diff --git a/LoRaWAN/App/lora_app.c b/LoRaWAN/App/lora_app.c
index fa6f0d6..3624497 100644
--- a/LoRaWAN/App/lora_app.c
+++ b/LoRaWAN/App/lora_app.c
@@ -858,12 +858,12 @@ static void SendTxData(void)
 #elif  defined(YUNHORN_STS_R0_ENABLED)||defined(YUNHORN_STS_R5_ENABLED)||defined(YUNHORN_STS_R1_ENABLED)
     	AppData.Buffer[i++] = (uint8_t)(0x02)&0xff;										//#length of following bytes
 #ifdef	TOF_1
-    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance_mm >>8)&0xff;					//#05
-    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance_mm)&0xff;						//#06
+    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance1_mm >>8)&0xff;					//#05
+    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance1_mm)&0xff;						//#06
 #endif
 #ifdef TOF_2
-    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance1_mm >>8)&0xff;					//#07
-    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance1_mm)&0xff;						//#08
+    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance_mm >>8)&0xff;					//#07
+    	AppData.Buffer[i++] = (uint8_t)(r0_data.distance_mm)&0xff;						//#08
 #endif
 
 #ifdef	TOF_3
diff --git a/TOF/App/app_tof.c b/TOF/App/app_tof.c
index abb9f31..123c8c8 100644
--- a/TOF/App/app_tof.c
+++ b/TOF/App/app_tof.c
@@ -131,7 +131,7 @@ void STS_R0_SENSOR_Read(STS_R0_SensorDataTypeDef *r0_data)
 	r0_data->distance_mm  = sts_tof_distance_data[0];
 	r0_data->distance1_mm = sts_tof_distance_data[1];
 	r0_data->distance2_mm = sts_tof_distance_data[2];
-#if	defined(ROCTEC_R5)||defined(TOF_2)
+#if	defined(ROCTEC_R5)
 	r0_data->distance1_mm = sts_tof_distance_data[0]+sts_tof_distance_data[1]+sts_tof_distance_data[2];
 #endif
 
diff --git a/TOF/App/app_tof_vl53l0x_range.c b/TOF/App/app_tof_vl53l0x_range.c
index 87c0a50..0ee30ba 100644
--- a/TOF/App/app_tof_vl53l0x_range.c
+++ b/TOF/App/app_tof_vl53l0x_range.c
@@ -44,7 +44,7 @@
  * @defgroup ErrCode Errors code shown on display
  * @{
  */
-#define		STS_MAX_L0_RANGE		((uint32_t) 2000)
+#define		STS_MAX_L0_RANGE		((uint32_t) 2500)
 #define ERR_DETECT             -1
 #define ERR_DEMO_RANGE_ONE     1
 #define ERR_DEMO_RANGE_MULTI   2
@@ -363,16 +363,16 @@ void STS_TOF250_Range_Process(void)
 void STS_TOF_VL53L0X_Range_Process(void)
 {
   int status=0, i;
-  RangingConfig_e RangingConfig = HIGH_ACCURACY; //HIGH_ACCURACY;		//LONG_RANGE;
+  RangingConfig_e RangingConfig = LONG_RANGE; //HIGH_ACCURACY;		//LONG_RANGE;
   XWL55_WLE5_53L0X_Init();
   if ((nDevMask ==0) || (nSensorPresent ==0))
   {
 	  nSensorPresent = sts_tof_vl53l0x_DetectSensors();					// confirm sensor online
 	  APP_LOG(TS_OFF, VLEVEL_H, "\r\n %u pcs sensor(s) online \r\n", nSensorPresent);
   }
-  sts_tof_distance_data[0] = STS_MAX_L0_RANGE;
-  sts_tof_distance_data[1] = STS_MAX_L0_RANGE;
-  sts_tof_distance_data[2] = STS_MAX_L0_RANGE;
+  sts_tof_distance_data[0] = 0;
+  sts_tof_distance_data[1] = 0;
+  sts_tof_distance_data[2] = 0;
 
   if (nSensorPresent > 0)
   {
@@ -384,28 +384,34 @@ void STS_TOF_VL53L0X_Range_Process(void)
 	  {
 		  if (VL53L0XDevs[i].Present ==1)
 		  {
-			status = VL53L0X_PerformSingleRangingMeasurement(&VL53L0XDevs[i], &RangingMeasurementData);
-			if( status ==0 )
-			{
-				sts_tof_vl53l0x_Sensor_SetNewRange(&VL53L0XDevs[i],&RangingMeasurementData);
-				if( RangingMeasurementData.RangeStatus == 0 )
+			uint8_t rep=0;
+			do {
+				rep++;
+				status = VL53L0X_PerformSingleRangingMeasurement(&VL53L0XDevs[i], &RangingMeasurementData);
+				if (status ==0)
 				{
-				  sts_tof_distance_data[i] = (int)VL53L0XDevs[i].LeakyRange;
-				  if (sts_tof_distance_data[i] == 0) sts_tof_distance_data[i]+= STS_MAX_L0_RANGE;
-		  		  nDevMask |= (1 << i);
-		  		  sensor_data_ready |= 1;
-				 }  else
-			  	 {
-			  		//HandleError(ERR_DEMO_RANGE_ONE);
-					 APP_LOG(TS_OFF, VLEVEL_H,"\r\n#%u sensor   ERR code = %04u\r\n",i, ERR_DEMO_RANGE_ONE);
-			  	 }
-			  	// ##########     two conditions
-			  	// ##########     1) return status ==0,
-			  	// ##########     2) and ranging status for valid ranging value !!!!!!!!!!!!!!!!!
-			}
+					sts_tof_vl53l0x_Sensor_SetNewRange(&VL53L0XDevs[i],&RangingMeasurementData);
+					if( RangingMeasurementData.RangeStatus == 0 )
+					{
+						sts_tof_distance_data[i] = (int)VL53L0XDevs[i].LeakyRange;
+
+						nDevMask |= (1 << i);
+						sensor_data_ready |= 1;
+					}  else
+					{
+						//HandleError(ERR_DEMO_RANGE_ONE);
+						APP_LOG(TS_OFF, VLEVEL_H,"\r\n#%u sensor   ERR code = %04u\r\n",i, ERR_DEMO_RANGE_ONE);
+					}
+						// ##########     two conditions
+						// ##########     1) return status ==0,
+						// ##########     2) and ranging status for valid ranging value !!!!!!!!!!!!!!!!!
+					}
+					HAL_Delay(1);
+				} while ((RangingMeasurementData.RangeStatus != 0)&&(rep <10));
+				sts_tof_distance_data[i] = (int)VL53L0XDevs[i].LeakyRange ==0?STS_MAX_L0_RANGE:(int)VL53L0XDevs[i].LeakyRange;
 		  }
 
-		  HAL_Delay(30);
+		  HAL_Delay(5);
 	  }  // for i < MAX_TOF_COUNT
 	  if (sensor_data_ready != 0) {
 		  APP_LOG(TS_OFF, VLEVEL_H, "\r\n## Measured Range: \r\nTOF #0 = %4u mm, \r\nTOF #1 = %4u mm, \r\nTOF #2 = %4u mm\r\n",