diff --git a/src/drivers/imu/adis16497/ADIS16497.cpp b/src/drivers/imu/adis16497/ADIS16497.cpp
index 0d81c65bfc..42e012f172 100644
--- a/src/drivers/imu/adis16497/ADIS16497.cpp
+++ b/src/drivers/imu/adis16497/ADIS16497.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,7 +32,6 @@
  ****************************************************************************/
 
 #include "ADIS16497.hpp"
-#include "ADIS16497_gyro.hpp"
 
 #include <px4_config.h>
 #include <ecl/geo/geo.h>
@@ -41,7 +40,7 @@
 #define DIR_WRITE				0x80
 
 // ADIS16497 registers
-static constexpr uint8_t PAGE_ID  		= 0x0; // Page identifier
+static constexpr uint8_t PAGE_ID  	= 0x0; // Page identifier
 
 // Page 0x00
 static constexpr uint8_t SYS_E_FLAG 	= 0x08; // Output, system error flags
@@ -53,145 +52,70 @@ static constexpr uint8_t PROD_ID    	= 0x7E; // Output, product identification
 static constexpr uint8_t GLOB_CMD   	= 0x02; // Control, global commands
 static constexpr uint8_t FNCTIO_CTRL 	= 0x06; // Control, I/O pins, functional definitions
 static constexpr uint8_t GPIO_CTRL  	= 0x08; // Control, I/O pins, general-purpose
-static constexpr uint8_t CONFIG  		= 0x0A; // Control, clock and miscellaneous corrections
-static constexpr uint8_t DEC_RATE  		= 0x0C; // Control, output sample rate decimation
+static constexpr uint8_t CONFIG  	= 0x0A; // Control, clock and miscellaneous corrections
+static constexpr uint8_t DEC_RATE  	= 0x0C; // Control, output sample rate decimation
 static constexpr uint8_t NULL_CNFG  	= 0x0E; // Control, automatic bias correction configuration
 static constexpr uint8_t SYNC_SCALE  	= 0x10; // Control, automatic bias correction configuration
 static constexpr uint8_t RANG_MDL   	= 0x12; // Measurement range (model-specific) Identifier TODO use this
 static constexpr uint8_t FILTR_BNK_0   	= 0x16; // Filter selection
 static constexpr uint8_t FILTR_BNK_1   	= 0x18; // Filter selection
 
+static constexpr uint16_t PROD_ID_ADIS16497 = 0x4071;	// ADIS16497 Identification, device number
+
 // Stall time between SPI transfers
 static constexpr uint8_t T_STALL = 2;
 
+static constexpr uint32_t ADIS16497_DEFAULT_RATE = 1000;
+
 using namespace time_literals;
 
-ADIS16497::ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation) :
-	SPI("ADIS16497", path_accel, bus, device, SPIDEV_MODE3, 5000000),
+ADIS16497::ADIS16497(int bus, uint32_t device, enum Rotation rotation) :
+	SPI("ADIS16497", nullptr, bus, device, SPIDEV_MODE3, 5000000),
 	ScheduledWorkItem(px4::device_bus_to_wq(get_device_id())),
-	_gyro(new ADIS16497_gyro(this, path_gyro)),
-	_sample_perf(perf_alloc(PC_ELAPSED, "ADIS16497_read")),
-	_sample_interval_perf(perf_alloc(PC_INTERVAL, "ADIS16497_read_int")),
-	_bad_transfers(perf_alloc(PC_COUNT, "ADIS16497_bad_transfers")),
-	_rotation(rotation)
+	_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
+	_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
+	_sample_interval_perf(perf_alloc(PC_INTERVAL, "adis16497: read interval")),
+	_sample_perf(perf_alloc(PC_ELAPSED, "adis16497: read")),
+	_bad_transfers(perf_alloc(PC_COUNT, "adis16497: bad transfers"))
 {
-
 #ifdef GPIO_SPI1_RESET_ADIS16497
 	// Configure hardware reset line
 	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16497);
-#endif /* GPIO_SPI1_RESET_ADIS16497 */
-
-	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_ADIS16497;
+#endif // GPIO_SPI1_RESET_ADIS16497
 
-	_gyro->_device_id.devid = _device_id.devid;
-	_gyro->_device_id.devid_s.devtype = DRV_GYR_DEVTYPE_ADIS16497;
+	_px4_accel.set_device_type(DRV_ACC_DEVTYPE_ADIS16497);
+	_px4_accel.set_sample_rate(ADIS16497_DEFAULT_RATE);
+	_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
 
-	// Software low pass filter for controllers
-	const param_t accel_cut_ph = param_find("IMU_ACCEL_CUTOFF");
-	float accel_cut = ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ;
-
-	if (accel_cut_ph != PARAM_INVALID && param_get(accel_cut_ph, &accel_cut) == PX4_OK) {
-		_accel_filter.set_cutoff_frequency(_sample_rate, accel_cut);
-
-	} else {
-		PX4_ERR("IMU_ACCEL_CUTOFF param invalid");
-	}
-
-	const param_t gyro_cut_ph = param_find("IMU_GYRO_CUTOFF");
-	float gyro_cut = ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ;
-
-	if (gyro_cut_ph != PARAM_INVALID && param_get(gyro_cut_ph, &gyro_cut) == PX4_OK) {
-		_gyro_filter.set_cutoff_frequency(_sample_rate, gyro_cut);
-
-	} else {
-		PX4_ERR("IMU_GYRO_CUTOFF param invalid");
-	}
+	_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_ADIS16497);
+	_px4_gyro.set_sample_rate(ADIS16497_DEFAULT_RATE);
+	_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
 }
 
