diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 153a16f231..05f6b67ea1 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -49,7 +49,6 @@
 #define GYRO_BASE_DEVICE_PATH	"/dev/gyro"
 
 #include <uORB/topics/sensor_gyro.h>
-#define gyro_report sensor_gyro_s
 
 /** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
 struct gyro_calibration_s {
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index d77c0c4aa2..d7ba0116fd 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -597,7 +597,7 @@ ADIS16448::init()
 	}
 
 	/* allocate basic report buffers */
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_gyro_reports == nullptr) {
 		goto out;
@@ -676,7 +676,7 @@ ADIS16448::init()
 		warnx("ADVERT FAIL");
 	}
 
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 
 	_gyro_reports->get(&grp);
 
@@ -892,7 +892,7 @@ ADIS16448::self_test()
 ssize_t
 ADIS16448::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(gyro_report);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -913,7 +913,7 @@ ADIS16448::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	perf_count(_gyro_reads);
 
 	/* copy reports out of our buffer to the caller */
-	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -926,7 +926,7 @@ ADIS16448::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(gyro_report));
+	return (transferred * sizeof(sensor_gyro_s));
 }
 
 ssize_t
@@ -1332,7 +1332,7 @@ ADIS16448::measure()
 	 * Report buffers.
 	 */
 	sensor_accel_s	arb;
-	gyro_report		grb;
+	sensor_gyro_s	grb;
 	mag_report		mrb;
 
 	grb.timestamp = arb.timestamp = mrb.timestamp = hrt_absolute_time();
@@ -1729,7 +1729,7 @@ void
 test()
 {
 	sensor_accel_s a_report{};
-	gyro_report  g_report;
+	sensor_gyro_s g_report{};
 	mag_report 	 m_report;
 
 	ssize_t sz;
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index a63afd932d..4ff2c0a260 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -209,7 +209,7 @@ ADIS16477::init()
 		PX4_ERR("ADVERT FAIL");
 	}
 
-	gyro_report grp = {};
+	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) {
@@ -622,7 +622,7 @@ ADIS16477::publish_accel(const ADISReport &report)
 bool
 ADIS16477::publish_gyro(const ADISReport &report)
 {
-	gyro_report grb = {};
+	sensor_gyro_s grb = {};
 	grb.timestamp = hrt_absolute_time();
 	grb.device_id = _gyro->_device_id.devid;
 	grb.error_count = perf_event_count(_bad_transfers);
diff --git a/src/drivers/imu/adis16477/ADIS16477_main.cpp b/src/drivers/imu/adis16477/ADIS16477_main.cpp
index bb0b783bdc..85f9c82f61 100644
--- a/src/drivers/imu/adis16477/ADIS16477_main.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477_main.cpp
@@ -114,7 +114,7 @@ void
 test()
 {
 	sensor_accel_s a_report{};
-	gyro_report  g_report;
+	sensor_gyro_s g_report{};
 
 	ssize_t sz;
 
diff --git a/src/drivers/imu/bmi055/BMI055_gyro.cpp b/src/drivers/imu/bmi055/BMI055_gyro.cpp
index c5bff425d9..9ac471e956 100644
--- a/src/drivers/imu/bmi055/BMI055_gyro.cpp
+++ b/src/drivers/imu/bmi055/BMI055_gyro.cpp
@@ -114,7 +114,7 @@ BMI055_gyro::init()
 	}
 
 	/* allocate basic report buffers */
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_gyro_reports == nullptr) {
 		goto out;
@@ -144,7 +144,7 @@ BMI055_gyro::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 	_gyro_reports->get(&grp);
 
