diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 10d0d635d9..856be9679a 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -1383,6 +1383,37 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
         };
         WriteBlock(&pkt9, sizeof(pkt9));
     }
+
+    // write range beacon fusion debug packet if the range value is non-zero
+    if (ahrs.get_beacon() != nullptr) {
+        uint8_t ID;
+        float rng;
+        float innovVar;
+        float innov;
+        float testRatio;
+        Vector3f beaconPosNED;
+        float bcnPosOffsetHigh;
+        float bcnPosOffsetLow;
+        if (ahrs.get_NavEKF2().getRangeBeaconDebug(-1, ID, rng, innov, innovVar, testRatio, beaconPosNED, bcnPosOffsetHigh, bcnPosOffsetLow)) {
+            if (rng > 0.0f) {
+                struct log_RngBcnDebug pkt10 = {
+                    LOG_PACKET_HEADER_INIT(LOG_NKF10_MSG),
+                    time_us : time_us,
+                    ID : (uint8_t)ID,
+                    rng : (int16_t)(100*rng),
+                    innov : (int16_t)(100*innov),
+                    sqrtInnovVar : (uint16_t)(100*safe_sqrt(innovVar)),
+                    testRatio : (uint16_t)(100*testRatio),
+                    beaconPosN : (int16_t)(100*beaconPosNED.x),
+                    beaconPosE : (int16_t)(100*beaconPosNED.y),
+                    beaconPosD : (int16_t)(100*beaconPosNED.z),
+                    offsetHigh : (int16_t)(100*bcnPosOffsetHigh),
+                    offsetLow : (int16_t)(100*bcnPosOffsetLow)
+                };
+                WriteBlock(&pkt10, sizeof(pkt10));
+            }
+        }
+    }
 }
 #endif
 
diff --git a/libraries/DataFlash/LogStructure.h b/libraries/DataFlash/LogStructure.h
index f14db7fa3d..683f522dee 100644
--- a/libraries/DataFlash/LogStructure.h
+++ b/libraries/DataFlash/LogStructure.h
@@ -371,6 +371,21 @@ struct PACKED log_NKF5 {
     float posErr;
 };
 
+struct PACKED log_RngBcnDebug {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint8_t ID;             // beacon identifier
+    int16_t rng;            // beacon range (cm)
+    int16_t innov;          // beacon range innovation (cm)
+    uint16_t sqrtInnovVar;  // sqrt of beacon range innovation variance (cm)
+    uint16_t testRatio;     // beacon range innovation consistency test ratio *100
+    int16_t beaconPosN;     // beacon north position (cm)
+    int16_t beaconPosE;     // beacon east position (cm)
+    int16_t beaconPosD;     // beacon down position (cm)
+    int16_t offsetHigh;     // high estimate of vertical position offset of beacons rel to EKF origin (cm)
+    int16_t offsetLow;      // low estimate of vertical position offset of beacons rel to EKF origin (cm)
+};
+
 struct PACKED log_Cmd {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -821,6 +836,8 @@ Format characters in the format string for binary log messages
       "NKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
     { LOG_NKF9_MSG, sizeof(log_NKF4), \
       "NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
+    { LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
+      "NKF0","QBccCCccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL" }, \
     { LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
       "TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
     { LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
@@ -1000,6 +1017,7 @@ enum LogMessages {
     LOG_NKF7_MSG,
     LOG_NKF8_MSG,
     LOG_NKF9_MSG,
+    LOG_NKF10_MSG,
     LOG_DF_MAV_STATS,
 
     LOG_MSG_SBPHEALTH,