 ADIS16497::~ADIS16497()
 {
-	/* make sure we are truly inactive */
+	// make sure we are truly inactive
 	stop();
 
-	/* delete the gyro subdriver */
-	delete _gyro;
-
-	if (_accel_class_instance != -1) {
-		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
-	}
-
-	/* delete the perf counter */
-	perf_free(_sample_perf);
+	// delete the perf counters
 	perf_free(_sample_interval_perf);
+	perf_free(_sample_perf);
 	perf_free(_bad_transfers);
 }
 
 int
 ADIS16497::init()
 {
-	if (hrt_absolute_time() < 250_ms) {
-		// Power-on startup time (if needed)
-		up_mdelay(250);
-	}
-
-	/* do SPI init (and probe) first */
+	// do SPI init (and probe) first
 	if (SPI::init() != OK) {
-		/* if probe/setup failed, bail now */
-		DEVICE_DEBUG("SPI setup failed");
+		// if probe/setup failed, bail now
+		PX4_DEBUG("SPI setup failed");
 		return PX4_ERROR;
 	}
 
-	/* Initialize offsets and scales */
-	_gyro_scale.x_offset = 0.0f;
-	_gyro_scale.x_scale  = 1.0f;
-	_gyro_scale.y_offset = 0.0f;
-	_gyro_scale.y_scale  = 1.0f;
-	_gyro_scale.z_offset = 0.0f;
-	_gyro_scale.z_scale  = 1.0f;
-
-	_accel_scale.x_offset = 0.0f;
-	_accel_scale.x_scale  = 1.0f;
-	_accel_scale.y_offset = 0.0f;
-	_accel_scale.y_scale  = 1.0f;
-	_accel_scale.z_offset = 0.0f;
-	_accel_scale.z_scale  = 1.0f;
-
-	/* do CDev init for the gyro device node, keep it optional */
-	int ret = _gyro->init();
-
-	/* if probe/setup failed, bail now */
-	if (ret != OK) {
-		DEVICE_DEBUG("gyro init failed");
-		return ret;
-	}
-
-	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
-
-	/* fetch an initial set of measurements for advertisement */
-	measure();
-
-	/* advertise sensor topic, measure manually to initialize valid report */
-	sensor_accel_s arp = {};
-
-	/* measurement will have generated a report, publish */
-	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &arp, &_accel_orb_class_instance, ORB_PRIO_MAX);
-
-	if (_accel_topic == nullptr) {
-		PX4_ERR("ADVERT FAIL");
-	}
-
-	sensor_gyro_s grp = {};
-	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp, &_gyro->_gyro_orb_class_instance, ORB_PRIO_MAX);
-
-	if (_gyro->_gyro_topic == nullptr) {
-		PX4_ERR("ADVERT FAIL");
-	}
+	start();
 
-	if (ret == PX4_OK) {
-		start();
-	}
-
-	return ret;
+	return PX4_OK;
 }
 
 int ADIS16497::reset()
@@ -201,22 +125,19 @@ int ADIS16497::reset()
 	px4_arch_gpiowrite(GPIO_SPI1_RESET_ADIS16497, 0);
 
 	// The RST line must be in a low state for at least 10 μs to ensure a proper reset initiation and recovery.
-	up_udelay(10);
+	usleep(10_us);
 
 	px4_arch_gpiowrite(GPIO_SPI1_RESET_ADIS16497, 1);
-
-	// Reset recovery time
-	up_mdelay(250);
 #else
 	// Software reset (global command bit 7)
-	uint8_t value[2] = {};
+	uint8_t value[2] {};
 	value[0] = (1 << 7);
 	write_reg16(PAGE_ID, 0x03);
 	write_reg16(GLOB_CMD, (uint16_t)value[0]);
+#endif // GPIO_SPI1_RESET_ADIS16497
 
 	// Reset recovery time
-	up_mdelay(210);
-#endif /* GPIO_SPI1_RESET_ADIS16497 */
+	usleep(210_ms);
 
 	// Switch to configuration page
 	write_reg16(PAGE_ID, 0x03);
@@ -226,7 +147,7 @@ int ADIS16497::reset()
 
 	write_reg16(FNCTIO_CTRL, FNCTIO_CTRL_DEFAULT);
 
-	up_udelay(340);
+	usleep(340_us);
 
 	const uint16_t fnctio_ctrl = read_reg16(FNCTIO_CTRL);
 
@@ -240,7 +161,7 @@ int ADIS16497::reset()
 
 	write_reg16(CONFIG, CONFIG_DEFAULT);
 
-	up_udelay(45);
+	usleep(45_us);
 
 	const uint16_t config = read_reg16(CONFIG);
 
@@ -254,7 +175,7 @@ int ADIS16497::reset()
 
 	write_reg16(DEC_RATE, DEC_RATE_DEFAULT);
 
-	up_udelay(340);
+	usleep(340_us);
 
 	const uint16_t dec_rate = read_reg16(DEC_RATE);
 
@@ -268,7 +189,7 @@ int ADIS16497::reset()
 
 	write_reg16(NULL_CNFG, NULL_CNFG_DEFAULT);
 
-	up_udelay(71);
+	usleep(71_us);
 
 	const uint16_t null_cnfg = read_reg16(NULL_CNFG);
 
@@ -284,7 +205,7 @@ int ADIS16497::reset()
 	write_reg16(FILTR_BNK_0, FILTR_BNK_0_SETUP);
 	write_reg16(FILTR_BNK_1, FILTR_BNK_1_SETUP);
 