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -270,7 +270,7 @@ BMI055_gyro::test_error()
 ssize_t
 BMI055_gyro::read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(gyro_report);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -289,7 +289,7 @@ BMI055_gyro::read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* copy reports out of our buffer to the caller */
-	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -302,7 +302,7 @@ BMI055_gyro::read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(gyro_report));
+	return (transferred * sizeof(sensor_gyro_s));
 }
 
 int
@@ -624,7 +624,7 @@ BMI055_gyro::measure()
 	/*
 	 * Report buffers.
 	 */
-	gyro_report grb;
+	sensor_gyro_s grb;
 
 	grb.timestamp = hrt_absolute_time();
 
diff --git a/src/drivers/imu/bmi055/bmi055_main.cpp b/src/drivers/imu/bmi055/bmi055_main.cpp
index 0ea9b8d5fb..1c1fa23b89 100644
--- a/src/drivers/imu/bmi055/bmi055_main.cpp
+++ b/src/drivers/imu/bmi055/bmi055_main.cpp
@@ -226,7 +226,7 @@ test(bool external_bus, enum sensor_type sensor)
 	const char *path_accel = external_bus ? BMI055_DEVICE_PATH_ACCEL_EXT : BMI055_DEVICE_PATH_ACCEL;
 	const char *path_gyro  = external_bus ? BMI055_DEVICE_PATH_GYRO_EXT : BMI055_DEVICE_PATH_GYRO;
 	sensor_accel_s a_report{};
-	gyro_report g_report;
+	sensor_gyro_s g_report{};
 	ssize_t sz;
 
 	if (sensor == BMI055_ACCEL) {
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 483e3f3002..7b1e3012d6 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -144,7 +144,7 @@ BMI160::init()
 		goto out;
 	}
 
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_gyro_reports == nullptr) {
 		goto out;
@@ -197,7 +197,7 @@ BMI160::init()
 
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 	_gyro_reports->get(&grp);
 
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -506,7 +506,7 @@ BMI160::test_error()
 ssize_t
 BMI160::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(gyro_report);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -527,7 +527,7 @@ BMI160::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	perf_count(_gyro_reads);
 
 	/* copy reports out of our buffer to the caller */
-	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -540,7 +540,7 @@ BMI160::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(gyro_report));
+	return (transferred * sizeof(sensor_gyro_s));
 }
 
 
@@ -1027,7 +1027,7 @@ BMI160::measure()
 	 * Report buffers.
 	 */
 	sensor_accel_s arb{};
-	gyro_report		grb;
+	sensor_gyro_s grb{};
 
 	/*
 	 * Adjust and scale results to m/s^2.
diff --git a/src/drivers/imu/bmi160/bmi160_main.cpp b/src/drivers/imu/bmi160/bmi160_main.cpp
index e973caa25b..0c5f45c539 100644
--- a/src/drivers/imu/bmi160/bmi160_main.cpp
+++ b/src/drivers/imu/bmi160/bmi160_main.cpp
@@ -122,7 +122,7 @@ test(bool external_bus)
 	const char *path_accel = external_bus ? BMI160_DEVICE_PATH_ACCEL_EXT : BMI160_DEVICE_PATH_ACCEL;
 	const char *path_gyro  = external_bus ? BMI160_DEVICE_PATH_GYRO_EXT : BMI160_DEVICE_PATH_GYRO;
 	sensor_accel_s a_report{};
-	gyro_report g_report;
+	sensor_gyro_s g_report{};
 	ssize_t sz;
 
 	/* get the driver */
diff --git a/src/drivers/imu/fxas21002c/fxas21002c.cpp b/src/drivers/imu/fxas21002c/fxas21002c.cpp
index b7cafd4e6b..b7d02b5147 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c.cpp
@@ -527,7 +527,7 @@ FXAS21002C::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_reports == nullptr) {
 		return PX4_ERROR;
@@ -541,7 +541,7 @@ FXAS21002C::init()
 	_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 	_reports->get(&grp);
 
 	/* measurement will have generated a report, publish */
@@ -608,8 +608,8 @@ FXAS21002C::probe()
 ssize_t
 FXAS21002C::read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(struct gyro_report);
-	struct gyro_report *gbuf = reinterpret_cast<struct gyro_report *>(buffer);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
+	sensor_gyro_s *gbuf = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int ret = 0;
 
 	/* buffer must be large enough */
@@ -1042,7 +1042,7 @@ FXAS21002C::measure()
 	} raw_gyro_report;
 #pragma pack(pop)
 
-	struct gyro_report gyro_report;
+	sensor_gyro_s gyro_report;
 
