diff --git a/CHANGELOG.md b/CHANGELOG.md
index ccf8be666..a18085c11 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ All notable changes to this project will be documented in this file.
 - Support for BP1658CJ RGBCW led bulbs like Orein OS0100411267 by Cossid (#17011)
 
 ### Breaking Changed
+- Redesign distance sensors HRXL and DYP to use cm instead of mm (#17021)
 
 ### Changed
 - Default Flash Mode changed from ``DOUT`` to ``DIO`` for ESP8266/ESP8285
diff --git a/RELEASENOTES.md b/RELEASENOTES.md
index 0fc183dd2..6f94c9821 100644
--- a/RELEASENOTES.md
+++ b/RELEASENOTES.md
@@ -123,6 +123,7 @@ The latter links can be used for OTA upgrades too like ``OtaUrl http://ota.tasmo
 - ESP32 Support for DMX ArtNet Led matrix animations [#16984](https://github.com/arendst/Tasmota/issues/16984)
 
 ### Breaking Changed
+- Redesign distance sensors HRXL and DYP to use cm instead of mm [#17021](https://github.com/arendst/Tasmota/issues/17021)
 
 ### Changed
 - ESP32 Framework (Core) from v2.0.5 to v2.0.5.2
diff --git a/tasmota/tasmota_xsns_sensor/xsns_64_hrxl.ino b/tasmota/tasmota_xsns_sensor/xsns_64_hrxl.ino
index be78b49ec..9d2a60682 100644
--- a/tasmota/tasmota_xsns_sensor/xsns_64_hrxl.ino
+++ b/tasmota/tasmota_xsns_sensor/xsns_64_hrxl.ino
@@ -25,71 +25,54 @@
  * Hardware Serial will be selected if GPIO1 = [HRXL Rx]
 \*********************************************************************************************/
 
-#define XSNS_64                      64
-
-#include <TasmotaSerial.h>
+#define XSNS_64                  64
 
 #define HRXL_READ_TIMEOUT        400 // us; enough for 6 bytes@9600bps
 
+#include <TasmotaSerial.h>
 TasmotaSerial *HRXLSerial = nullptr;
 
-uint32_t hrxl_distance_mm = 0;  // distance, mm
-bool hrxl_found = false;
+uint32_t hrxl_distance_cm = 0;  // distance, cm
 
 /*********************************************************************************************/
 
-void HRXLInit(void)
-{
-    hrxl_found = false;
-    if (PinUsed(GPIO_HRXL_RX))
-    {
-        HRXLSerial = new TasmotaSerial(Pin(GPIO_HRXL_RX), -1, 1);
-        if (HRXLSerial->begin(9600))
-        {
-            if (HRXLSerial->hardwareSerial())
-                ClaimSerial();
-            hrxl_found = true;
-            HRXLSerial->setTimeout(HRXL_READ_TIMEOUT);
-        }
+void HRXLInit(void) {
+  if (PinUsed(GPIO_HRXL_RX)) {
+    HRXLSerial = new TasmotaSerial(Pin(GPIO_HRXL_RX), -1, 1);
+    if (HRXLSerial->begin(9600)) {
+      if (HRXLSerial->hardwareSerial()) {
+        ClaimSerial();
+      }
+      HRXLSerial->setTimeout(HRXL_READ_TIMEOUT);
     }
+  }
 }
 
-void HRXLEverySecond(void)
-{
-    if (!hrxl_found)
-        return;
-
-    int num_read=0;
-    int sum=0;
-    while (HRXLSerial->available()>5)
-    {
-        if (HRXLSerial->read() != 'R')
-            continue;
-
-        int d = HRXLSerial->parseInt();
-        if (d >= 30 && d<=5000)
-        {
-            sum += d;
-            num_read++;
-        }
+void HRXLEverySecond(void) {
+  int num_read = 0;
+  int sum = 0;
+  while (HRXLSerial->available() > 5) {
+    if (HRXLSerial->read() != 'R') {
+      continue;
     }
-    if (num_read>1)
-        hrxl_distance_mm = int(sum / num_read);
-
+    int d = HRXLSerial->parseInt();
+    if (d >= 30 && d <= 5000) {
+      sum += d;
+      num_read++;
+    }
+  }
+  if (num_read > 1) {
+    hrxl_distance_cm = int(sum / num_read) / 10;  // cm
+  }
 }
 
-
-void HRXLShow(bool json)
-{
+void HRXLShow(bool json) {
    char types[5] = "HRXL";
-   if (json)
-   {
-      ResponseAppend_P(PSTR(",\"%s\":{\"" D_DISTANCE "\":%d}"), types, hrxl_distance_mm);
+   if (json) {
+      ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_DISTANCE "\":%d}"), types, hrxl_distance_cm);
 #ifdef USE_WEBSERVER
-   }
-   else
-   {
-      WSContentSend_PD(HTTP_SNS_RANGE, types, hrxl_distance_mm);
+   } else {
+      WSContentSend_PD(HTTP_SNS_DISTANCE_CM, types, hrxl_distance_cm);
 #endif  // USE_WEBSERVER
    }
 }
@@ -98,15 +81,12 @@ void HRXLShow(bool json)
  * Interface
 \*********************************************************************************************/
 