-	up_udelay(65);
+	usleep(65_us);
 
 	const uint16_t filtr_bnk_0 = read_reg16(FILTR_BNK_0);
 
@@ -308,7 +229,7 @@ int ADIS16497::reset()
 	write_reg16(GLOB_CMD, (uint16_t)value[0]);
 
 	// save Recovery Time
-	up_mdelay(1125);
+	usleep(1125_ms);
 	*/
 
 	return OK;
@@ -317,35 +238,30 @@ int ADIS16497::reset()
 int
 ADIS16497::probe()
 {
-	DEVICE_DEBUG("probe");
+	reset();
 
 	// read product id (5 attempts)
 	for (int i = 0; i < 5; i++) {
 
-		if (reset() != PX4_OK) {
-			continue;
-		}
-
 		// Switch to output page
 		write_reg16(PAGE_ID, 0x00);
 
-		// Check if the device is an ADIS16497
-		static constexpr uint16_t PROD_ID_ADIS16497 = 0x4071;
-
 		uint16_t product_id = read_reg16(PROD_ID);
 
 		if (product_id == PROD_ID_ADIS16497) {
+			PX4_DEBUG("PRODUCT: %X", product_id);
 
-			if (self_test_sensor()) {
-				// TODO check model here and set measurement ranges
+			if (self_test()) {
 				return PX4_OK;
 
 			} else {
 				PX4_ERR("probe attempt %d: self test failed, resetting", i);
+				reset();
 			}
 
 		} else {
 			PX4_ERR("probe attempt %d: read product id failed, resetting", i);
+			reset();
 		}
 	}
 
@@ -353,17 +269,17 @@ ADIS16497::probe()
 }
 
 bool
-ADIS16497::self_test_sensor()
+ADIS16497::self_test()
 {
 	// Switch to configuration page
 	write_reg16(PAGE_ID, 0x03);
 
 	// Self test (globa l command bit 1)
-	uint8_t value[2] = {};
+	uint8_t value[2] {};
 	value[0] = (1 << 1);
 	write_reg16(GLOB_CMD, (uint16_t)value[0]);
 
-	up_mdelay(20); // Self test time
+	usleep(20_ms); // Self test time
 
 	// Switch to output page
 	write_reg16(PAGE_ID, 0x0);
@@ -387,50 +303,10 @@ ADIS16497::self_test_sensor()
 	return true;
 }
 
-int
-ADIS16497::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-	case SENSORIOCRESET:
-		return reset();
-
-	case ACCELIOCSSCALE: {
-			/* copy scale, but only if off by a few percent */
-			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
-			memcpy(&_accel_scale, s, sizeof(_accel_scale));
-			return OK;
-		}
-
-	default:
-		/* give it to the superclass */
-		return SPI::ioctl(filp, cmd, arg);
-	}
-}
-
-int
-ADIS16497::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-
-	/* these are shared with the accel side */
-	case SENSORIOCRESET:
-		return ioctl(filp, cmd, arg);
-
-	case GYROIOCSSCALE:
-		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
-		return OK;
-
-	default:
-		/* give it to the superclass */
-		return SPI::ioctl(filp, cmd, arg);
-	}
-}
-
 uint16_t
 ADIS16497::read_reg16(uint8_t reg)
 {
-	uint16_t cmd[1];
+	uint16_t cmd[1] {};
 
 	cmd[0] = ((reg | DIR_READ) << 8) & 0xff00;
 	transferhword(cmd, nullptr, 1);
@@ -444,7 +320,7 @@ ADIS16497::read_reg16(uint8_t reg)
 void
 ADIS16497::write_reg(uint8_t reg, uint8_t val)
 {
-	uint8_t cmd[2];
+	uint8_t cmd[2] {};
 	cmd[0] = reg | 0x8;
 	cmd[1] = val;
 	transfer(cmd, cmd, sizeof(cmd));
@@ -453,7 +329,7 @@ ADIS16497::write_reg(uint8_t reg, uint8_t val)
 void
 ADIS16497::write_reg16(uint8_t reg, uint16_t value)
 {
-	uint16_t cmd[2];
+	uint16_t cmd[2] {};
 
 	cmd[0] = ((reg | DIR_WRITE) << 8) | (0x00ff & value);
 	cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8);
@@ -474,8 +350,8 @@ ADIS16497::start()
 	// Make sure we are stopped first
 	stop();
 
-	// Start polling at the specified rate
-	ScheduleOnInterval(_call_interval, 1000);
+	// start polling at the specified rate
+	ScheduleOnInterval((1_s / ADIS16497_DEFAULT_RATE), 10000);
 #endif
 }
 
@@ -495,7 +371,7 @@ ADIS16497::data_ready_interrupt(int irq, void *context, void *arg)
 {
 	ADIS16497 *dev = reinterpret_cast<ADIS16497 *>(arg);
 
-	/* make another measurement */
+	// make another measurement
 	dev->ScheduleNow();
 
 	return PX4_OK;
@@ -504,24 +380,24 @@ ADIS16497::data_ready_interrupt(int irq, void *context, void *arg)
 void
 ADIS16497::Run()
 {
-	/* make another measurement */
+	// make another measurement
 	measure();
 }
 
 int
 ADIS16497::measure()
 {
-	perf_begin(_sample_perf);
 	perf_count(_sample_interval_perf);
+	perf_begin(_sample_perf);
 