 	/* start the performance counter */
 	perf_begin(_sample_perf);
@@ -1310,7 +1310,7 @@ void
 test()
 {
 	int fd_gyro = -1;
-	struct gyro_report g_report;
+	sensor_gyro_s g_report{};
 	ssize_t sz;
 
 	/* get the driver */
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index c6cef2ead2..bc9a3d728a 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -463,7 +463,7 @@ L3GD20::init()
 	}
 
 	/* allocate basic report buffers */
-	_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_reports == nullptr) {
 		goto out;
@@ -476,7 +476,7 @@ L3GD20::init()
 	measure();
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 	_reports->get(&grp);
 
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -528,8 +528,8 @@ L3GD20::probe()
 ssize_t
 L3GD20::read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(struct gyro_report);
-	struct gyro_report *gbuf = reinterpret_cast<struct gyro_report *>(buffer);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
+	sensor_gyro_s *gbuf = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int ret = 0;
 
 	/* buffer must be large enough */
@@ -926,7 +926,7 @@ L3GD20::measure()
 	} raw_report;
 #pragma pack(pop)
 
-	gyro_report report;
+	sensor_gyro_s report;
 
 	/* start the performance counter */
 	perf_begin(_sample_perf);
@@ -1201,7 +1201,7 @@ void
 test()
 {
 	int fd_gyro = -1;
-	struct gyro_report g_report;
+	sensor_gyro_s g_report;
 	ssize_t sz;
 
 	/* get the driver */
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 5f63a20a1d..e8ea9a2fc1 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -640,7 +640,7 @@ MPU6000::init()
 		return ret;
 	}
 
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_gyro_reports == nullptr) {
 		return ret;
@@ -718,7 +718,7 @@ MPU6000::init()
 	}
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 	_gyro_reports->get(&grp);
 
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -1220,7 +1220,7 @@ MPU6000::test_error()
 ssize_t
 MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(gyro_report);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -1239,7 +1239,7 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* copy reports out of our buffer to the caller */
-	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -1252,7 +1252,7 @@ MPU6000::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(gyro_report));
+	return (transferred * sizeof(sensor_gyro_s));
 }
 
 int
@@ -1796,7 +1796,7 @@ MPU6000::measure()
 	 * Report buffers.
 	 */
 	sensor_accel_s arb;
-	gyro_report		grb;
+	sensor_gyro_s grb;
 
 	/*
 	 * Adjust and scale results to m/s^2.
@@ -2248,7 +2248,7 @@ test(enum MPU6000_BUS busid)
 {
 	struct mpu6000_bus_option &bus = find_bus(busid);
 	sensor_accel_s a_report{};
-	gyro_report g_report;
+	sensor_gyro_s g_report{};
 	ssize_t sz;
 
 	/* get the driver */
diff --git a/src/drivers/imu/mpu9250/main.cpp b/src/drivers/imu/mpu9250/main.cpp
index 5471bfdd13..38ad8e8429 100644
--- a/src/drivers/imu/mpu9250/main.cpp
+++ b/src/drivers/imu/mpu9250/main.cpp
@@ -317,7 +317,7 @@ test(enum MPU9250_BUS busid)
 {
 	struct mpu9250_bus_option &bus = find_bus(busid);
 	sensor_accel_s a_report{};
-	gyro_report g_report;
+	sensor_gyro_s g_report{};
 	mag_report m_report;
 	ssize_t sz;
 
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 6173c1f7b2..806dde61f1 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -295,7 +295,7 @@ MPU9250::init()
 		return ret;
 	}
 
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_gyro_reports == nullptr) {
 		return ret;
@@ -403,7 +403,7 @@ MPU9250::init()
 	}
 
 	/* advertise sensor topic, measure manually to initialize valid report */
-	struct gyro_report grp;
+	sensor_gyro_s grp;
 	_gyro_reports->get(&grp);
 
 	_gyro->_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &grp,
@@ -686,7 +686,7 @@ MPU9250::test_error()
 ssize_t
 MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(gyro_report);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -707,7 +707,7 @@ MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	perf_count(_gyro_reads);
 
