diff --git a/src/modules/sdlog2/module.mk b/src/modules/sdlog2/module.mk
index d22d0a9d93..69afb39099 100644
--- a/src/modules/sdlog2/module.mk
+++ b/src/modules/sdlog2/module.mk
@@ -47,5 +47,5 @@ MODULE_STACKSIZE = 1200
 MAXOPTIMIZATION	 = -Os
 
 ifeq ($(PX4_TARGET_OS),nuttx)
-EXTRACFLAGS = -Wframe-larger-than=1400
+EXTRACFLAGS = -Wframe-larger-than=1600
 endif
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index c6d13f8756..7750b885f7 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1284,18 +1284,11 @@ int sdlog2_thread_main(int argc, char *argv[])
 	pthread_cond_init(&logbuffer_cond, NULL);
 
 	/* track changes in sensor_combined topic */
-	hrt_abstime gyro_timestamp = 0;
-	hrt_abstime accelerometer_timestamp = 0;
-	hrt_abstime magnetometer_timestamp = 0;
-	hrt_abstime barometer_timestamp = 0;
-	hrt_abstime differential_pressure_timestamp = 0;
-	hrt_abstime barometer1_timestamp = 0;
-	hrt_abstime gyro1_timestamp = 0;
-	hrt_abstime accelerometer1_timestamp = 0;
-	hrt_abstime magnetometer1_timestamp = 0;
-	hrt_abstime gyro2_timestamp = 0;
-	hrt_abstime accelerometer2_timestamp = 0;
-	hrt_abstime magnetometer2_timestamp = 0;
+	hrt_abstime gyro_timestamp[3] = {0, 0, 0};
+	hrt_abstime accelerometer_timestamp[3] = {0, 0, 0};
+	hrt_abstime magnetometer_timestamp[3] = {0, 0, 0};
+	hrt_abstime barometer_timestamp[3] = {0, 0, 0};
+	hrt_abstime differential_pressure_timestamp[3] = {0, 0, 0};
 
 	/* initialize calculated mean SNR */
 	float snr_mean = 0.0f;
@@ -1443,144 +1436,86 @@ int sdlog2_thread_main(int argc, char *argv[])
 
 		/* --- SENSOR COMBINED --- */
 		if (copy_if_updated(ORB_ID(sensor_combined), &subs.sensor_sub, &buf.sensor)) {
-			bool write_IMU = false;
-			bool write_IMU1 = false;
-			bool write_IMU2 = false;
-			bool write_SENS = false;
-			bool write_SENS1 = false;
-
-			if (buf.sensor.timestamp != gyro_timestamp) {
-				gyro_timestamp = buf.sensor.timestamp;
-				write_IMU = true;
-			}
-
-			if (buf.sensor.accelerometer_timestamp != accelerometer_timestamp) {
-				accelerometer_timestamp = buf.sensor.accelerometer_timestamp;
-				write_IMU = true;
-			}
-
-			if (buf.sensor.magnetometer_timestamp != magnetometer_timestamp) {
-				magnetometer_timestamp = buf.sensor.magnetometer_timestamp;
-				write_IMU = true;
-			}
-
-			if (buf.sensor.baro_timestamp != barometer_timestamp) {
-				barometer_timestamp = buf.sensor.baro_timestamp;
-				write_SENS = true;
-			}
-
-			if (buf.sensor.differential_pressure_timestamp != differential_pressure_timestamp) {
-				differential_pressure_timestamp = buf.sensor.differential_pressure_timestamp;
-				write_SENS = true;
-			}
-
-			if (write_IMU) {
-				log_msg.msg_type = LOG_IMU_MSG;
-				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[0];
-				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[1];
-				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[2];
-				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[0];
-				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[1];
-				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[2];
-				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[0];
-				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[1];
-				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[2];
-				log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro_temp;
-				log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer_temp;
-				log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer_temp;
-				LOGBUFFER_WRITE_AND_COUNT(IMU);
-			}
-
-			if (write_SENS) {
-				log_msg.msg_type = LOG_SENS_MSG;
-				log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar;
-				log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter;
-				log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius;
-				log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa;
-				log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa;
-				LOGBUFFER_WRITE_AND_COUNT(SENS);
-			}
+			
 
