diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index a6d6ca8038..65e4c938c2 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -463,19 +463,11 @@ void EstimatorInterface::setRangingBeaconData(const rangingBeaconSample &ranging
 				- static_cast<int64_t>(_params.ekf2_rngbc_delay * 1000)
 				- static_cast<int64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
 
-	// limit data rate to prevent data being lost
-	if (time_us >= static_cast<int64_t>(_ranging_beacon_buffer->get_newest().time_us + _min_obs_interval_us)) {
+	rangingBeaconSample ranging_beacon_sample_new{ranging_beacon_sample};
+	ranging_beacon_sample_new.time_us = time_us;
 
-		rangingBeaconSample ranging_beacon_sample_new{ranging_beacon_sample};
-		ranging_beacon_sample_new.time_us = time_us;
-
-		_ranging_beacon_buffer->push(ranging_beacon_sample_new);
-		_time_last_ranging_beacon_buffer_push = _time_latest_us;
-
-	} else {
-		ECL_WARN("ranging beacon data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us,
-			 _ranging_beacon_buffer->get_newest().time_us, _min_obs_interval_us);
-	}
+	_ranging_beacon_buffer->push(ranging_beacon_sample_new);
+	_time_last_ranging_beacon_buffer_push = _time_latest_us;
 }
 #endif // CONFIG_EKF2_RANGING_BEACON
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index ce59b940ad..5aca873b63 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2591,8 +2591,9 @@ MavlinkReceiver::handle_message_ranging_beacon(mavlink_message_t *msg)
 	mavlink_msg_ranging_beacon_decode(msg, &beacon_pos);
 
 	ranging_beacon_s ranging_beacon{};
-	ranging_beacon.timestamp = hrt_absolute_time();
-	ranging_beacon.timestamp_sample = beacon_pos.time_usec;
+	const hrt_abstime now = hrt_absolute_time();
+	ranging_beacon.timestamp = now;
+	ranging_beacon.timestamp_sample = now;
 	ranging_beacon.beacon_id = beacon_pos.beacon_id;
 	ranging_beacon.range = (beacon_pos.range != UINT32_MAX) ? static_cast<float>(beacon_pos.range) * 1e-3f : NAN;
 	ranging_beacon.lat = static_cast<double>(beacon_pos.lat) * 1e-7;