diff --git a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
index 18e6fb95d9..acb800b5a0 100644
--- a/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_trone_wrapper/df_trone_wrapper.cpp
@@ -76,7 +76,7 @@ using namespace DriverFramework;
 class DfTROneWrapper : public TROne
 {
 public:
-	DfTROneWrapper();
+	DfTROneWrapper(uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 	~DfTROneWrapper();
 
 
@@ -97,6 +97,8 @@ public:
 private:
 	int _publish(struct range_sensor_data &data);
 
+	uint8_t _rotation;
+
 	orb_advert_t		_range_topic;
 
 	int			_orb_class_instance;
@@ -105,8 +107,9 @@ private:
 
 };
 
-DfTROneWrapper::DfTROneWrapper(/*enum Rotation rotation*/) :
+DfTROneWrapper::DfTROneWrapper(uint8_t rotation) :
 	TROne(TRONE_DEVICE_PATH),
+	_rotation(rotation),
 	_range_topic(nullptr),
 	_orb_class_instance(-1)
 {
@@ -169,7 +172,7 @@ int DfTROneWrapper::_publish(struct range_sensor_data &data)
 
 	d.id = 0; // TODO set proper ID
 
-	d.orientation = 0; // TODO no idea what to put here
+	d.orientation = _rotation;
 
 	d.covariance = 0.0f;
 
@@ -190,16 +193,16 @@ namespace df_trone_wrapper
 
 DfTROneWrapper *g_dev = nullptr;
 
-int start();
+int start(uint8_t rotation);
 int stop();
 int info();
 int probe();
 void usage();
 
-int start()
+int start(uint8_t rotation)
 {
 	PX4_ERR("start");
-	g_dev = new DfTROneWrapper();
+	g_dev = new DfTROneWrapper(rotation);
 
 	if (g_dev == nullptr) {
 		PX4_ERR("failed instantiating DfTROneWrapper object");
@@ -272,7 +275,7 @@ probe()
 	int ret;
 
 	if (g_dev == nullptr) {
-		ret = start();
+		ret = start(distance_sensor_s::ROTATION_DOWNWARD_FACING);
 
 		if (ret) {
 			PX4_ERR("Failed to start");
@@ -309,10 +312,15 @@ df_trone_wrapper_main(int argc, char *argv[])
 	int ret = 0;
 	int myoptind = 1;
 	const char *myoptarg = NULL;
+	uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 
 	/* jump over start/off/etc and look at options first */
 	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
+		case 'R':
+			rotation = (uint8_t)atoi(myoptarg);
+			PX4_INFO("Setting distance sensor orientation to %d", (int)rotation);
+			break;
 
 		default:
 			df_trone_wrapper::usage();
@@ -329,7 +337,7 @@ df_trone_wrapper_main(int argc, char *argv[])
 
 
 	if (!strcmp(verb, "start")) {
-		ret = df_trone_wrapper::start(/*rotation*/);
+		ret = df_trone_wrapper::start(rotation);
 	}
 
 	else if (!strcmp(verb, "stop")) {