-			if (buf.sensor.baro1_timestamp != barometer1_timestamp) {
-				barometer1_timestamp = buf.sensor.baro1_timestamp;
-				write_SENS1 = true;
-			}
+			for (unsigned i = 0; i < 3; i++) {
+				bool write_IMU = false;
+				bool write_SENS = false;
 
-			if (write_SENS1) {
-				log_msg.msg_type = LOG_AIR1_MSG;
-				log_msg.body.log_SENS.baro_pres = buf.sensor.baro1_pres_mbar;
-				log_msg.body.log_SENS.baro_alt = buf.sensor.baro1_alt_meter;
-				log_msg.body.log_SENS.baro_temp = buf.sensor.baro1_temp_celcius;
-				log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure1_pa;
-				log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure1_filtered_pa;
-				// XXX moving to AIR0-AIR2 instead of SENS
-				LOGBUFFER_WRITE_AND_COUNT(SENS);
-			}
+				if (buf.sensor.gyro_timestamp[i] != gyro_timestamp[i]) {
+					gyro_timestamp[i] = buf.sensor.gyro_timestamp[i];
+					write_IMU = true;
+				}
 
-			if (buf.sensor.accelerometer1_timestamp != accelerometer1_timestamp) {
-				accelerometer1_timestamp = buf.sensor.accelerometer1_timestamp;
-				write_IMU1 = true;
-			}
+				if (buf.sensor.accelerometer_timestamp[i] != accelerometer_timestamp[i]) {
+					accelerometer_timestamp[i] = buf.sensor.accelerometer_timestamp[i];
+					write_IMU = true;
+				}
 
-			if (buf.sensor.gyro1_timestamp != gyro1_timestamp) {
-				gyro1_timestamp = buf.sensor.gyro1_timestamp;
-				write_IMU1 = true;
-			}
+				if (buf.sensor.magnetometer_timestamp[i] != magnetometer_timestamp[i]) {
+					magnetometer_timestamp[i] = buf.sensor.magnetometer_timestamp[i];
+					write_IMU = true;
+				}
 
-			if (buf.sensor.magnetometer1_timestamp != magnetometer1_timestamp) {
-				magnetometer1_timestamp = buf.sensor.magnetometer1_timestamp;
-				write_IMU1 = true;
-			}
+				if (buf.sensor.baro_timestamp[i] != barometer_timestamp[i]) {
+					barometer_timestamp[i] = buf.sensor.baro_timestamp[i];
+					write_SENS = true;
+				}
 
-			if (write_IMU1) {
-				log_msg.msg_type = LOG_IMU1_MSG;
-				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro1_rad_s[0];
-				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro1_rad_s[1];
-				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro1_rad_s[2];
-				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer1_m_s2[0];
-				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer1_m_s2[1];
-				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer1_m_s2[2];
-				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer1_ga[0];
-				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer1_ga[1];
-				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer1_ga[2];
-				log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro1_temp;
-				log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer1_temp;
-				log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer1_temp;
-				LOGBUFFER_WRITE_AND_COUNT(IMU);
-			}
+				if (buf.sensor.differential_pressure_timestamp[i] != differential_pressure_timestamp[i]) {
+					differential_pressure_timestamp[i] = buf.sensor.differential_pressure_timestamp[i];
+					write_SENS = true;
+				}
 
-			if (buf.sensor.accelerometer2_timestamp != accelerometer2_timestamp) {
-				accelerometer2_timestamp = buf.sensor.accelerometer2_timestamp;
-				write_IMU2 = true;
-			}
+				if (write_IMU) {
+					switch (i) {
+						case 0:
+							log_msg.msg_type = LOG_IMU_MSG;
+							break;
+						case 1:
+							log_msg.msg_type = LOG_IMU1_MSG;
+							break;
+						case 2:
+							log_msg.msg_type = LOG_IMU2_MSG;
+							break;
+					}
 
