diff --git a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp
index 1ef6323cd8..135435ff1d 100644
--- a/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp
+++ b/src/drivers/distance_sensor/tfmini_i2c/tfmini_i2c.cpp
@@ -264,25 +264,35 @@ TFMINI_I2C::measure()
 	// Send the command to take a measurement.
     // const uint8_t CMD_FW_VERSION[] = { 0x5A, 0x04, 0x01, 0x5F };
     // const uint8_t CMD_FW_VERSION[] = { 0x5A, 0x04, 0x01, 0x5F };
-    const uint8_t CMD_READ_MEASUREMENT[] = { 0x5A, 0x05, 0x00, 0x07, 0x66 };
+    set_to_uart_mode();
+return 0;
+//     const uint8_t CMD_READ_MEASUREMENT[] = { 0x5A, 0x05, 0x00, 0x07, 0x66 };
 
-	// uint8_t cmd = TFMINI_I2C_TAKE_RANGE_REG;
-	int ret_val = transfer(CMD_READ_MEASUREMENT, 5, nullptr, 0);
+// 	// uint8_t cmd = TFMINI_I2C_TAKE_RANGE_REG;
+// 	int ret_val = transfer(CMD_READ_MEASUREMENT, 5, nullptr, 0);
 
-	return ret_val;
+// 	return ret_val;
 }
 
 int TFMINI_I2C::set_to_uart_mode()
 {
 
-	uint8_t cmd[5] = {0x5A, 0x05, 0x0A, 0,69};
+	uint8_t urt[5] = {0x5A, 0x05, 0x0A, 0,0x69};
+	uint8_t cmd[4] = {0x5A,0x04,0x10,0x6E};
+	uint8_t save[4] = {0x5A,0x04,0x11,0x6F};
 
+	if (transfer(urt, sizeof(urt), nullptr, 0) != PX4_OK) {
+		PX4_INFO("could reset to uart mode");
+	}
+	px4_usleep(100_ms);
 	if (transfer(cmd, sizeof(cmd), nullptr, 0) != PX4_OK) {
 		PX4_INFO("could reset to uart mode");
-	}else{
-
-		printf("---reset to uart mode ok ******\n");
 	}
+	px4_usleep(100_ms);
+	if (transfer(save, sizeof(save), nullptr, 0) != PX4_OK) {
+		PX4_INFO("could reset to uart mode");
+	}
+	px4_usleep(1000_ms);
 	return 0;
 }
 int
@@ -569,8 +579,8 @@ TFMINI_I2C::print_test()
 void
 TFMINI_I2C::set_uart_mode()
 {
-	set_to_uart_mode();
-	printf("---reset to uart mode ******\n");
+	// int ret = set_to_uart_mode();
+	printf("---reset to uart mode %d******\n");
 	printf("-----qwerqwerqwer*********\n");
 	printf("-------xfgvzxcvzxdv***************\n");
 }