diff --git a/mk/PX4/ROMFS/init.d/rc.APM b/mk/PX4/ROMFS/init.d/rc.APM
index 65dc32c553..c21b26ccfe 100644
--- a/mk/PX4/ROMFS/init.d/rc.APM
+++ b/mk/PX4/ROMFS/init.d/rc.APM
@@ -318,6 +318,12 @@ then
     echo "Found MEAS airspeed sensor"
 fi
 
+# optional Range Finder sensor
+if ll40ls start
+then
+    echo "Found ll40ls sensor"
+fi
+
 echo "Trying PX4IO board"
 
 if mtd start /fs/mtd
diff --git a/mk/PX4/config_px4fmu-v1_APM.mk b/mk/PX4/config_px4fmu-v1_APM.mk
index 6ea5253587..36e535803f 100644
--- a/mk/PX4/config_px4fmu-v1_APM.mk
+++ b/mk/PX4/config_px4fmu-v1_APM.mk
@@ -27,6 +27,7 @@ MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
+MODULES		+= drivers/ll40ls
 MODULES		+= drivers/gps
 #MODULES		+= drivers/hil
 #MODULES		+= drivers/hott_telemetry
diff --git a/mk/PX4/config_px4fmu-v2_APM.mk b/mk/PX4/config_px4fmu-v2_APM.mk
index 8c0cd15aea..494b456ac6 100644
--- a/mk/PX4/config_px4fmu-v2_APM.mk
+++ b/mk/PX4/config_px4fmu-v2_APM.mk
@@ -27,6 +27,7 @@ MODULES		+= drivers/mpu6000
 MODULES		+= drivers/hmc5883
 MODULES		+= drivers/ms5611
 MODULES		+= drivers/mb12xx
+MODULES		+= drivers/ll40ls
 MODULES		+= drivers/gps
 MODULES		+= drivers/hil
 #MODULES	+= drivers/hott_telemetry