diff --git a/msg/sensor_accel.msg b/msg/sensor_accel.msg
index ee2d47bed0..d6d957cb8f 100644
--- a/msg/sensor_accel.msg
+++ b/msg/sensor_accel.msg
@@ -15,4 +15,4 @@ int16 y_raw
 int16 z_raw
 int16 temperature_raw
 
-int32 device_id	# unique device ID for the sensor that does not change between power cycles
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
diff --git a/msg/sensor_baro.msg b/msg/sensor_baro.msg
index f8ff76bef5..2d0d0528b7 100644
--- a/msg/sensor_baro.msg
+++ b/msg/sensor_baro.msg
@@ -2,4 +2,4 @@ float32 pressure	# static pressure measurement in millibar
 float32 altitude	# ISA pressure altitude in meters
 float32 temperature	# static temperature measurement in deg C
 uint64 error_count
-int32 device_id	# Sensor ID that must be unique for each baro sensor and must not change
+uint32 device_id	# Sensor ID that must be unique for each baro sensor and must not change
diff --git a/msg/sensor_correction.msg b/msg/sensor_correction.msg
index 0abb78fbfc..2ea31e54f0 100644
--- a/msg/sensor_correction.msg
+++ b/msg/sensor_correction.msg
@@ -4,18 +4,19 @@
 
 # Corrections for gyro angular rate outputs where corrected_rate = raw_rate * gyro_scale + gyro_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-uint8 gyro_select		# gyro uORB index for the voted sensor
 float32[3] gyro_offset		# gyro XYZ offsets in the sensor frame in rad/s
 float32[3] gyro_scale		# gyro XYZ scale factors in the sensor frame
 
 # Corrections for acceleromter acceleration outputs where corrected_accel = raw_accel * accel_scale + accel_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-uint8 accel_select		# accelerometer uORB index for the voted sensor
 float32[3] accel_offset		# accelerometer XYZ offsets in the sensor frame in m/s/s
 float32[3] accel_scale		# accelerometer XYZ scale factors in the sensor frame
 
 # Corrections for barometric pressure outputs where corrected_pressure = raw_pressure * pressure_scale + pressure_offset
 # Note the corrections are in the sensor frame and must be applied before the sensor data is rotated into body frame
-uint8 baro_select		# barometric pressure uORB index for the voted sensor
 float32 baro_offset		# barometric pressure offsets in the sensor frame in m/s/s
 float32 baro_scale		# barometric pressure scale factors in the sensor frame
+
+uint8 gyro_select		# gyro uORB index for the voted sensor
+uint8 accel_select		# accelerometer uORB index for the voted sensor
+uint8 baro_select		# barometric pressure uORB index for the voted sensor
diff --git a/msg/sensor_gyro.msg b/msg/sensor_gyro.msg
index d2e62c11e2..8b0b72f12d 100644
--- a/msg/sensor_gyro.msg
+++ b/msg/sensor_gyro.msg
@@ -15,4 +15,4 @@ int16 y_raw
 int16 z_raw
 int16 temperature_raw
 
-int32 device_id	# unique device ID for the sensor that does not change between power cycles
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles