A touch-sensitive device includes a touch panel, drive unit, and measurement unit. A touch applied to a given node of the panel changes a capacitive coupling between a given drive and sense electrode of the touch panel. The drive unit delivers first and second drive signals, having different first and second frequencies, to first and second drive electrodes respectively at the same or overlapping times. The measurement unit receives a first response signal from a sense electrode, and analyzes the signal using maximum likelihood estimation to determine the coupling capacitance between the first drive electrode and the sense electrode, and between the second drive electrode and the sense electrode. More drive electrodes, including in some cases all the drive electrodes, can be driven with unique drive frequencies, and more sense electrodes, including in some cases all the sense electrodes, can be sensed by the measurement unit.