diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 16979f48de..adc0479149 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -124,50 +124,91 @@ using matrix::Vector3f;
 using matrix::wrap_2pi;
 
 // ensure PX4 rotation enum and MAV_SENSOR_ROTATION align
-static_assert(MAV_SENSOR_ROTATION_NONE == ROTATION_NONE, "Roll: 0, Pitch: 0, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_YAW_45 == ROTATION_YAW_45, "Roll: 0, Pitch: 0, Yaw: 45");
-static_assert(MAV_SENSOR_ROTATION_YAW_90 == ROTATION_YAW_90, "Roll: 0, Pitch: 0, Yaw: 90");
-static_assert(MAV_SENSOR_ROTATION_YAW_135 == ROTATION_YAW_135, "Roll: 0, Pitch: 0, Yaw: 135");
-static_assert(MAV_SENSOR_ROTATION_YAW_180 == ROTATION_YAW_180, "Roll: 0, Pitch: 0, Yaw: 180");
-static_assert(MAV_SENSOR_ROTATION_YAW_225 == ROTATION_YAW_225, "Roll: 0, Pitch: 0, Yaw: 225");
-static_assert(MAV_SENSOR_ROTATION_YAW_270 == ROTATION_YAW_270, "Roll: 0, Pitch: 0, Yaw: 270");
-static_assert(MAV_SENSOR_ROTATION_YAW_315 == ROTATION_YAW_315, "Roll: 0, Pitch: 0, Yaw: 315");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180 == ROTATION_ROLL_180, "Roll: 180, Pitch: 0, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_45 == ROTATION_ROLL_180_YAW_45, "Roll: 180, Pitch: 0, Yaw: 45");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_90 == ROTATION_ROLL_180_YAW_90, "Roll: 180, Pitch: 0, Yaw: 90");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_135 == ROTATION_ROLL_180_YAW_135, "Roll: 180, Pitch: 0, Yaw: 135");
-static_assert(MAV_SENSOR_ROTATION_PITCH_180 == ROTATION_PITCH_180, "Roll: 0, Pitch: 180, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_225 == ROTATION_ROLL_180_YAW_225, "Roll: 180, Pitch: 0, Yaw: 225");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_270 == ROTATION_ROLL_180_YAW_270, "Roll: 180, Pitch: 0, Yaw: 270");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_315 == ROTATION_ROLL_180_YAW_315, "Roll: 180, Pitch: 0, Yaw: 315");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90 == ROTATION_ROLL_90, "Roll: 90, Pitch: 0, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_45 == ROTATION_ROLL_90_YAW_45, "Roll: 90, Pitch: 0, Yaw: 45");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_90 == ROTATION_ROLL_90_YAW_90, "Roll: 90, Pitch: 0, Yaw: 90");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_135 == ROTATION_ROLL_90_YAW_135, "Roll: 90, Pitch: 0, Yaw: 135");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270 == ROTATION_ROLL_270, "Roll: 270, Pitch: 0, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_45 == ROTATION_ROLL_270_YAW_45, "Roll: 270, Pitch: 0, Yaw: 45");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_90 == ROTATION_ROLL_270_YAW_90, "Roll: 270, Pitch: 0, Yaw: 90");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_135 == ROTATION_ROLL_270_YAW_135, "Roll: 270, Pitch: 0, Yaw: 135");
-static_assert(MAV_SENSOR_ROTATION_PITCH_90 == ROTATION_PITCH_90, "Roll: 0, Pitch: 90, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_PITCH_270 == ROTATION_PITCH_270, "Roll: 0, Pitch: 270, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_90 == ROTATION_PITCH_180_YAW_90, "Roll: 0, Pitch: 180, Yaw: 90");
-static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_270 == ROTATION_PITCH_180_YAW_270, "Roll: 0, Pitch: 180, Yaw: 270");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_90 == ROTATION_ROLL_90_PITCH_90, "Roll: 90, Pitch: 90, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_90 == ROTATION_ROLL_180_PITCH_90, "Roll: 180, Pitch: 90, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_90 == ROTATION_ROLL_270_PITCH_90, "Roll: 270, Pitch: 90, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180 == ROTATION_ROLL_90_PITCH_180, "Roll: 90, Pitch: 180, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_180 == ROTATION_ROLL_270_PITCH_180, "Roll: 270, Pitch: 180, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_270 == ROTATION_ROLL_90_PITCH_270, "Roll: 90, Pitch: 270, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_270 == ROTATION_ROLL_180_PITCH_270, "Roll: 180, Pitch: 270, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_270 == ROTATION_ROLL_270_PITCH_270, "Roll: 270, Pitch: 270, Yaw: 0");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90 == ROTATION_ROLL_90_PITCH_180_YAW_90,
+static_assert(MAV_SENSOR_ROTATION_NONE == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_NONE),
+	      "Roll: 0, Pitch: 0, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_45),
+	      "Roll: 0, Pitch: 0, Yaw: 45");
+static_assert(MAV_SENSOR_ROTATION_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_90),
+	      "Roll: 0, Pitch: 0, Yaw: 90");
+static_assert(MAV_SENSOR_ROTATION_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_135),
+	      "Roll: 0, Pitch: 0, Yaw: 135");
+static_assert(MAV_SENSOR_ROTATION_YAW_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_180),
+	      "Roll: 0, Pitch: 0, Yaw: 180");
+static_assert(MAV_SENSOR_ROTATION_YAW_225 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_225),
+	      "Roll: 0, Pitch: 0, Yaw: 225");
+static_assert(MAV_SENSOR_ROTATION_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_270),
