diff --git a/SulTee/SulTee/BLEPackets.swift b/SulTee/SulTee/BLEPackets.swift
index e92de49..592a549 100644
--- a/SulTee/SulTee/BLEPackets.swift
+++ b/SulTee/SulTee/BLEPackets.swift
@@ -87,9 +87,14 @@ enum BLEPackets {
 
     // MARK: - Ranging notification parser
     //
-    // HAL firmware format (8 bytes, 2 fixed anchors):
-    //   [0-3]  Int32 LE  front anchor range mm  (id=0)
-    //   [4-7]  Int32 LE  back  anchor range mm  (id=1)
+    // HAL firmware format v3.3 (8 bytes, 2 fixed anchors):
+    //   [0-3]  Int32 LE   front anchor range mm  (id=0)
+    //   [4-7]  Int32 LE   back  anchor range mm  (id=1)
+    //
+    // HAL firmware format v3.4 (12 bytes, adds signal quality):
+    //   [0-3]  Int32 LE   front anchor range mm  (id=0)
+    //   [4-7]  Int32 LE   back  anchor range mm  (id=1)
+    //   [8-11] Float32 LE best_rssi dBm (shared; assigned to both anchors)
     //
     // Legacy multi-anchor format (future):
     //   [0]      Uint8    anchor count  N
@@ -102,15 +107,18 @@ enum BLEPackets {
     static func parseRanging(_ data: Data) -> [AnchorInfo] {
         let now = Date()
 
-        // HAL two-anchor format: exactly 8 bytes, two Int32 LE range values
-        if data.count == 8 {
+        // HAL two-anchor format: 8 bytes (v3.3) or 12 bytes (v3.4 + RSSI float)
+        if data.count == 8 || data.count == 12 {
             let frontMM = data.readInt32LE(at: 0)
             let backMM  = data.readInt32LE(at: 4)
+            let rssi: Double? = data.count == 12
+                ? Double(data.readFloat32LE(at: 8))
+                : nil
             return [
                 AnchorInfo(id: 0, rangeMetres: Double(frontMM) / 1000.0,
-                           rssiDBm: nil, ageMs: 0, receivedAt: now),
+                           rssiDBm: rssi, ageMs: 0, receivedAt: now),
                 AnchorInfo(id: 1, rangeMetres: Double(backMM)  / 1000.0,
-                           rssiDBm: nil, ageMs: 0, receivedAt: now)
+                           rssiDBm: rssi, ageMs: 0, receivedAt: now)
             ]
         }
 
@@ -182,5 +190,12 @@ private extension Data {
     func readUInt16LE(at offset: Int) -> UInt16 {
         UInt16(self[offset]) | (UInt16(self[offset + 1]) << 8)
     }
+    func readFloat32LE(at offset: Int) -> Float {
+        let bits = UInt32(self[offset])
+                 | (UInt32(self[offset + 1]) << 8)
+                 | (UInt32(self[offset + 2]) << 16)
+                 | (UInt32(self[offset + 3]) << 24)
+        return Float(bitPattern: bits)
+    }
 }