 	// Fetch the full set of measurements from the ADIS16497 in one pass (burst read).
-	ADISReport adis_report {};
+	ADISReport adis_report{};
 	adis_report.cmd = ((BURST_CMD | DIR_READ) << 8) & 0xff00;
 
 	// ADIS16497 burst report should be 320 bits
 	static_assert(sizeof(adis_report) == (320 / 8), "ADIS16497 report not 320 bits");
 
-	const hrt_abstime t = hrt_absolute_time();
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
 
 	if (OK != transferhword((uint16_t *)&adis_report, ((uint16_t *)&adis_report), sizeof(adis_report) / sizeof(uint16_t))) {
 		perf_count(_bad_transfers);
@@ -534,19 +410,21 @@ ADIS16497::measure()
 	static constexpr uint16_t BURST_ID_DEFAULT = 0xA5A5;
 
 	if (adis_report.BURST_ID != BURST_ID_DEFAULT) {
-		PX4_ERR("BURST_ID: %#X", adis_report.BURST_ID);
+		PX4_DEBUG("BURST_ID: %#X", adis_report.BURST_ID);
 
 		perf_count(_bad_transfers);
 		perf_end(_sample_perf);
+
 		return -EIO;
 	}
 
 	// Check all Status/Error Flag Indicators
 	if (adis_report.SYS_E_FLAG != 0) {
-		PX4_ERR("SYS_E_FLAG: %#X", adis_report.SYS_E_FLAG);
+		PX4_DEBUG("SYS_E_FLAG: %#X", adis_report.SYS_E_FLAG);
 
 		perf_count(_bad_transfers);
 		perf_end(_sample_perf);
+
 		return -EIO;
 	}
 
@@ -554,123 +432,49 @@ ADIS16497::measure()
 	uint32_t checksum_calc = crc32((uint16_t *)&adis_report.SYS_E_FLAG, 15);
 
 	if (checksum != checksum_calc) {
-		PX4_ERR("CHECKSUM: %#X vs. calculated: %#X", checksum, checksum_calc);
+		PX4_DEBUG("CHECKSUM: %#X vs. calculated: %#X", checksum, checksum_calc);
+
 		perf_count(_bad_transfers);
 		perf_end(_sample_perf);
+
 		return -EIO;
 	}
 
-	// TODO check data counter here to see if we're missing samples/getting repeated samples
-
-	publish_accel(t, adis_report);
-	publish_gyro(t, adis_report);
-
-	perf_end(_sample_perf);
-	return OK;
-}
-
-void
-ADIS16497::publish_accel(const hrt_abstime &t, const ADISReport &report)
-{
-	float xraw_f = (int32_t(report.X_ACCEL_OUT) << 16 | report.X_ACCEL_LOW) / 65536.0f * _accel_range_scale;
-	float yraw_f = (int32_t(report.Y_ACCEL_OUT) << 16 | report.Y_ACCEL_LOW) / 65536.0f * _accel_range_scale;
-	float zraw_f = (int32_t(report.Z_ACCEL_OUT) << 16 | report.Z_ACCEL_LOW) / 65536.0f * _accel_range_scale;
-
-	// Apply user specified rotation
-	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
-
-	const float x_in_new = (xraw_f - _accel_scale.x_offset) * _accel_scale.x_scale;
-	const float y_in_new = (yraw_f - _accel_scale.y_offset) * _accel_scale.y_scale;
-	const float z_in_new = (zraw_f - _accel_scale.z_offset) * _accel_scale.z_scale;
-
-	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
-
-	const matrix::Vector3f val_filt = _accel_filter.apply(aval);
-
-	sensor_accel_s arb{};
-	matrix::Vector3f aval_integrated;
-
-	if (_accel_int.put(t, aval, aval_integrated, arb.integral_dt)) {
-		arb.timestamp = t;
+	const uint64_t error_count = perf_event_count(_bad_transfers);
+	_px4_accel.set_error_count(error_count);
+	_px4_gyro.set_error_count(error_count);
 
-		arb.device_id = _device_id.devid;
-		arb.error_count = perf_event_count(_bad_transfers);
+	const float temperature = (int16_t(adis_report.TEMP_OUT) * 0.0125f) + 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
+	_px4_accel.set_temperature(temperature);
+	_px4_gyro.set_temperature(temperature);
 