+	      "Roll: 0, Pitch: 0, Yaw: 270");
+static_assert(MAV_SENSOR_ROTATION_YAW_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_YAW_315),
+	      "Roll: 0, Pitch: 0, Yaw: 315");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180),
+	      "Roll: 180, Pitch: 0, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_45),
+	      "Roll: 180, Pitch: 0, Yaw: 45");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_90),
+	      "Roll: 180, Pitch: 0, Yaw: 90");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_135),
+	      "Roll: 180, Pitch: 0, Yaw: 135");
+static_assert(MAV_SENSOR_ROTATION_PITCH_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_180),
+	      "Roll: 0, Pitch: 180, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_225 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_225),
+	      "Roll: 180, Pitch: 0, Yaw: 225");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_270),
+	      "Roll: 180, Pitch: 0, Yaw: 270");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_YAW_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_YAW_315),
+	      "Roll: 180, Pitch: 0, Yaw: 315");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90),
+	      "Roll: 90, Pitch: 0, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_45),
+	      "Roll: 90, Pitch: 0, Yaw: 45");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_90),
+	      "Roll: 90, Pitch: 0, Yaw: 90");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_135),
+	      "Roll: 90, Pitch: 0, Yaw: 135");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270),
+	      "Roll: 270, Pitch: 0, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_45 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_45),
+	      "Roll: 270, Pitch: 0, Yaw: 45");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_90),
+	      "Roll: 270, Pitch: 0, Yaw: 90");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_135 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_135),
+	      "Roll: 270, Pitch: 0, Yaw: 135");
+static_assert(MAV_SENSOR_ROTATION_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_90),
+	      "Roll: 0, Pitch: 90, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_270),
+	      "Roll: 0, Pitch: 270, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_180_YAW_90),
+	      "Roll: 0, Pitch: 180, Yaw: 90");
+static_assert(MAV_SENSOR_ROTATION_PITCH_180_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_180_YAW_270),
+	      "Roll: 0, Pitch: 180, Yaw: 270");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_90),
+	      "Roll: 90, Pitch: 90, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_180_PITCH_90),
+	      "Roll: 180, Pitch: 90, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_90 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_PITCH_90),
+	      "Roll: 270, Pitch: 90, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_180),
+	      "Roll: 90, Pitch: 180, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_180 == static_cast<MAV_SENSOR_ORIENTATION>
+	      (ROTATION_ROLL_270_PITCH_180), "Roll: 270, Pitch: 180, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_270),
+	      "Roll: 90, Pitch: 270, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_180_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>
+	      (ROTATION_ROLL_180_PITCH_270), "Roll: 180, Pitch: 270, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270_PITCH_270 == static_cast<MAV_SENSOR_ORIENTATION>
+	      (ROTATION_ROLL_270_PITCH_270), "Roll: 270, Pitch: 270, Yaw: 0");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90 == static_cast<MAV_SENSOR_ORIENTATION>
+	      (ROTATION_ROLL_90_PITCH_180_YAW_90),
 	      "Roll: 90, Pitch: 180, Yaw: 90");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_270 == ROTATION_ROLL_90_YAW_270, "Roll: 90, Pitch: 0, Yaw: 270");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == ROTATION_ROLL_90_PITCH_68_YAW_293,
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_YAW_270 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_YAW_270),
+	      "Roll: 90, Pitch: 0, Yaw: 270");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293 == static_cast<MAV_SENSOR_ORIENTATION>
+	      (ROTATION_ROLL_90_PITCH_68_YAW_293),
 	      "Roll: 90, Pitch: 68, Yaw: 293");
-static_assert(MAV_SENSOR_ROTATION_PITCH_315 == ROTATION_PITCH_315, "Pitch: 315");
-static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == ROTATION_ROLL_90_PITCH_315, "Roll: 90, Pitch: 315");
-static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_180 == ROTATION_ROLL_270_YAW_180, "Roll: 270, Yaw: 180");
+static_assert(MAV_SENSOR_ROTATION_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_PITCH_315), "Pitch: 315");
+static_assert(MAV_SENSOR_ROTATION_ROLL_90_PITCH_315 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_90_PITCH_315),
+	      "Roll: 90, Pitch: 315");
+static_assert(MAV_SENSOR_ROTATION_ROLL_270_YAW_180 == static_cast<MAV_SENSOR_ORIENTATION>(ROTATION_ROLL_270_YAW_180),
+	      "Roll: 270, Yaw: 180");
 static_assert(42 == ROTATION_MAX, "Keep MAV_SENSOR_ROTATION and PX4 Rotation in sync");
 
 static uint16_t cm_uint16_from_m_float(float m)