diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
index 794de584b6..eff5e73495 100644
--- a/src/drivers/drv_accel.h
+++ b/src/drivers/drv_accel.h
@@ -52,6 +52,7 @@
  */
 struct accel_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float x;		/**< acceleration in the NED X board axis in m/s^2 */
 	float y;		/**< acceleration in the NED Y board axis in m/s^2 */
 	float z;		/**< acceleration in the NED Z board axis in m/s^2 */
diff --git a/src/drivers/drv_baro.h b/src/drivers/drv_baro.h
index 176f798c06..aa251889f7 100644
--- a/src/drivers/drv_baro.h
+++ b/src/drivers/drv_baro.h
@@ -55,6 +55,7 @@ struct baro_report {
 	float altitude;
 	float temperature;
 	uint64_t timestamp;
+	uint64_t error_count;
 };
 
 /*
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 1d0fef6fcc..fefcae50b9 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -52,6 +52,7 @@
  */
 struct gyro_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float x;		/**< angular velocity in the NED X board axis in rad/s */
 	float y;		/**< angular velocity in the NED Y board axis in rad/s */
 	float z;		/**< angular velocity in the NED Z board axis in rad/s */
diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h
index 3de5625fd7..06107bd3d1 100644
--- a/src/drivers/drv_mag.h
+++ b/src/drivers/drv_mag.h
@@ -54,6 +54,7 @@
  */
 struct mag_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float x;
 	float y;
 	float z;
diff --git a/src/drivers/drv_range_finder.h b/src/drivers/drv_range_finder.h
index 03a82ec5d0..cf91f70304 100644
--- a/src/drivers/drv_range_finder.h
+++ b/src/drivers/drv_range_finder.h
@@ -52,6 +52,7 @@
  */
 struct range_finder_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float distance; 			/** in meters */
 	uint8_t valid;				/** 1 == within sensor range, 0 = outside sensor range */
 };
diff --git a/src/modules/uORB/topics/differential_pressure.h b/src/modules/uORB/topics/differential_pressure.h
index 1ffeda764b..e4d2c92ceb 100644
--- a/src/modules/uORB/topics/differential_pressure.h
+++ b/src/modules/uORB/topics/differential_pressure.h
@@ -53,6 +53,7 @@
  */
 struct differential_pressure_s {
 	uint64_t	timestamp;			/**< microseconds since system boot, needed to integrate */
+	uint64_t	error_count;
 	uint16_t	differential_pressure_pa;	/**< Differential pressure reading */
 	uint16_t	max_differential_pressure_pa;	/**< Maximum differential pressure reading */
 	float		voltage;			/**< Voltage from analog airspeed sensors (voltage divider already compensated) */