diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg
index a29911367c..2c6d055b26 100644
--- a/msg/estimator_status.msg
+++ b/msg/estimator_status.msg
@@ -20,7 +20,7 @@ uint16 GPS_CHECK_FAIL_MAX_VERT_DRIFT = 6		# 6 : maximum allowed vertical positio
 uint16 GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR = 7		# 7 : maximum allowed horizontal velocity discrepancy fail
 uint16 GPS_CHECK_FAIL_MAX_VERT_SPD_ERR = 8		# 8 : maximum allowed vertical velocity discrepancy fail
 
-uint16 control_mode_flags	# Bitmask to indicate EKF logic state
+uint32 control_mode_flags	# Bitmask to indicate EKF logic state
 # 0 - true if the filter tilt alignment is complete
 # 1 - true if the filter yaw alignment is complete
 # 2 - true if GPS measurements are being fused
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 6e93a93a66..456d46665c 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -1006,7 +1006,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAGB_K, 0.2f);
  * @value 0 Range aid disabled
  * @value 1 Range aid enabled
  */
-PARAM_DEFINE_INT32(EKF2_RNG_AID, 0.0f);
+PARAM_DEFINE_INT32(EKF2_RNG_AID, 0);
 
 /**
  * Maximum horizontal velocity allowed for range aid mode.