A controller for a communication and ranging apparatus wherein the apparatus is configured to transmit both a data signal and a ranging signal, wherein the controller is configured to: determine a scheduled transmission event of the data signal; determine a scheduled transmission event of the ranging signal; determine if the scheduled transmission events will occur within a predetermined time window of each other; if it is determined that the scheduled transmission events will occur within a predetermined time window of each other, then determine a priority signal and a secondary signal, wherein: the priority signal is one of the data signal and the ranging signal; and the secondary signal is the other of the data signal and the ranging signal; and provide signaling configured to prevent the scheduled transmission event of the secondary signal from being transmitted such that only the scheduled transmission event of the priority signal is transmitted.