 	/* copy reports out of our buffer to the caller */
-	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -720,7 +720,7 @@ MPU9250::gyro_read(struct file *filp, char *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(gyro_report));
+	return (transferred * sizeof(sensor_gyro_s));
 }
 
 int
@@ -1265,7 +1265,7 @@ MPU9250::measure()
 	 * Report buffers.
 	 */
 	sensor_accel_s arb{};
-	gyro_report		grb;
+	sensor_gyro_s grb{};
 
 	/*
 	 * Adjust and scale results to m/s^2.
diff --git a/src/examples/matlab_csv_serial/matlab_csv_serial.c b/src/examples/matlab_csv_serial/matlab_csv_serial.c
index f2f384e678..47d95b854f 100644
--- a/src/examples/matlab_csv_serial/matlab_csv_serial.c
+++ b/src/examples/matlab_csv_serial/matlab_csv_serial.c
@@ -185,8 +185,8 @@ int matlab_csv_serial_thread_main(int argc, char *argv[])
 	/* subscribe to vehicle status, attitude, sensors and flow*/
 	struct sensor_accel_s accel0;
 	struct sensor_accel_s accel1;
-	struct gyro_report gyro0;
-	struct gyro_report gyro1;
+	struct sensor_gyro_s gyro0;
+	struct sensor_gyro_s gyro1;
 
 	/* subscribe to parameter changes */
 	int accel0_sub = orb_subscribe_multi(ORB_ID(sensor_accel), 0);
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 098c0d2aaa..f28aa13434 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -71,7 +71,7 @@ typedef struct  {
 	int			gyro_sensor_sub[max_gyros];
 	int			sensor_correction_sub;
 	struct gyro_calibration_s	gyro_scale[max_gyros];
-	struct gyro_report	gyro_report_0;
+	sensor_gyro_s	gyro_report_0;
 } gyro_worker_data_t;
 
 static calibrate_return gyro_calibration_worker(int cancel_sub, void* data)
@@ -79,7 +79,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void* data)
 	gyro_worker_data_t*	worker_data = (gyro_worker_data_t*)(data);
 	unsigned		calibration_counter[max_gyros] = { 0 }, slow_count = 0;
 	const unsigned		calibration_count = 5000;
-	struct gyro_report	gyro_report;
+	sensor_gyro_s	gyro_report;
 	unsigned		poll_errcount = 0;
 
 	struct sensor_correction_s sensor_correction; /**< sensor thermal corrections */
@@ -307,7 +307,7 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
 		for(unsigned i = 0; i < orb_gyro_count && !found_cur_gyro; i++) {
 			worker_data.gyro_sensor_sub[cur_gyro] = orb_subscribe_multi(ORB_ID(sensor_gyro), i);
 
-			struct gyro_report report;
+			sensor_gyro_s report{};
 			orb_copy(ORB_ID(sensor_gyro), worker_data.gyro_sensor_sub[cur_gyro], &report);
 
 #ifdef __PX4_NUTTX
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index ba30f3cdea..50fa06012f 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -396,7 +396,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
 		int poll_ret = px4_poll(fds, fd_count, 1000);
 
 		if (poll_ret > 0) {
-			struct gyro_report gyro;
+			sensor_gyro_s gyro{};
 			orb_copy(ORB_ID(sensor_gyro), sub_gyro, &gyro);
 
 			/* ensure we have a valid first timestamp */
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index d86b86ae68..8ef7ad725a 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -2047,7 +2047,7 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
 
 	/* gyro */
 	{
-		struct gyro_report gyro = {};
+		sensor_gyro_s gyro = {};
 
 		gyro.timestamp = timestamp;
 		gyro.x_raw = imu.xgyro * 1000.0f;
diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index bb06a28f34..a214ae8af9 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -155,7 +155,7 @@ void VotedSensorsUpdate::parameters_update()
 
 		if (topic_instance < _gyro.subscription_count) {
 			// valid subscription, so get the driver id by getting the published sensor data
-			struct gyro_report report;
+			sensor_gyro_s report;
 