-		// Raw sensor readings
-		arb.x_raw = report.X_ACCEL_OUT;
-		arb.y_raw = report.Y_ACCEL_OUT;
-		arb.z_raw = report.Z_ACCEL_OUT;
-		arb.scaling = _accel_range_scale;
-
-		// Filtered values for controls
-		arb.x = val_filt(0);
-		arb.y = val_filt(1);
-		arb.z = val_filt(2);
-
-		// Intgrated values for estimation
-		arb.x_integral = aval_integrated(0);
-		arb.y_integral = aval_integrated(1);
-		arb.z_integral = aval_integrated(2);
-
-		arb.temperature = (int16_t(report.TEMP_OUT) * 0.0125f) + 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
-
-		orb_publish(ORB_ID(sensor_accel), _accel_topic, &arb);
+	// TODO check data counter here to see if we're missing samples/getting repeated samples
+	{
+		float xraw_f = (int32_t(adis_report.X_ACCEL_OUT) << 16 | adis_report.X_ACCEL_LOW) / 65536.0f;
+		float yraw_f = (int32_t(adis_report.Y_ACCEL_OUT) << 16 | adis_report.Y_ACCEL_LOW) / 65536.0f;
+		float zraw_f = (int32_t(adis_report.Z_ACCEL_OUT) << 16 | adis_report.Z_ACCEL_LOW) / 65536.0f;
+		_px4_accel.update(timestamp_sample, xraw_f, yraw_f, zraw_f);
 	}
-}
-
-void
-ADIS16497::publish_gyro(const hrt_abstime &t, const ADISReport &report)
-{
-	float xraw_f = (int32_t(report.X_GYRO_OUT) << 16 | report.X_GYRO_LOW) / 65536.0f;
-	float yraw_f = (int32_t(report.Y_GYRO_OUT) << 16 | report.Y_GYRO_LOW) / 65536.0f;
-	float zraw_f = (int32_t(report.Z_GYRO_OUT) << 16 | report.Z_GYRO_LOW) / 65536.0f;
-
-	// Apply user specified rotation
-	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
-
-	const float x_gyro_in_new = (math::radians(xraw_f * _gyro_range_scale) - _gyro_scale.x_offset) * _gyro_scale.x_scale;
-	const float y_gyro_in_new = (math::radians(yraw_f * _gyro_range_scale) - _gyro_scale.y_offset) * _gyro_scale.y_scale;
-	const float z_gyro_in_new = (math::radians(zraw_f * _gyro_range_scale) - _gyro_scale.z_offset) * _gyro_scale.z_scale;
-
-	matrix::Vector3f gval(x_gyro_in_new, y_gyro_in_new, z_gyro_in_new);
-
-	const matrix::Vector3f gval_filt = _gyro_filter.apply(gval);
 
-	sensor_gyro_s grb{};
-	matrix::Vector3f gval_integrated;
-
-	if (_gyro_int.put(t, gval, gval_integrated, grb.integral_dt)) {
-		grb.timestamp = t;
-
-		grb.device_id = _gyro->_device_id.devid;
-		grb.error_count = perf_event_count(_bad_transfers);
-
-		// Raw sensor readings
-		grb.x_raw = report.X_GYRO_OUT;
-		grb.y_raw = report.Y_GYRO_OUT;
-		grb.z_raw = report.Z_GYRO_OUT;
-		grb.scaling = math::radians(_gyro_range_scale);
-
-		// Filtered values for controls
-		grb.x = gval_filt(0);
-		grb.y = gval_filt(1);
-		grb.z = gval_filt(2);
-
-		// Unfiltered integrated values for estimation
-		grb.x_integral = gval_integrated(0);
-		grb.y_integral = gval_integrated(1);
-		grb.z_integral = gval_integrated(2);
+	{
+		float xraw_f = (int32_t(adis_report.X_GYRO_OUT) << 16 | adis_report.X_GYRO_LOW) / 65536.0f;
+		float yraw_f = (int32_t(adis_report.Y_GYRO_OUT) << 16 | adis_report.Y_GYRO_LOW) / 65536.0f;
+		float zraw_f = (int32_t(adis_report.Z_GYRO_OUT) << 16 | adis_report.Z_GYRO_LOW) / 65536.0f;
+		_px4_gyro.update(timestamp_sample, xraw_f, yraw_f, zraw_f);
+	}
 
-		grb.temperature = (int16_t(report.TEMP_OUT) * 0.0125f) + 25.0f; // 1 LSB = 0.0125°C, 0x0000 at 25°C
+	perf_end(_sample_perf);
 
-		orb_publish(ORB_ID(sensor_gyro), _gyro->_gyro_topic, &grb);
-	}
+	return OK;
 }
 
 void
 ADIS16497::print_info()
 {
-	perf_print_counter(_sample_perf);
 	perf_print_counter(_sample_interval_perf);
+	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);
+
+	_px4_accel.print_status();
+	_px4_gyro.print_status();
 }
diff --git a/src/drivers/imu/adis16497/ADIS16497.hpp b/src/drivers/imu/adis16497/ADIS16497.hpp
index 607ae2e193..1e80b41398 100644
--- a/src/drivers/imu/adis16497/ADIS16497.hpp
+++ b/src/drivers/imu/adis16497/ADIS16497.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,29 +36,18 @@
  *
  */
 
-#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
-#define DRIVERS_IMU_ADIS16497_ADIS16497_HPP_
+#pragma once
 
-#include <drivers/device/ringbuffer.h>
 #include <drivers/device/spi.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_accel.h>
-#include <drivers/drv_gyro.h>
-#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
-#include <drivers/device/integrator.h>
 #include <lib/conversion/rotation.h>
 #include <perf/perf_counter.h>
 #include <ecl/geo/geo.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
-
-#define ADIS16497_GYRO_DEFAULT_RATE			1000
-#define ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ	80
-
-#define ADIS16497_ACCEL_DEFAULT_RATE			1000
-#define ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ	30
+#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
+#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 
 // TODO : This is a copy of the NuttX CRC32 table
-static const uint32_t crc32_tab[] = {
+static constexpr uint32_t crc32_tab[] = {
 	0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
 	0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
 	0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
@@ -93,68 +82,30 @@ static const uint32_t crc32_tab[] = {
 	0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
 };
 
-class ADIS16497_gyro;
-
 class ADIS16497 : public device::SPI, public px4::ScheduledWorkItem
 {
 public:
-	ADIS16497(int bus, const char *path_accel, const char *path_gyro, uint32_t device, enum Rotation rotation);
+	ADIS16497(int bus, uint32_t device, enum Rotation rotation = ROTATION_NONE);
 	virtual ~ADIS16497();
 
 	virtual int		init();
 
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
-
 	void			print_info();
 
 protected:
 	virtual int		probe();
 
