diff --git a/fmuv3_build.sh b/fmuv3_build.sh
index 43101fc714..b49aaa877e 100755
--- a/fmuv3_build.sh
+++ b/fmuv3_build.sh
@@ -6,4 +6,4 @@ date -R
 start_seconds=$(date --date="$starttime" +%s);
 end_seconds=$(date --date="$endtime" +%s);
 echo "本次运行时间： "$((end_seconds-start_seconds))"s"
-cp ./build/px4_fmu-v3_default/px4_fmu-v3_default.px4 /mnt/f/_02-work/100_data/Firmware/px4
+cp ./build/px4_fmu-v3_default/px4_fmu-v3_default.px4 /mnt/f/_02-work/100_data/Firmware/px4/px4_fmu-v3_tfiic-12.px4
diff --git a/src/drivers/uavcan/sensors/rangefinder.cpp b/src/drivers/uavcan/sensors/rangefinder.cpp
index cff084292c..bb8884db71 100644
--- a/src/drivers/uavcan/sensors/rangefinder.cpp
+++ b/src/drivers/uavcan/sensors/rangefinder.cpp
@@ -52,6 +52,7 @@ int UavcanRangefinderBridge::init()
 	// Initialize min/max range from params
 	param_get(param_find("UAVCAN_RNG_MIN"), &_range_min_m);
 	param_get(param_find("UAVCAN_RNG_MAX"), &_range_max_m);
+	param_get(param_find("UAVCAN_RNG_ROT"), &_range_rot);
 
 	int res = _sub_range_data.start(RangeCbBinder(this, &UavcanRangefinderBridge::range_sub_cb));
 
@@ -104,6 +105,7 @@ void UavcanRangefinderBridge::range_sub_cb(const
 		rangefinder->set_fov(msg.field_of_view);
 		rangefinder->set_min_distance(_range_min_m);
 		rangefinder->set_max_distance(_range_max_m);
+		rangefinder->set_orientation((uint8_t)_range_rot);
 
 		_inited = true;
 	}
diff --git a/src/drivers/uavcan/sensors/rangefinder.hpp b/src/drivers/uavcan/sensors/rangefinder.hpp
index 470d23c8af..353ad0d366 100644
--- a/src/drivers/uavcan/sensors/rangefinder.hpp
+++ b/src/drivers/uavcan/sensors/rangefinder.hpp
@@ -69,6 +69,7 @@ private:
 
 	float _range_min_m{0.0f};
 	float _range_max_m{0.0f};
+	int32_t _range_rot{25};
 
 	bool _inited{false};
 
diff --git a/src/drivers/uavcan/uavcan_params.c b/src/drivers/uavcan/uavcan_params.c
index 1d5c0edf0b..4e9f5404fe 100644
--- a/src/drivers/uavcan/uavcan_params.c
+++ b/src/drivers/uavcan/uavcan_params.c
@@ -106,6 +106,25 @@ PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);
  */
 PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);
 
+/**
+ * UAVCAN rangefinder  Rotation
+ *
+ * This parameter defines the rotation of the sensor relative to the platform.
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 25
+ * @group Sensors
+ *
+ * @value 0 ROTATION_FORWARD_FACING
+ * @value 2 ROTATION_RIGHT_FACING
+ * @value 4 ROTATION_BACKWARD_FACING
+ * @value 6 ROTATION_LEFT_FACING
+ * @value 24 ROTATION_UPWARD_FACING
+ * @value 25 ROTATION_DOWNWARD_FACING
+ */
+PARAM_DEFINE_INT32(UAVCAN_RNG_ROT, 25);
+
 /**
  * UAVCAN ANTI_COLLISION light operating mode
  *