diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 3b3c3dacb1..9eb006b04f 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -188,8 +188,10 @@ void DataFlash_Class::Log_Write_RFND(const RangeFinder &rangefinder)
         LOG_PACKET_HEADER_INIT((uint8_t)(LOG_RFND_MSG)),
         time_us       : AP_HAL::micros64(),
         dist1         : s0 ? s0->distance_cm() : (uint16_t)0,
+        status1       : s0 ? (uint8_t)s0->status() : (uint8_t)0,
         orient1       : s0 ? s0->orientation() : ROTATION_NONE,
         dist2         : s1 ? s1->distance_cm() : (uint16_t)0,
+        status2       : s1 ? (uint8_t)s1->status() : (uint8_t)0,
         orient2       : s1 ? s1->orientation() : ROTATION_NONE,
     };
     WriteBlock(&pkt, sizeof(pkt));
diff --git a/libraries/DataFlash/LogStructure.h b/libraries/DataFlash/LogStructure.h
index e0421081ea..7f2a388157 100644
--- a/libraries/DataFlash/LogStructure.h
+++ b/libraries/DataFlash/LogStructure.h
@@ -722,8 +722,10 @@ struct PACKED log_RFND {
     LOG_PACKET_HEADER;
     uint64_t time_us;
     uint16_t dist1;
+    uint8_t status1;
     uint8_t orient1;
     uint16_t dist2;
+    uint8_t status2;
     uint8_t orient2;
 };
 
@@ -1237,7 +1239,7 @@ Format characters in the format string for binary log messages
     { LOG_MODE_MSG, sizeof(log_Mode), \
       "MODE", "QMBB",         "TimeUS,Mode,ModeNum,Rsn", "s---", "F---" }, \
     { LOG_RFND_MSG, sizeof(log_RFND), \
-      "RFND", "QCBCB", "TimeUS,Dist1,Orient1,Dist2,Orient2", "sm-m-", "FB-B-" }, \
+      "RFND", "QCBBCBB", "TimeUS,Dist1,Stat1,Orient1,Dist2,Stat2,Orient2", "sm--m--", "FB--B--" }, \
     { LOG_DF_MAV_STATS, sizeof(log_DF_MAV_Stats), \
       "DMS", "IIIIIBBBBBBBBBB",         "TimeMS,N,Dp,RT,RS,Er,Fa,Fmn,Fmx,Pa,Pmn,Pmx,Sa,Smn,Smx", "s--------------", "C--------------" }, \
     { LOG_BEACON_MSG, sizeof(log_Beacon), \