diff --git a/dvl-a50/dvl.py b/dvl-a50/dvl.py
index e215f2f..1f12d8e 100644
--- a/dvl-a50/dvl.py
+++ b/dvl-a50/dvl.py
@@ -63,6 +63,7 @@ class DvlDriver(threading.Thread):
     last_temperature_check_time = 0
     temperature_check_interval_s = 30
     temperature_too_hot = 45
+    confidence_cutoff = 0
 
     def __init__(self, orientation=DVL_DOWN) -> None:
         threading.Thread.__init__(self)
@@ -88,6 +89,7 @@ def load_settings(self) -> None:
                 self.origin = data["origin"]
                 self.rangefinder = data["rangefinder"]
                 self.should_send = data["should_send"]
+                self.confidence_cutoff = data.get("confidence_cutoff", 80)
                 logger.debug("Loaded settings: ", data)
         except FileNotFoundError:
             logger.warning("Settings file not found, using default.")
@@ -120,6 +122,7 @@ def ensure_dir(file_path) -> None:
                         "hostname": self.hostname,
                         "rangefinder": self.rangefinder,
                         "should_send": self.should_send,
+                        "confidence_cutoff": self.confidence_cutoff,
                     }
                 )
             )
@@ -136,6 +139,7 @@ def get_status(self) -> dict:
             "origin": self.origin,
             "rangefinder": self.rangefinder,
             "should_send": self.should_send,
+            "confidence_cutoff": self.confidence_cutoff,
         }
 
     @property
@@ -273,6 +277,14 @@ def set_enabled(self, enable: bool) -> bool:
         self.save_settings()
         return True
 
+    def set_confidence_cutoff(self, cutoff: int) -> bool:
+        """
+        Enables/disables the driver
+        """
+        self.confidence_cutoff = max(5, min(100, cutoff))
+        self.save_settings()
+        return True
+
     def set_use_as_rangefinder(self, enable: bool) -> bool:
         """
         Enables/disables DISTANCE_SENSOR messages
@@ -382,7 +394,8 @@ def handle_velocity(self, data: Dict[str, Any]) -> None:
             return
 
         if self.rangefinder and alt > 0.05:
-            self.mav.send_rangefinder(alt)
+            if confidence >= self.confidence_cutoff:
+                self.mav.send_rangefinder(alt, confidence)
 
         position_delta = [0, 0, 0]
         attitude_delta = [0, 0, 0]
diff --git a/dvl-a50/main.py b/dvl-a50/main.py
index f4774af..c80a526 100755
--- a/dvl-a50/main.py
+++ b/dvl-a50/main.py
@@ -35,6 +35,12 @@ def set_enabled(self, enabled: str) -> bool:
             return self.dvl.set_enabled(enabled == "true")
         return False
 
+    def set_cutoff(self, cutoff: int) -> bool:
+        """
+        Enables/Disables the DVL driver
+        """
+        return self.dvl.set_confidence_cutoff(int(cutoff))
+
     def set_orientation(self, orientation: int) -> bool:
         """
         Sets the DVL mounting orientation:
@@ -87,6 +93,10 @@ def get_status():
     def set_enabled(enable: str):
         return str(api.set_enabled(enable))
 
+    @app.route("/cutoff/<cutoff>")
+    def set_cutoff(cutoff: int):
+        return str(api.set_cutoff(cutoff))
+
     @app.route("/use_as_rangefinder/<enable>")
     def set_use_rangefinder(enable: str):
         return str(api.set_use_as_rangefinder(enable))
diff --git a/dvl-a50/mavlink2resthelper.py b/dvl-a50/mavlink2resthelper.py
index 9f29166..afb06cd 100644
--- a/dvl-a50/mavlink2resthelper.py
+++ b/dvl-a50/mavlink2resthelper.py
@@ -152,7 +152,7 @@ def __init__(self, vehicle: int = 1, component: int = 1):
     "type": "DISTANCE_SENSOR",
     "time_boot_ms": 0,
     "min_distance": 0,
-    "max_distance": 5000,
+    "max_distance": 50000,
     "current_distance": {0},
     "mavtype": {{
       "type": "MAV_DISTANCE_SENSOR_LASER"
@@ -170,7 +170,7 @@ def __init__(self, vehicle: int = 1, component: int = 1):
       0.0,
       0.0
     ],
-    "signal_quality": 0
+    "signal_quality": {1}
   }}
 }}
 """
@@ -352,12 +352,12 @@ def send_vision_position_estimate(
         )
         logger.info(post(MAVLINK2REST_URL + "/mavlink", data=data))
 
-    def send_rangefinder(self, distance: float):
+    def send_rangefinder(self, distance: float, quality: float):
         "Sends message DISTANCE_SENSOR to flight controller"
         if distance == -1:
-            return
-        data = self.rangefinder_template.format(int(distance * 100))
-
+            data = self.rangefinder_template.format(0, 0)
+        else:
+            data = self.rangefinder_template.format(int(distance * 100), int(max(1, quality)))
         post(MAVLINK2REST_URL + "/mavlink", data=data)
 
     def set_gps_origin(self, lat, lon):
diff --git a/dvl-a50/static/index.html b/dvl-a50/static/index.html
index 871bb38..1f67069 100644
--- a/dvl-a50/static/index.html
+++ b/dvl-a50/static/index.html
@@ -38,12 +38,18 @@ <h1>DVL Configuration</h1>
 					<br />
 				<v-row>
 					<v-col>
-						<v-card height="650">
+						<v-card height="650" width="300">
 							<h2>Settings</h2>
 							<v-switch v-model="this.enabled" inset :label="`Enable DVL driver`" @change="setDvlEnabled($event)"></v-switch>
 							<v-switch v-model="this.rangefinder" inset :label="`Send range data through MAVLink`" @change="setDvlAsRangefinder($event)"></v-switch>
 							<v-btn id="btn-load-dvl" type="button" class="btn btn-primary" @click="loadParams('dvl');">Load parameters for DVL</v-btn>
 							<v-btn id="btn-load-dvl-gps" type="button" class="btn btn-primary" @click="loadParams('dvl_gps');">Load parameters for DVL+GPS</v-btn>
+							<label for="confidence-cutoff">Confidence Cutoff:</label>
+							<v-slider id="confidence-cutoff" @change="setConfidenceCutoff" v-model="confidenceCutoff" :min="0" :max="100" :step="1">
+								<template #prepend>
+									<span>{{ confidenceCutoff }}</span>
+								</template>
+							</v-slider>
 							<h2>Status</h2>
 							<div>
 								<textarea readonly style="width:100%;"
@@ -133,10 +139,17 @@ <h2>Water Linked DVL Configuration Page</h2>
 				orientationOptions: {
 					"Downwards (LED pointing forward)": 1,
 					"Forward (Experimental)": 2,
-				}
+				},
+				confidenceCutoff: 10,
 			}
 		},
 		methods: {
+			setConfidenceCutoff(value) {
+				const request = new XMLHttpRequest();
+				request.timeout = 800;
+				request.open('GET', 'cutoff/' + value, true);
+				request.send();
+			},
 			updateDvlStatus() {
 				axios.get('/get_status', { timeout: 1000 })
 					.then((response) => {
@@ -156,6 +169,7 @@ <h2>Water Linked DVL Configuration Page</h2>
 						if (this.newHostname == null) {
 							this.newHostname = data.hostname
 						}
+						this.confidenceCutoff = data.confidence_cutoff
 					})
 					.catch((error) => {
 						this.status = `Unable to talk to DVL service: ${error}`