diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
index fe034246d8..c04128649d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_TeraRangerI2C.cpp
@@ -97,6 +97,9 @@ bool AP_RangeFinder_TeraRangerI2C::init(void)
         return false;
     }
 
+    // ask for a new reading for the timer to collect:
+    measure();
+
     dev->get_semaphore()->give();
 
     dev->set_retries(1);