diff --git a/Tools/simulation/gazebo-classic/sitl_gazebo-classic b/Tools/simulation/gazebo-classic/sitl_gazebo-classic
index 5b6966ed57..f835e077d0 160000
--- a/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+++ b/Tools/simulation/gazebo-classic/sitl_gazebo-classic
@@ -1 +1 @@
-Subproject commit 5b6966ed572a02e8273f446acb504a45a841ca53
+Subproject commit f835e077d06eaf09a57d5152fcfb85244b53b77a
diff --git a/src/modules/ekf2/Kconfig b/src/modules/ekf2/Kconfig
index 721f5ae265..88bbb6a7e1 100644
--- a/src/modules/ekf2/Kconfig
+++ b/src/modules/ekf2/Kconfig
@@ -124,6 +124,7 @@ menuconfig EKF2_RANGING_BEACON
 depends on MODULES_EKF2
 	bool "ranging beacon fusion support"
 	default y
+	depends on !BOARD_CONSTRAINED_FLASH
 	---help---
 		EKF2 ranging beacon fusion support.