diff --git a/Arduino/Things/UltrasonicSensor.cpp b/Arduino/Things/UltrasonicSensor.cpp
index 804c2bc..8fa940d 100644
--- a/Arduino/Things/UltrasonicSensor.cpp
+++ b/Arduino/Things/UltrasonicSensor.cpp
@@ -8,7 +8,7 @@ namespace Arduino {
 
 UltrasonicSensor::UltrasonicSensor(Configuration config, Thing* parent)
     : Thing(parent) {
-      this->type = Type::DistanceSensor;
+  this->type = Type::DistanceSensor;
   this->name = "Ultrasonic sensor";
   this->pinTrigger = config.trigger;
   this->pinEcho = config.echo;
@@ -57,6 +57,28 @@ void UltrasonicSensor::Update(bool recursive) {
   Thing::Update(recursive);
 }
 
+#pragma region Distance sensor
+
+UltrasonicSensor::DistanceSensor::DistanceSensor(
+    UltrasonicSensor::Configuration config,
+    Thing* parent)
+    : RoboidControl::DistanceSensor(parent), ultrasonic(config, this) {}
+
+void UltrasonicSensor::DistanceSensor::Update(bool recursive) {
+  RoboidControl::DistanceSensor::Update(recursive);
+  this->ultrasonic.Update(false);
+  if (this->ultrasonic.distance > 0)
+    this->internalDistance = this->ultrasonic.distance;
+  else
+#if ARDUNIO
+    this->internalDistance = INFINITY;
+#else
+    this->internalDistance = std::numeric_limits<float>::infinity();
+#endif
+}
+
+#pragma endregion Distance sensor
+
 #pragma region Touch sensor
 
 UltrasonicSensor::TouchSensor::TouchSensor(Configuration config, Thing* parent)
@@ -66,10 +88,10 @@ void UltrasonicSensor::TouchSensor::Update(bool recursive) {
   RoboidControl::TouchSensor::Update(recursive);
   this->ultrasonic.Update(false);
   this->internalTouch = (this->ultrasonic.distance > 0 &&
-                            this->ultrasonic.distance <= this->touchDistance);
+                         this->ultrasonic.distance <= this->touchDistance);
 }
 
-#pragma region Touch sensor
+#pragma endregion Touch sensor
 
 }  // namespace Arduino
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Arduino/Things/UltrasonicSensor.h b/Arduino/Things/UltrasonicSensor.h
index 8e72887..c991e23 100644
--- a/Arduino/Things/UltrasonicSensor.h
+++ b/Arduino/Things/UltrasonicSensor.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include "Things/DistanceSensor.h"
 #include "Things/TouchSensor.h"
 
 namespace RoboidControl {
@@ -39,9 +40,26 @@ class UltrasonicSensor : Thing {
   unsigned char pinEcho = 0;
 
  public:
+  class DistanceSensor;
   class TouchSensor;
 };
 
+#pragma region Distance sensor
+
+class UltrasonicSensor::DistanceSensor : public RoboidControl::DistanceSensor {
+ public:
+  DistanceSensor(UltrasonicSensor::Configuration config,
+                 Thing* parent = Thing::LocalRoot());
+
+  /// @copydoc RoboidControl::Thing::Update(unsigned long currentTimeMs)
+  virtual void Update(bool recursive = false) override;
+
+ protected:
+  UltrasonicSensor ultrasonic;
+};
+
+#pragma endregion Distance sensor
+
 #pragma region Touch sensor
 
 class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
@@ -58,7 +76,7 @@ class UltrasonicSensor::TouchSensor : public RoboidControl::TouchSensor {
   UltrasonicSensor ultrasonic;
 };
 
-#pragma region Touch sensor
+#pragma endregion Touch sensor
 
 }  // namespace Arduino
 }  // namespace RoboidControl
\ No newline at end of file
diff --git a/Things/DistanceSensor.cpp b/Things/DistanceSensor.cpp
new file mode 100644
index 0000000..c33d64a
--- /dev/null
+++ b/Things/DistanceSensor.cpp
@@ -0,0 +1,29 @@
+#include "DistanceSensor.h"
+
+#include "Messages/LowLevelMessages.h"
+
+namespace RoboidControl {
+
+DistanceSensor::DistanceSensor(Thing* parent) : Thing(parent) {
+  this->type = Type::DistanceSensor;
+  this->name = "Distance sensor";
+}
+
+float DistanceSensor::GetDistance() {
+  if (this->externalDistance < this->internalDistance)
+    return this->externalDistance;
+  else
+    return this->internalDistance;
+}
+
+int DistanceSensor::GenerateBinary(char* bytes, unsigned char* ix) {
+  LowLevelMessages::SendFloat16(bytes, ix, this->internalDistance);
+  return *ix;
+}
+
+void DistanceSensor::ProcessBinary(char* bytes) {
+  unsigned char ix = 0;
+  this->externalDistance = LowLevelMessages::ReceiveFloat16(bytes, &ix);
+}
+
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Things/DistanceSensor.h b/Things/DistanceSensor.h
new file mode 100644
index 0000000..08e324d
--- /dev/null
+++ b/Things/DistanceSensor.h
@@ -0,0 +1,41 @@
+#pragma once
+
+#if !NO_STD
+#include <limits>
+#endif
+
+#include "Thing.h"
+
+namespace RoboidControl {
+
+/// @brief A sensor measuring distance
+class DistanceSensor : public Thing {
+ public:
+  /// @brief Create a new child touch sensor
+  /// @param parent The parent thing
+  /// @param thingId The ID of the thing, leave out or set to zero to generate
+  /// an ID
+  DistanceSensor(Thing* parent = Thing::LocalRoot());
+
+  /// @brief Get the current distance
+  float GetDistance();
+
+  /// @brief Function used to generate binary data for this sensor
+  /// @param buffer The byte array for thw binary data
+  /// @param ix The starting position for writing the binary data
+  int GenerateBinary(char* bytes, unsigned char* ix) override;
+  /// @brief Function used to process binary data received for this sensor
+  /// @param bytes The binary data to process
+  virtual void ProcessBinary(char* bytes) override;
+
+ protected:
+#if ARDUNIO
+  float internalDistance = INFINITY;
+  float externalDistance = INFINITY;
+#else
+  float internalDistance = std::numeric_limits<double>::infinity();
+  float externalDistance = std::numeric_limits<double>::infinity();
+#endif
+};
+
+}  // namespace RoboidControl
diff --git a/Things/TouchSensor.h b/Things/TouchSensor.h
index 9890ef8..bdc5279 100644
--- a/Things/TouchSensor.h
+++ b/Things/TouchSensor.h
@@ -6,7 +6,7 @@ namespace RoboidControl {
 
 /// @brief A sensor which can detect touches
 class TouchSensor : public Thing {
-// Why finishing this release (0.3), I notice that this is equivalent to a digital sensor
+// When finishing this release (0.3), I notice that this is equivalent to a digital sensor
  public:
   /// @brief Create a new child touch sensor
   /// @param parent The parent thing