-			if (buf.sensor.gyro2_timestamp != gyro2_timestamp) {
-				gyro2_timestamp = buf.sensor.gyro2_timestamp;
-				write_IMU2 = true;
-			}
+					log_msg.body.log_IMU.gyro_x = buf.sensor.gyro_rad_s[i * 3 + 0];
+					log_msg.body.log_IMU.gyro_y = buf.sensor.gyro_rad_s[i * 3 + 1];
+					log_msg.body.log_IMU.gyro_z = buf.sensor.gyro_rad_s[i * 3 + 2];
+					log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer_m_s2[i * 3 + 0];
+					log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer_m_s2[i * 3 + 1];
+					log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer_m_s2[i * 3 + 2];
+					log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer_ga[i * 3 + 0];
+					log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer_ga[i * 3 + 1];
+					log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer_ga[i * 3 + 2];
+					log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro_temp[i * 3 + 0];
+					log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer_temp[i * 3 + 0];
+					log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer_temp[i * 3 + 0];
+					LOGBUFFER_WRITE_AND_COUNT(IMU);
+				}
 
-			if (buf.sensor.magnetometer2_timestamp != magnetometer2_timestamp) {
-				magnetometer2_timestamp = buf.sensor.magnetometer2_timestamp;
-				write_IMU2 = true;
-			}
+				if (write_SENS) {
+					switch (i) {
+						case 0:
+							log_msg.msg_type = LOG_SENS_MSG;
+							break;
+						case 1:
+							log_msg.msg_type = LOG_AIR1_MSG;
+							break;
+						case 2:
+							continue;
+							break;
+					}
 
-			if (write_IMU2) {
-				log_msg.msg_type = LOG_IMU2_MSG;
-				log_msg.body.log_IMU.gyro_x = buf.sensor.gyro2_rad_s[0];
-				log_msg.body.log_IMU.gyro_y = buf.sensor.gyro2_rad_s[1];
-				log_msg.body.log_IMU.gyro_z = buf.sensor.gyro2_rad_s[2];
-				log_msg.body.log_IMU.acc_x = buf.sensor.accelerometer2_m_s2[0];
-				log_msg.body.log_IMU.acc_y = buf.sensor.accelerometer2_m_s2[1];
-				log_msg.body.log_IMU.acc_z = buf.sensor.accelerometer2_m_s2[2];
-				log_msg.body.log_IMU.mag_x = buf.sensor.magnetometer2_ga[0];
-				log_msg.body.log_IMU.mag_y = buf.sensor.magnetometer2_ga[1];
-				log_msg.body.log_IMU.mag_z = buf.sensor.magnetometer2_ga[2];
-				log_msg.body.log_IMU.temp_gyro = buf.sensor.gyro2_temp;
-				log_msg.body.log_IMU.temp_acc = buf.sensor.accelerometer2_temp;
-				log_msg.body.log_IMU.temp_mag = buf.sensor.magnetometer2_temp;
-				LOGBUFFER_WRITE_AND_COUNT(IMU);
+					log_msg.body.log_SENS.baro_pres = buf.sensor.baro_pres_mbar[i];
+					log_msg.body.log_SENS.baro_alt = buf.sensor.baro_alt_meter[i];
+					log_msg.body.log_SENS.baro_temp = buf.sensor.baro_temp_celcius[i];
+					log_msg.body.log_SENS.diff_pres = buf.sensor.differential_pressure_pa[i];
+					log_msg.body.log_SENS.diff_pres_filtered = buf.sensor.differential_pressure_filtered_pa[i];
+					LOGBUFFER_WRITE_AND_COUNT(SENS);
+				}
 			}
-
 		}
 
 		/* --- ATTITUDE --- */