 @@ private:
     uint32_t lastRngBcnPassTime_ms;     // time stamp when the range beacon measurement last passed innovation consistency checks (msec)
     float rngBcnTestRatio;              // Innovation test ratio for range beacon measurements
     bool rngBcnHealth;                  // boolean true if range beacon measurements have passed innovation consistency check
-    bool rngBcnTimeout;                 // boolean true if range beacon measurements have failed innovation consistency checks for too long
     float varInnovRngBcn;               // range beacon observation innovation variance (m^2)
     float innovRngBcn;                  // range beacon observation innovation (m)
     uint32_t lastTimeRngBcn_ms[4];      // last time we received a range beacon measurement (msec)