-	friend class ADIS16497_gyro;
-
-	virtual int		gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
-
 private:
-	ADIS16497_gyro		*_gyro{nullptr};
-
-	unsigned		_call_interval{1000};
-
-	struct gyro_calibration_s	_gyro_scale {};
-
-	// gyro 0.025 °/sec/LSB
-	float				_gyro_range_scale{0.025f};
-	float				_gyro_range_rad_s{math::radians(500.0f)};
-
-	struct accel_calibration_s	_accel_scale {};
-
-	// accel 1.25 mg/LSB
-	float				_accel_range_scale{1.25f * CONSTANTS_ONE_G / 1000.0f};
-	float				_accel_range_m_s2{40.0f * CONSTANTS_ONE_G};
-
-	orb_advert_t		_accel_topic{nullptr};
-
-	int					_accel_orb_class_instance{-1};
-	int					_accel_class_instance{-1};
 
-	unsigned			_sample_rate{1000};
+	PX4Accelerometer	_px4_accel;
+	PX4Gyroscope		_px4_gyro;
 
-	perf_counter_t		_sample_perf;
 	perf_counter_t		_sample_interval_perf;
-
+	perf_counter_t		_sample_perf;
 	perf_counter_t		_bad_transfers;
 
-	math::LowPassFilter2pVector3f	_gyro_filter{ADIS16497_GYRO_DEFAULT_RATE, ADIS16497_GYRO_DEFAULT_DRIVER_FILTER_FREQ};
-	math::LowPassFilter2pVector3f	_accel_filter{ADIS16497_ACCEL_DEFAULT_RATE, ADIS16497_ACCEL_DEFAULT_DRIVER_FILTER_FREQ};
-
-	Integrator			_accel_int{4000, false};
-	Integrator			_gyro_int{4000, true};
-
-	enum Rotation		_rotation;
-
 #pragma pack(push, 1)
-	/**
-	 * Report conversation with the ADIS16497, including command byte.
-	 */
+	// Report conversation with the ADIS16497, including command byte.
 	struct ADISReport {
 		uint16_t	cmd;
 		uint16_t	ZEROES;
@@ -182,12 +133,12 @@ private:
 	/**
 	 * Start automatic measurement.
 	 */
-	void		start();
+	void			start();
 
 	/**
 	 * Stop automatic measurement.
 	 */
-	void		stop();
+	void			stop();
 
 	/**
 	 * Reset chip.
@@ -196,10 +147,6 @@ private:
 	 */
 	int			reset();
 
-	/**
-	 * Called by the ScheduledWorkItem at the specified rate if
-	 * automatic polling is enabled.
-	 */
 	void			Run() override;
 
 	static int		data_ready_interrupt(int irq, void *context, void *arg);
@@ -209,21 +156,15 @@ private:
 	 */
 	int			measure();
 
-	void			publish_accel(const hrt_abstime &t, const ADISReport &report);
-	void			publish_gyro(const hrt_abstime &t, const ADISReport &report);
-
 	uint16_t		read_reg16(uint8_t reg);
 
 	void			write_reg(uint8_t reg, uint8_t value);
 	void			write_reg16(uint8_t reg, uint16_t value);
 
 	// ADIS16497 onboard self test
-	bool 			self_test_sensor();
-
-	ADIS16497(const ADIS16497 &);
-	ADIS16497 operator=(const ADIS16497 &);
+	bool 			self_test();
 
-	uint32_t crc32(const uint16_t *data, size_t len)
+	uint32_t crc32(const uint16_t *data, size_t len) const
 	{
 		uint32_t crc = 0xffffffff;
 		uint8_t tbl_idx;
@@ -245,5 +186,3 @@ private:
 	}
 
