diff --git a/msg/estimator_status_flags.msg b/msg/estimator_status_flags.msg
index 232f22af1d..5176db9af5 100644
--- a/msg/estimator_status_flags.msg
+++ b/msg/estimator_status_flags.msg
@@ -35,6 +35,7 @@ bool cs_gps_yaw_fault         # 27 - true when the GNSS heading has been declare
 bool cs_rng_fault             # 28 - true when the range finder has been declared faulty and is no longer being used
 bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 bool cs_wind_dead_reckoning     # 30 - true if we are navigationg reliant on wind relative measurements
+bool cs_rng_kin_consistent      # 31 - true when the range finder kinematic consistency check is passing
 
 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h
index dc67b7c527..a964e2ea21 100644
--- a/src/modules/ekf2/EKF/common.h
+++ b/src/modules/ekf2/EKF/common.h
@@ -493,6 +493,7 @@ union filter_control_status_u {
 		uint32_t rng_fault : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
 		uint32_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 		uint32_t wind_dead_reckoning     : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements
+		uint32_t rng_kin_consistent      : 1; ///< 31 - true when the range finder kinematic consistency check is passing
 	} flags;
 	uint32_t value;
 };
diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index 07185442d7..6a1f5d95a3 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -142,6 +142,8 @@ void Ekf::controlFusionModes()
 			_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
 			_rng_consistency_check.update(_range_sensor.getDistBottom(), getRngHeightVariance(), _state.vel(2), P(6, 6), _time_last_imu);
 		}
+
+		_control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent();
 	}
 
 	if (_flow_buffer) {
diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 206863f78d..6a300f1f2d 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -1304,6 +1304,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_rng_fault             = _ekf.control_status_flags().rng_fault;
 		status_flags.cs_inertial_dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning;
 		status_flags.cs_wind_dead_reckoning     = _ekf.control_status_flags().wind_dead_reckoning;
+		status_flags.cs_rng_kin_consistent      = _ekf.control_status_flags().rng_kin_consistent;
 
 		status_flags.fault_status_changes     = _filter_fault_status_changes;
 		status_flags.fs_bad_mag_x             = _ekf.fault_status_flags().bad_mag_x;