diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index c89b4bf84d..47a23e70d1 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -599,6 +599,12 @@ then
 		mb12xx start
 	fi
 
+	# teraranger one tof sensor
+	if param compare SENS_EN_TRONE 1
+	then
+		trone start
+	fi
+
 	if ver hwcmp PX4FMU_V4
 	then
 		frsky_telemetry start -d /dev/ttyS6
diff --git a/src/modules/sensors/sensor_params.c b/src/modules/sensors/sensor_params.c
index d66fdb3121..5a4ddd3333 100644
--- a/src/modules/sensors/sensor_params.c
+++ b/src/modules/sensors/sensor_params.c
@@ -3064,6 +3064,16 @@ PARAM_DEFINE_INT32(SENS_EN_SF0X, 0);
  */
 PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);
 
+/**
+ * TeraRanger One (trone)
+ *
+ * @reboot_required true
+ *
+ * @boolean
+ * @group Sensor Enable
+ */
+PARAM_DEFINE_INT32(SENS_EN_TRONE, 0);
+
 /**
  * Lightware SF1xx laser rangefinder
  *