diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
index 382fc863ed..9a9c94b658 100644
--- a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+++ b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
@@ -69,7 +69,7 @@ void PX4Rangefinder::set_orientation(const uint8_t device_orientation)
 }
 
 
-void PX4Rangefinder::update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality, const float (&quat)[4])
+void PX4Rangefinder::update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality, const float *q, uint8_t q_len)
 {
 	distance_sensor_s &report = _distance_sensor_pub.get();
 	report.timestamp = timestamp_sample;
@@ -84,7 +84,7 @@ void PX4Rangefinder::update(const hrt_abstime &timestamp_sample, const float dis
 	}
 
 	// Update the quaternion in the sample update
-	memcpy(report.q, quat, sizeof(float) * 4);
+	memcpy(report.q, q, sizeof(float) * q_len);
 
 	_distance_sensor_pub.update();
 }
diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp
index 5b36299826..140444149e 100644
--- a/src/lib/drivers/rangefinder/PX4Rangefinder.hpp
+++ b/src/lib/drivers/rangefinder/PX4Rangefinder.hpp
@@ -63,7 +63,7 @@ public:
 	void set_mode(const uint8_t mode) { _distance_sensor_pub.get().mode = mode; }
 
 	// update with quaterion sensor orientation with respect to the vehicle body frame
-	void update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality = -1, const float (&quat)[4] = {1.0, 0.0, 0.0, 0.0});
+	void update(const hrt_abstime &timestamp_sample, const float distance, const int8_t quality = -1, const float *q = nullptr, uint8_t q_len = 4);
 
 	int get_instance() { return _distance_sensor_pub.get_instance(); };
 	uint32_t get_device_id() { return _distance_sensor_pub.get().device_id; };