diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 03fed9e23d..e927765929 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -110,6 +110,8 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_battery_pub(nullptr),
 	_cmd_pub(nullptr),
 	_flow_pub(nullptr),
+	_hil_distance_sensor_pub(nullptr),
+	_flow_distance_sensor_pub(nullptr),
 	_distance_sensor_pub(nullptr),
 	_offboard_control_mode_pub(nullptr),
 	_actuator_controls_pub(nullptr),
@@ -462,15 +464,15 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	d.max_distance = 5.0f;
 	d.current_distance = flow.distance; /* both are in m */
 	d.type = 1;
-	d.id = 0;
+	d.id = MAV_DISTANCE_SENSOR_ULTRASOUND;
 	d.orientation = 8;
 	d.covariance = 0.0;
 
-	if (_distance_sensor_pub == nullptr) {
-		_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
+	if (_flow_distance_sensor_pub == nullptr) {
+		_flow_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
 								     &_orb_class_instance, ORB_PRIO_HIGH);
 	} else {
-		orb_publish(ORB_ID(distance_sensor), _distance_sensor_pub, &d);
+		orb_publish(ORB_ID(distance_sensor), _flow_distance_sensor_pub, &d);
 	}
 }
 
@@ -517,11 +519,11 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 	d.orientation = 8;
 	d.covariance = 0.0;
 
-	if (_distance_sensor_pub == nullptr) {
-		_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
+	if (_hil_distance_sensor_pub == nullptr) {
+		_hil_distance_sensor_pub = orb_advertise_multi(ORB_ID(distance_sensor), &d,
 								     &_orb_class_instance, ORB_PRIO_HIGH);
 	} else {
-		orb_publish(ORB_ID(distance_sensor), _distance_sensor_pub, &d);
+		orb_publish(ORB_ID(distance_sensor), _hil_distance_sensor_pub, &d);
 	}
 }
 
@@ -574,7 +576,7 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
 	d.max_distance = float(dist_sensor.max_distance) * 1e-2f; /* cm to m */
 	d.current_distance = float(dist_sensor.current_distance) * 1e-2f; /* cm to m */
 	d.type = dist_sensor.type;
-	d.id = dist_sensor.id;
+	d.id = 	MAV_DISTANCE_SENSOR_LASER;
 	d.orientation = dist_sensor.orientation;
 	d.covariance = dist_sensor.covariance;
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 2363516a9a..ed4c3ee39b 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -178,6 +178,8 @@ private:
 	orb_advert_t _battery_pub;
 	orb_advert_t _cmd_pub;
 	orb_advert_t _flow_pub;
+	orb_advert_t _hil_distance_sensor_pub;
+	orb_advert_t _flow_distance_sensor_pub;
 	orb_advert_t _distance_sensor_pub;
 	orb_advert_t _offboard_control_mode_pub;
 	orb_advert_t _actuator_controls_pub;