-bool Xsns64(uint8_t function)
-{
-   if (!PinUsed(GPIO_HRXL_RX)) { return false; }
-
-   switch (function)
-   {
-      case FUNC_INIT:
-         HRXLInit();
-         break;
+bool Xsns64(uint8_t function) {
+  if (FUNC_INIT == function) {
+    HRXLInit();
+  }
+  else if (HRXLSerial) {
+    switch (function) {
       case FUNC_EVERY_SECOND:
          HRXLEverySecond();
          break;
@@ -118,8 +98,9 @@ bool Xsns64(uint8_t function)
          HRXLShow(0);
          break;
 #endif  // USE_WEBSERVER
-   }
-   return false;
+    }
+  }
+  return false;
 }
 
 #endif  // USE_HRXL
diff --git a/tasmota/tasmota_xsns_sensor/xsns_76_dyp.ino b/tasmota/tasmota_xsns_sensor/xsns_76_dyp.ino
index 0c4506502..3956e42d8 100644
--- a/tasmota/tasmota_xsns_sensor/xsns_76_dyp.ino
+++ b/tasmota/tasmota_xsns_sensor/xsns_76_dyp.ino
@@ -18,7 +18,6 @@
 */
 
 #ifdef USE_DYP
-
 /*********************************************************************************************\
  * DYP ME007 ultrasonic distance sensor (300...4000mm), serial version
  *
@@ -28,13 +27,11 @@
  *      300...4000 for measured distance
  *      4999 for distance above 4000mm
  *      5999 for not connected sensor
- *
 \*********************************************************************************************/
 
-#define XSNS_76 76
+#define XSNS_76     76
 
 #include <TasmotaSerial.h>
-
 TasmotaSerial *DYPSerial = nullptr;
 
 #define DYP_CRCERROR -1
@@ -44,27 +41,22 @@ TasmotaSerial *DYPSerial = nullptr;
 #define DYP_ABOVEMAX 4999
 #define DYP_NOSENSOR 5999
 
-uint16_t DYPDistance = 0;   // distance in milimeters
-bool DYPSensor = false;     // sensor available
+uint16_t DYPDistance = 0;   // distance in centimeters
 
 /*********************************************************************************************/
 
 void DYPInit(void) {
-  DYPSensor = false;
   if (PinUsed(GPIO_DYP_RX)) {
     DYPSerial = new TasmotaSerial(Pin(GPIO_DYP_RX), -1, 1);
     if (DYPSerial->begin(9600)) {
       if (DYPSerial->hardwareSerial()) {
         ClaimSerial();
       }
-      DYPSensor = true;
     }
   }
 }
 
 void DYPEverySecond(void) {
-  if (!DYPSensor) { return; }
-
   // check for serial data
   if (DYPSerial->available() < 6) {
     DYPDistance = DYP_NOSENSOR;
@@ -95,7 +87,7 @@ void DYPEverySecond(void) {
         if (data > DYP_MAX) {
           data = DYP_ABOVEMAX;
         }
-        DYPDistance = data;
+        DYPDistance = data / 10;  // cm
       } else {
         DYPDistance = DYP_CRCERROR;
       }
@@ -104,12 +96,12 @@ void DYPEverySecond(void) {
 }
 
 void DYPShow(bool json) {
-  char types[5] = "DYP";
+  char types[4] = "DYP";
   if (json) {
-    ResponseAppend_P(PSTR(",\"%s\":{\"" D_DISTANCE "\":%d}"), types, DYPDistance);
+    ResponseAppend_P(PSTR(",\"%s\":{\"" D_JSON_DISTANCE "\":%d}"), types, DYPDistance);
 #ifdef USE_WEBSERVER
   } else {
-    WSContentSend_PD(HTTP_SNS_RANGE, types, DYPDistance);
+    WSContentSend_PD(HTTP_SNS_DISTANCE_CM, types, DYPDistance);
 #endif  // USE_WEBSERVER
   }
 }
@@ -119,23 +111,23 @@ void DYPShow(bool json) {
 \*********************************************************************************************/
 
 bool Xsns76(uint8_t function) {
-  if (!PinUsed(GPIO_DYP_RX)) { return false; }
-
-  switch (function) {
-    case FUNC_INIT:
-        DYPInit();
-        break;
-    case FUNC_EVERY_SECOND:
-        DYPEverySecond();
-        break;
-    case FUNC_JSON_APPEND:
-        DYPShow(1);
-        break;
+  if (FUNC_INIT == function) {
+    DYPInit();
+  }
+  else if (DYPSerial) {
+    switch (function) {
+      case FUNC_EVERY_SECOND:
+          DYPEverySecond();
+          break;
+      case FUNC_JSON_APPEND:
+          DYPShow(1);
+          break;
 #ifdef USE_WEBSERVER
-    case FUNC_WEB_SENSOR:
-        DYPShow(0);
-        break;
+      case FUNC_WEB_SENSOR:
+          DYPShow(0);
+          break;
 #endif  // USE_WEBSERVER
+    }
   }
   return false;
 }