diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index 16664306bd..1e5d4befff 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -1085,11 +1085,12 @@ void NavEKF3::getFlowDebug(int8_t instance, float &varFlow, float &gndOffset, fl
 }
 
 // return data for debugging range beacon fusion
-bool NavEKF3::getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED, float &offsetHigh, float &offsetLow)
+bool NavEKF3::getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED,
+                                  float &offsetHigh, float &offsetLow, Vector3f &posNED)
 {
     if (instance < 0 || instance >= num_cores) instance = primary;
     if (core) {
-        return core[instance].getRangeBeaconDebug(ID, rng, innov, innovVar, testRatio, beaconPosNED, offsetHigh, offsetLow);
+        return core[instance].getRangeBeaconDebug(ID, rng, innov, innovVar, testRatio, beaconPosNED, offsetHigh, offsetLow, posNED);
     } else {
         return false;
     }
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.h b/libraries/AP_NavEKF3/AP_NavEKF3.h
index 0902f54746..db2d786131 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.h
@@ -201,17 +201,21 @@ public:
     void getFlowDebug(int8_t instance, float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr);
 
     /*
-        Returns the following data for debugging range beacon fusion from the specified instance
-        An out of range instance (eg -1) returns data for the the primary instance
+        Returns the following data for debugging range beacon fusion
         ID : beacon identifier
         rng : measured range to beacon (m)
         innov : range innovation (m)
         innovVar : innovation variance (m^2)
         testRatio : innovation consistency test ratio
         beaconPosNED : beacon NED position (m)
+        offsetHigh : high hypothesis for range beacons system vertical offset (m)
+        offsetLow : low hypothesis for range beacons system vertical offset (m)
+        posNED : North,East,Down position estimate of receiver from 3-state filter
+
         returns true if data could be found, false if it could not
     */
-    bool getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED, float &offsetHigh, float &offsetLow);
+    bool getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED,
+                             float &offsetHigh, float &offsetLow, Vector3f &posNED);
 
     // called by vehicle code to specify that a takeoff is happening
     // causes the EKF to compensate for expected barometer errors due to ground effect
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
index 9a7a3dc94b..7f77ff3f48 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
@@ -70,7 +70,8 @@ void NavEKF3_core::getFlowDebug(float &varFlow, float &gndOffset, float &flowInn
 }
 
 // return data for debugging range beacon fusion one beacon at a time, incrementing the beacon index after each call
-bool NavEKF3_core::getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED, float &offsetHigh, float &offsetLow)
+bool NavEKF3_core::getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED,
+                                       float &offsetHigh, float &offsetLow, Vector3f &posNED)
 {
     // if the states have not been initialised or we have not received any beacon updates then return zeros
     if (!statesInitialised || N_beacons == 0) {
@@ -88,10 +89,12 @@ bool NavEKF3_core::getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, fl
     innov = rngBcnFusionReport[rngBcnFuseDataReportIndex].innov;                // range innovation (m)
     innovVar = rngBcnFusionReport[rngBcnFuseDataReportIndex].innovVar;          // innovation variance (m^2)
     testRatio = rngBcnFusionReport[rngBcnFuseDataReportIndex].testRatio;        // innovation consistency test ratio
-    beaconPosNED = rngBcnFusionReport[rngBcnFuseDataReportIndex].beaconPosNED;  // beacon NED position
-    offsetHigh = bcnPosDownOffsetMax;                                           // beacon system vertical pos offset upper estimate
-    offsetLow = bcnPosDownOffsetMin;                                            // beacon system vertical pos offset lower estimate
+    beaconPosNED = rngBcnFusionReport[rngBcnFuseDataReportIndex].beaconPosNED;  // beacon receiver NED position (m)
+    offsetHigh = bcnPosDownOffsetMax;                                           // beacon system vertical pos offset upper estimate (m)
+    offsetLow = bcnPosDownOffsetMin;                                            // beacon system vertical pos offset lower estimate (m)
+    posNED = receiverPos;                                                      // beacon system NED offset (m)
     rngBcnFuseDataReportIndex++;
+    printf("%6.2f\n",(double)receiverPos.x);
     return true;
 }
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index 2c3204274d..c0e71a1ccb 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -210,8 +210,14 @@ public:
         innovVar : innovation variance (m^2)
         testRatio : innovation consistency test ratio
         beaconPosNED : beacon NED position (m)
+        offsetHigh : high hypothesis for range beacons system vertical offset (m)
+        offsetLow : low hypothesis for range beacons system vertical offset (m)
+        posNED : North,East,Down position estimate of receiver from 3-state filter
+
+        returns true if data could be found, false if it could not
     */
-    bool getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED, float &offsetHigh, float &offsetLow);
+    bool getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED,
+                             float &offsetHigh, float &offsetLow, Vector3f &posNED);
 
     // called by vehicle code to specify that a takeoff is happening
     // causes the EKF to compensate for expected barometer errors due to ground effect