diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.cpp b/src/drivers/distance_sensor/tfmini/TFMINI.cpp
index 150d1c486d..63853c6cf2 100644
--- a/src/drivers/distance_sensor/tfmini/TFMINI.cpp
+++ b/src/drivers/distance_sensor/tfmini/TFMINI.cpp
@@ -73,6 +73,11 @@ int
 TFMINI::init()
 {
 	int32_t hw_model = 1; // only one model so far...
+	param_t _param_tf_rot = param_find("SENS_TFMINI_ROT");
+	int32_t tf_rotation;
+	if (_param_tf_rot != PARAM_INVALID) {
+		param_get(_param_tf_rot, &tf_rotation);
+	}
 
 	switch (hw_model) {
 	case 1: // TFMINI (12m, 100 Hz)
@@ -84,6 +89,7 @@ TFMINI::init()
 		_px4_rangefinder.set_min_distance(0.4f);
 		_px4_rangefinder.set_max_distance(12.0f);
 		_px4_rangefinder.set_fov(math::radians(1.15f));
+		_px4_rangefinder.set_orientation(tf_rotation);
 
 		break;
 
diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.hpp b/src/drivers/distance_sensor/tfmini/TFMINI.hpp
index 027d73fa52..4dd52db737 100644
--- a/src/drivers/distance_sensor/tfmini/TFMINI.hpp
+++ b/src/drivers/distance_sensor/tfmini/TFMINI.hpp
@@ -53,6 +53,7 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
 #include <uORB/topics/distance_sensor.h>
+#include <px4_platform_common/module_params.h>
 
 #include "tfmini_parser.h"
 
diff --git a/src/drivers/distance_sensor/tfmini/module.yaml b/src/drivers/distance_sensor/tfmini/module.yaml
index 770cbe979c..56f1d0c2d3 100644
--- a/src/drivers/distance_sensor/tfmini/module.yaml
+++ b/src/drivers/distance_sensor/tfmini/module.yaml
@@ -5,3 +5,22 @@ serial_config:
         name: SENS_TFMINI_CFG
         group: Sensors
 
+parameters:
+    - group: Sensors
+      definitions:
+        SENS_TFMINI_ROT:
+            description:
+                short: Distance Sensor Rotation
+                long: |
+                    Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum
+
+            type: enum
+            values:
+                25: ROTATION_DOWNWARD_FACING
+                24: ROTATION_UPWARD_FACING
+                4: ROTATION_BACKWARD_FACING
+                0: ROTATION_FORWARD_FACING
+                6: ROTATION_LEFT_FACING
+                2: ROTATION_RIGHT_FACING
+            reboot_required: true
+            default: 25