 };
-
-#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_HPP_ */
diff --git a/src/drivers/imu/adis16497/ADIS16497_gyro.cpp b/src/drivers/imu/adis16497/ADIS16497_gyro.cpp
deleted file mode 100644
index 49e17d8d7d..0000000000
--- a/src/drivers/imu/adis16497/ADIS16497_gyro.cpp
+++ /dev/null
@@ -1,79 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "ADIS16497_gyro.hpp"
-
-ADIS16497_gyro::ADIS16497_gyro(ADIS16497 *parent, const char *path) :
-	CDev("ADIS16497_gyro", path),
-	_parent(parent),
-	_gyro_topic(nullptr),
-	_gyro_orb_class_instance(-1),
-	_gyro_class_instance(-1)
-{
-}
-
-ADIS16497_gyro::~ADIS16497_gyro()
-{
-	if (_gyro_class_instance != -1) {
-		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
-	}
-}
-
-int
-ADIS16497_gyro::init()
-{
-	int ret = CDev::init();
-
-	/* if probe/setup failed, bail now */
-	if (ret != OK) {
-		DEVICE_DEBUG("gyro init failed");
-		return ret;
-	}
-
-	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
-
-	return ret;
-}
-
-int
-ADIS16497_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
-{
-	switch (cmd) {
-	case DEVIOCGDEVICEID:
-		return (int)CDev::ioctl(filp, cmd, arg);
-		break;
-
-	default:
-		return _parent->gyro_ioctl(filp, cmd, arg);
-	}
-}
diff --git a/src/drivers/imu/adis16497/ADIS16497_gyro.hpp b/src/drivers/imu/adis16497/ADIS16497_gyro.hpp
deleted file mode 100644
index bea3890b12..0000000000
--- a/src/drivers/imu/adis16497/ADIS16497_gyro.hpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#ifndef DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
-#define DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_
-
-#include "ADIS16497.hpp"
-
-#include <drivers/device/CDev.hpp>
-#include <drivers/drv_gyro.h>
-
-/**
- * Helper class implementing the gyro driver node.
- */
-class ADIS16497_gyro : public device::CDev
-{
-public:
-	ADIS16497_gyro(ADIS16497 *parent, const char *path);
-	virtual ~ADIS16497_gyro();
-
-	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
-
-	virtual int		init();
-
-protected:
-	friend class ADIS16497;
-
-private:
-	ADIS16497			*_parent{nullptr};
-	orb_advert_t		_gyro_topic{nullptr};
-
-	int					_gyro_orb_class_instance{-1};
-	int					_gyro_class_instance{-1};
-
-	/* do not allow to copy this class due to pointer data members */
-	ADIS16497_gyro(const ADIS16497_gyro &);
-	ADIS16497_gyro operator=(const ADIS16497_gyro &);
-
-};
-
-#endif /* DRIVERS_IMU_ADIS16497_ADIS16497_GYRO_HPP_ */
diff --git a/src/drivers/imu/adis16497/CMakeLists.txt b/src/drivers/imu/adis16497/CMakeLists.txt
index 26b5cb75ce..10c0e99d18 100644
--- a/src/drivers/imu/adis16497/CMakeLists.txt
+++ b/src/drivers/imu/adis16497/CMakeLists.txt
@@ -35,9 +35,12 @@ px4_add_module(
 	MAIN adis16497
 	STACK_MAIN 1200
 	COMPILE_FLAGS
-		-Wno-cast-align # TODO: fix and enable	
+		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		ADIS16497.cpp
-		ADIS16497_gyro.cpp
-		ADIS16497_main.cpp
+		ADIS16497.hpp
+		adis16497_main.cpp
+	DEPENDS
+		drivers_accelerometer
+		drivers_gyroscope
 	)
diff --git a/src/drivers/imu/adis16497/ADIS16497_main.cpp b/src/drivers/imu/adis16497/adis16497_main.cpp
similarity index 56%
rename from src/drivers/imu/adis16497/ADIS16497_main.cpp
rename to src/drivers/imu/adis16497/adis16497_main.cpp
index d14884413a..3321bc7c51 100644
--- a/src/drivers/imu/adis16497/ADIS16497_main.cpp
+++ b/src/drivers/imu/adis16497/adis16497_main.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -32,10 +32,8 @@
  ****************************************************************************/
 
 #include "ADIS16497.hpp"
-#include <systemlib/err.h>
 
-#define ADIS16497_DEVICE_PATH_ACCEL		"/dev/ADIS16497_accel"
-#define ADIS16497_DEVICE_PATH_GYRO		"/dev/ADIS16497_gyro"
+#include <px4_getopt.h>
 
 extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
 
@@ -45,11 +43,9 @@ extern "C" { __EXPORT int adis16497_main(int argc, char *argv[]); }
 namespace adis16497
 {
 
-ADIS16497	*g_dev;
+ADIS16497 *g_dev{nullptr};
 
 void	start(enum Rotation rotation);
-void	test();
-void	reset();
 void	info();
 void	usage();
 /**
@@ -66,8 +62,7 @@ start(enum Rotation rotation)
 
 	/* create the driver */
 #if defined(PX4_SPIDEV_EXTERNAL1_1)
-	g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, ADIS16497_DEVICE_PATH_ACCEL, ADIS16497_DEVICE_PATH_GYRO,
-			      PX4_SPIDEV_EXTERNAL1_1, rotation);
+	g_dev = new ADIS16497(PX4_SPI_BUS_EXTERNAL1, PX4_SPIDEV_EXTERNAL1_1, rotation);
 #else
 	PX4_ERR("External SPI not available");
 	exit(0);
@@ -89,82 +84,7 @@ fail:
 		g_dev = nullptr;
 	}
 
-	errx(1, "driver start failed");
-}
-
-/**
- * Perform some basic functional tests on the driver;
- * make sure we can collect data from the sensor in polled
- * and automatic modes.
- */
-void
-test()
-{
-	sensor_accel_s a_report{};
-	sensor_gyro_s g_report{};
-
-	ssize_t sz;
-
-	/* get the driver */
-	int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
-
-	if (fd < 0) {
-		err(1, "%s open failed", ADIS16497_DEVICE_PATH_ACCEL);
-	}
-
-	/* get the gyro driver */
-	int fd_gyro = px4_open(ADIS16497_DEVICE_PATH_GYRO, O_RDONLY);
-
-	if (fd_gyro < 0) {
-		err(1, "%s open failed", ADIS16497_DEVICE_PATH_GYRO);
-	}
-
-	/* do a simple demand read */
-	sz = read(fd, &a_report, sizeof(a_report));
-
-	if (sz != sizeof(a_report)) {
-		PX4_ERR("ret: %d, expected: %d", sz, sizeof(a_report));
-		err(1, "immediate acc read failed");
-	}
-
-	print_message(a_report);
-
-	/* do a simple demand read */
-	sz = px4_read(fd_gyro, &g_report, sizeof(g_report));
-
-	if (sz != sizeof(g_report)) {
-		warnx("ret: %d, expected: %d", sz, sizeof(g_report));
-		err(1, "immediate gyro read failed");
-	}
-
-	print_message(g_report);
-
-	px4_close(fd_gyro);
-	px4_close(fd);
-
-	reset();
-	errx(0, "PASS");
-}
-
-/**
- * Reset the driver.
- */
-void
-reset()
-{
-	int fd = px4_open(ADIS16497_DEVICE_PATH_ACCEL, O_RDONLY);
-
-	if (fd < 0) {
-		err(1, "open failed");
-	}
-
-	if (px4_ioctl(fd, SENSORIOCRESET, 0) < 0) {
-		err(1, "driver reset failed");
-	}
-
-	px4_close(fd);
-
-	exit(0);
+	PX4_ERR("driver start failed");
 }
 
