diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index ae77409238..e1a4f2be70 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -7301,6 +7301,7 @@ class AutoTestCopter(AutoTest):
             ("lanbao", 26),
             ("benewake_tf03", 27),
             ("gyus42v2", 31),
+            ("teraranger_serial", 35),
         ]
         while len(drivers):
             do_drivers = drivers[0:3]
diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
index d2d43d8d59..f1c8312324 100644
--- a/Tools/scripts/build_options.py
+++ b/Tools/scripts/build_options.py
@@ -143,6 +143,7 @@ BUILD_OPTIONS = [
     Feature('Rangefinder', 'RANGEFINDER_PWM', 'AP_RANGEFINDER_PWM_ENABLED', "Enable Rangefinder - PWM", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_SIM', 'AP_RANGEFINDER_SIM_ENABLED', "Enable Rangefinder - SIM", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_TRI2C', 'AP_RANGEFINDER_TRI2C_ENABLED', "Enable Rangefinder - TeraRangerI2C", 0, "RANGEFINDER"),   # NOQA: E501
+    Feature('Rangefinder', 'RANGEFINDER_TR_SERIAL', 'AP_RANGEFINDER_TERARANGER_SERIAL_ENABLED', "Enable Rangefinder - TeraRanger Serial", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_UAVCAN', 'AP_RANGEFINDER_UAVCAN_ENABLED', "Enable Rangefinder - UAVCAN", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_USD1_CAN', 'AP_RANGEFINDER_USD1_CAN_ENABLED', "Enable Rangefinder - USD1 (CAN)", 0, "RANGEFINDER"),   # NOQA: E501
     Feature('Rangefinder', 'RANGEFINDER_USD1_SERIAL', 'AP_RANGEFINDER_USD1_SERIAL_ENABLED', "Enable Rangefinder - USD1 (SERIAL)", 0, "RANGEFINDER"),   # NOQA: E501