 			if (orb_copy(ORB_ID(sensor_gyro), _gyro.subscription[topic_instance], &report) == 0) {
 				int temp = _temperature_compensation.set_sensor_id_gyro(report.device_id, topic_instance);
@@ -652,7 +652,7 @@ void VotedSensorsUpdate::gyro_poll(struct sensor_combined_s &raw)
 		orb_check(_gyro.subscription[uorb_index], &gyro_updated);
 
 		if (gyro_updated) {
-			struct gyro_report gyro_report;
+			sensor_gyro_s gyro_report;
 
 			int ret = orb_copy(ORB_ID(sensor_gyro), _gyro.subscription[uorb_index], &gyro_report);
 
diff --git a/src/modules/simulator/gyrosim/gyrosim.cpp b/src/modules/simulator/gyrosim/gyrosim.cpp
index 9577c84166..f4a248b832 100644
--- a/src/modules/simulator/gyrosim/gyrosim.cpp
+++ b/src/modules/simulator/gyrosim/gyrosim.cpp
@@ -363,7 +363,7 @@ GYROSIM::init()
 
 	sensor_accel_s arp = {};
 
-	struct gyro_report grp = {};
+	sensor_gyro_s grp = {};
 
 	ret = VirtDevObj::init();
 
@@ -381,7 +381,7 @@ GYROSIM::init()
 		goto out;
 	}
 
-	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(gyro_report));
+	_gyro_reports = new ringbuffer::RingBuffer(2, sizeof(sensor_gyro_s));
 
 	if (_gyro_reports == nullptr) {
 		PX4_WARN("_gyro_reports creation failed");
@@ -584,7 +584,7 @@ GYROSIM::self_test()
 ssize_t
 GYROSIM::gyro_read(void *buffer, size_t buflen)
 {
-	unsigned count = buflen / sizeof(gyro_report);
+	unsigned count = buflen / sizeof(sensor_gyro_s);
 
 	/* buffer must be large enough */
 	if (count < 1) {
@@ -605,7 +605,7 @@ GYROSIM::gyro_read(void *buffer, size_t buflen)
 	perf_count(_gyro_reads);
 
 	/* copy reports out of our buffer to the caller */
-	gyro_report *grp = reinterpret_cast<gyro_report *>(buffer);
+	sensor_gyro_s *grp = reinterpret_cast<sensor_gyro_s *>(buffer);
 	int transferred = 0;
 
 	while (count--) {
@@ -618,7 +618,7 @@ GYROSIM::gyro_read(void *buffer, size_t buflen)
 	}
 
 	/* return the number of bytes transferred */
-	return (transferred * sizeof(gyro_report));
+	return (transferred * sizeof(sensor_gyro_s));
 }
 
 int
@@ -869,7 +869,7 @@ GYROSIM::_measure()
 	 * Report buffers.
 	 */
 	sensor_accel_s	arb = {};
-	gyro_report	grb = {};
+	sensor_gyro_s	grb = {};
 
 	// for now use local time but this should be the timestamp of the simulator
 	grb.timestamp = hrt_absolute_time();
@@ -1151,7 +1151,7 @@ test()
 	const char *path_accel = MPU_DEVICE_PATH_ACCEL;
 	const char *path_gyro  = MPU_DEVICE_PATH_GYRO;
 	sensor_accel_s a_report;
-	gyro_report g_report;
+	sensor_gyro_s g_report;
 	ssize_t sz;
 
 	/* get the driver */
diff --git a/src/modules/simulator/simulator_mavlink.cpp b/src/modules/simulator/simulator_mavlink.cpp
index 54f3881fb1..fb3fbdfa43 100644
--- a/src/modules/simulator/simulator_mavlink.cpp
+++ b/src/modules/simulator/simulator_mavlink.cpp
@@ -1007,7 +1007,7 @@ int Simulator::publish_sensor_topics(mavlink_hil_sensor_t *imu)
 	*/
 	/* gyro */
 	{
-		struct gyro_report gyro = {};
+		sensor_gyro_s gyro = {};
 
 		gyro.timestamp = timestamp;
 		gyro.x_raw = imu->xgyro * 1000.0f;
diff --git a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
index cf0868f855..d0b6fc9004 100644
--- a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
@@ -249,7 +249,7 @@ int DfLsm9ds1Wrapper::start()
 	}
 
