diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
index 706f073f1d..8ec86ba392 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.cpp
@@ -149,20 +149,26 @@ void AP_RangeFinder_Benewake_TFMiniPlus::update()
     }
 }
 
-bool AP_RangeFinder_Benewake_TFMiniPlus::process_raw_measure(le16_t distance_raw, le16_t strength_raw,
+void AP_RangeFinder_Benewake_TFMiniPlus::process_raw_measure(le16_t distance_raw, le16_t strength_raw,
                                                              uint16_t &output_distance_cm)
 {
     uint16_t strength = le16toh(strength_raw);
+    const uint16_t MAX_DIST_CM = 1200;
+    const uint16_t MIN_DIST_CM = 10;
 
     output_distance_cm = le16toh(distance_raw);
 
-    if (strength < 100 || strength == 0xFFFF) {
-        return false;
+    if (strength < 100 || strength == 0xFFFF || output_distance_cm > MAX_DIST_CM) {
+        /*
+         * From manual: "when the signal strength is lower than 100 or equal to
+         * 65535, the detection is unreliable, TFmini Plus will set distance
+         * value to 0." - force it to the max distance so status is set to OutOfRangeHigh
+         * rather than NoData.
+         */
+        output_distance_cm = MAX_DIST_CM;
     }
 
-    output_distance_cm = constrain_int16(output_distance_cm, 10, 1200);
-
-    return true;
+    output_distance_cm = constrain_int16(output_distance_cm, MIN_DIST_CM, MAX_DIST_CM);
 }
 
 bool AP_RangeFinder_Benewake_TFMiniPlus::check_checksum(uint8_t *arr, int pkt_len)
@@ -203,7 +209,9 @@ void AP_RangeFinder_Benewake_TFMiniPlus::timer()
     if (u.val.header1 != 0x59 || u.val.header2 != 0x59 || !check_checksum(u.arr, sizeof(u)))
         return;
 
-    if (process_raw_measure(u.val.distance, u.val.strength, distance)) {
+    process_raw_measure(u.val.distance, u.val.strength, distance);
+
+    {
         WITH_SEMAPHORE(_sem);
         accum.sum += distance;
         accum.count++;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
index 84ce2e420b..b19a44c087 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Benewake_TFMiniPlus.h
@@ -48,7 +48,7 @@ private:
     bool init();
     void timer();
 
-    bool process_raw_measure(le16_t distance_raw, le16_t strength_raw,
+    void process_raw_measure(le16_t distance_raw, le16_t strength_raw,
                              uint16_t &output_distance_cm);
 
     bool check_checksum(uint8_t *arr, int pkt_len);