 /**
@@ -174,19 +94,16 @@ void
 info()
 {
 	if (g_dev == nullptr) {
-		errx(1, "driver not running");
+		PX4_WARN("driver not running");
 	}
 
-	printf("state @ %p\n", g_dev);
 	g_dev->print_info();
-
-	exit(0);
 }
 
 void
 usage()
 {
-	PX4_INFO("missing command: try 'start', 'test', 'info', 'reset'");
+	PX4_INFO("missing command: try 'start', 'info'");
 	PX4_INFO("options:");
 	PX4_INFO("    -R rotation");
 }
@@ -198,22 +115,24 @@ int
 adis16497_main(int argc, char *argv[])
 {
 	enum Rotation rotation = ROTATION_NONE;
-	int ch;
+	int myoptind = 1;
+	int ch = 0;
+	const char *myoptarg = nullptr;
 
 	/* start options */
-	while ((ch = getopt(argc, argv, "R:")) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "R:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'R':
-			rotation = (enum Rotation)atoi(optarg);
+			rotation = (enum Rotation)atoi(myoptarg);
 			break;
 
 		default:
 			adis16497::usage();
-			exit(0);
+			return 0;
 		}
 	}
 
-	const char *verb = argv[optind];
+	const char *verb = argv[myoptind];
 
 	/*
 	 * Start/load the driver.
@@ -223,20 +142,6 @@ adis16497_main(int argc, char *argv[])
 		adis16497::start(rotation);
 	}
 
-	/*
-	 * Test the driver/device.
-	 */
-	if (!strcmp(verb, "test")) {
-		adis16497::test();
-	}
-
-	/*
-	 * Reset the driver.
-	 */
-	if (!strcmp(verb, "reset")) {
-		adis16497::reset();
-	}
-
 	/*
 	 * Print driver information.
 	 */
@@ -245,5 +150,6 @@ adis16497_main(int argc, char *argv[])
 	}
 
 	adis16497::usage();
-	exit(1);
+
+	return 0;
 }
diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp
index 9d08dfd013..1e0363f18e 100644
--- a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+++ b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp
@@ -104,19 +104,18 @@ void PX4Accelerometer::set_sample_rate(unsigned rate)
 	_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
 }
 
-void PX4Accelerometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
+void PX4Accelerometer::update(hrt_abstime timestamp, float x, float y, float z)
 {
 	sensor_accel_s &report = _sensor_accel_pub.get();
 	report.timestamp = timestamp;
 
 	// Apply rotation (before scaling)
-	float xraw_f = x;
-	float yraw_f = y;
-	float zraw_f = z;
-	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+	rotate_3f(_rotation, x, y, z);
+
+	const matrix::Vector3f raw{x, y, z};
 
 	// Apply range scale and the calibrating offset/scale
-	const matrix::Vector3f val_calibrated{(((matrix::Vector3f{xraw_f, yraw_f, zraw_f} * report.scaling) - _calibration_offset).emult(_calibration_scale))};
+	const matrix::Vector3f val_calibrated{(((raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};
 
 	// Filtered values
 	const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};
diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp
index cfc872bfbb..604c8291e5 100644
--- a/src/lib/drivers/accelerometer/PX4Accelerometer.hpp
+++ b/src/lib/drivers/accelerometer/PX4Accelerometer.hpp
@@ -60,7 +60,7 @@ public:
 
 	void set_sample_rate(unsigned rate);
 
-	void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
+	void update(hrt_abstime timestamp, float x, float y, float z);
 
 	void print_status();
 
diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp
index facd9a9335..a4622e69fd 100644
--- a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp
+++ b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp
@@ -104,19 +104,18 @@ void PX4Gyroscope::set_sample_rate(unsigned rate)
 	_filter.set_cutoff_frequency(_sample_rate, _filter.get_cutoff_freq());
 }
 
-void PX4Gyroscope::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
+void PX4Gyroscope::update(hrt_abstime timestamp, float x, float y, float z)
 {
 	sensor_gyro_s &report = _sensor_gyro_pub.get();
 	report.timestamp = timestamp;
 
 	// Apply rotation (before scaling)
-	float xraw_f = x;
-	float yraw_f = y;
-	float zraw_f = z;
-	rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
+	rotate_3f(_rotation, x, y, z);
+
+	const matrix::Vector3f raw{x, y, z};
 
 	// Apply range scale and the calibrating offset/scale
-	const matrix::Vector3f val_calibrated{(((matrix::Vector3f{xraw_f, yraw_f, zraw_f} * report.scaling) - _calibration_offset).emult(_calibration_scale))};
+	const matrix::Vector3f val_calibrated{(((raw * report.scaling) - _calibration_offset).emult(_calibration_scale))};
 
 	// Filtered values
 	const matrix::Vector3f val_filtered{_filter.apply(val_calibrated)};
diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp
index 274d92c8f8..6868038b46 100644
--- a/src/lib/drivers/gyroscope/PX4Gyroscope.hpp
+++ b/src/lib/drivers/gyroscope/PX4Gyroscope.hpp
@@ -60,7 +60,7 @@ public:
 
 	void set_sample_rate(unsigned rate);
 
-	void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
+	void update(hrt_abstime timestamp, float x, float y, float z);
 
 	void print_status();