 	// TODO: don't publish garbage here
-	gyro_report gyro_report = {};
+	sensor_gyro_s gyro_report = {};
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
 					  &_gyro_orb_class_instance, ORB_PRIO_DEFAULT);
 
@@ -618,8 +618,8 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
 
 	perf_begin(_publish_perf);
 
-	accel_report accel_report = {};
-	gyro_report gyro_report = {};
+	sensor_accel_s accel_report = {};
+	sensor_gyro_s gyro_report = {};
 	mag_report mag_report = {};
 
 	accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
diff --git a/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp b/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
index 3e9467eed5..98971056f4 100644
--- a/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
@@ -488,8 +488,8 @@ int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data)
 
 	perf_begin(_publish_perf);
 
-	accel_report accel_report = {};
-	gyro_report gyro_report = {};
+	sensor_accel_s accel_report = {};
+	sensor_gyro_s gyro_report = {};
 
 	accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
 
diff --git a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
index cbca2fc19e..f0263c5f4f 100644
--- a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
@@ -285,7 +285,7 @@ DfMpu9250Wrapper::~DfMpu9250Wrapper()
 int DfMpu9250Wrapper::start()
 {
 	// TODO: don't publish garbage here
-	accel_report accel_report = {};
+	sensor_accel_s accel_report = {};
 	_accel_topic = orb_advertise_multi(ORB_ID(sensor_accel), &accel_report,
 					   &_accel_orb_class_instance, ORB_PRIO_DEFAULT);
 
@@ -295,7 +295,7 @@ int DfMpu9250Wrapper::start()
 	}
 
 	// TODO: don't publish garbage here
-	gyro_report gyro_report = {};
+	sensor_gyro_s gyro_report = {};
 	_gyro_topic = orb_advertise_multi(ORB_ID(sensor_gyro), &gyro_report,
 					  &_gyro_orb_class_instance, ORB_PRIO_DEFAULT);
 
@@ -612,8 +612,8 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
 		_update_mag_calibration();
 	}
 
-	accel_report accel_report = {};
-	gyro_report gyro_report = {};
+	sensor_accel_s accel_report = {};
+	sensor_gyro_s gyro_report = {};
 	mag_report mag_report = {};
 
 	accel_report.timestamp = gyro_report.timestamp = hrt_absolute_time();
diff --git a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
index 84c9fbb15d..53388f8f4e 100644
--- a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
+++ b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
@@ -96,7 +96,7 @@ static int _accel_orb_class_instance;        /**< instance handle for accel devi
 static orb_advert_t _mag_pub = nullptr;		/**< compass data publication */
 static int _mag_orb_class_instance;        /**< instance handle for mag devices */
 static int _params_sub;										/**< parameter update subscription */
-static struct gyro_report _gyro;					/**< gyro report */
+static sensor_gyro_s _gyro;					/**< gyro report */
 static sensor_accel_s _accel;				/**< accel report */
 static struct mag_report _mag;						/**< mag report */
 static struct gyro_calibration_s _gyro_sc;				/**< gyro scale */
@@ -367,7 +367,7 @@ void parameters_init()
 bool create_pubs()
 {
 	// initialize the reports
-	memset(&_gyro, 0, sizeof(struct gyro_report));
+	memset(&_gyro, 0, sizeof(sensor_gyro_s));
 	memset(&_accel, 0, sizeof(sensor_accel_s));
 	memset(&_mag, 0, sizeof(struct mag_report));
 
diff --git a/src/systemcmds/tests/test_sensors.c b/src/systemcmds/tests/test_sensors.c
index 1aaedaa1e7..81fcbc1632 100644
--- a/src/systemcmds/tests/test_sensors.c
+++ b/src/systemcmds/tests/test_sensors.c
@@ -140,7 +140,7 @@ gyro(int argc, char *argv[], const char *path)
 	fflush(stdout);
 
 	int		fd;
-	struct gyro_report buf;
+	struct sensor_gyro_s buf;
 	int		ret;
 
 	fd = px4_open(path, O_RDONLY);