diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 04017f2f49..8bd94b73cc 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -61,6 +61,7 @@ set(msg_files
 	esc_report.msg
 	esc_status.msg
 	estimator_innovations.msg
+	estimator_sensor_bias.msg
 	estimator_status.msg
 	follow_target.msg
 	geofence_result.msg
@@ -108,7 +109,6 @@ set(msg_files
 	sensor_accel_integrated.msg
 	sensor_accel_status.msg
 	sensor_baro.msg
-	sensor_bias.msg
 	sensor_combined.msg
 	sensor_correction.msg
 	sensor_gyro.msg
diff --git a/msg/sensor_bias.msg b/msg/estimator_sensor_bias.msg
similarity index 100%
rename from msg/sensor_bias.msg
rename to msg/estimator_sensor_bias.msg
diff --git a/msg/tools/uorb_rtps_message_ids.yaml b/msg/tools/uorb_rtps_message_ids.yaml
index e05bc2187b..e0e6d2deca 100644
--- a/msg/tools/uorb_rtps_message_ids.yaml
+++ b/msg/tools/uorb_rtps_message_ids.yaml
@@ -147,7 +147,7 @@ rtps:
   - msg: sensor_baro
     id: 63
     send: true
-  - msg: sensor_bias
+  - msg: estimator_sensor_bias
     id: 64
   - msg: sensor_combined
     id: 65
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index 427802285a..8f63c690f0 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -56,15 +56,15 @@
 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/distance_sensor.h>
-#include <uORB/topics/estimator_innovations.h>
 #include <uORB/topics/ekf2_timestamps.h>
-#include <uORB/topics/ekf_gps_position.h>
-#include <uORB/topics/estimator_status.h>
 #include <uORB/topics/ekf_gps_drift.h>
+#include <uORB/topics/ekf_gps_position.h>
+#include <uORB/topics/estimator_innovations.h>
+#include <uORB/topics/estimator_sensor_bias.h>
+#include <uORB/topics/estimator_status.h>
 #include <uORB/topics/landing_target_pose.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/sensor_bias.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/vehicle_air_data.h>
@@ -263,20 +263,20 @@ private:
 	vehicle_land_detected_s		_vehicle_land_detected{};
 	vehicle_status_s		_vehicle_status{};
 
-	uORB::Publication<estimator_innovations_s>			_estimator_innovations_pub{ORB_ID(estimator_innovations)};
-	uORB::Publication<estimator_innovations_s>			_estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
-	uORB::Publication<estimator_innovations_s>			_estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
 	uORB::Publication<ekf2_timestamps_s>			_ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
 	uORB::Publication<ekf_gps_drift_s>			_ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
 	uORB::Publication<ekf_gps_position_s>			_blended_gps_pub{ORB_ID(ekf_gps_position)};
+	uORB::Publication<estimator_innovations_s>		_estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
+	uORB::Publication<estimator_innovations_s>		_estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
+	uORB::Publication<estimator_innovations_s>		_estimator_innovations_pub{ORB_ID(estimator_innovations)};
+	uORB::Publication<estimator_sensor_bias_s>		_estimator_sensor_bias_pub{ORB_ID(estimator_sensor_bias)};
 	uORB::Publication<estimator_status_s>			_estimator_status_pub{ORB_ID(estimator_status)};
-	uORB::Publication<sensor_bias_s>			_sensor_bias_pub{ORB_ID(sensor_bias)};
 	uORB::Publication<vehicle_attitude_s>			_att_pub{ORB_ID(vehicle_attitude)};
 	uORB::Publication<vehicle_odometry_s>			_vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
-	uORB::PublicationMulti<wind_estimate_s>			_wind_pub{ORB_ID(wind_estimate)};
 	uORB::PublicationData<vehicle_global_position_s>	_vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
 	uORB::PublicationData<vehicle_local_position_s>		_vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
 	uORB::PublicationData<vehicle_odometry_s>		_vehicle_visual_odometry_aligned_pub{ORB_ID(vehicle_visual_odometry_aligned)};
+	uORB::PublicationMulti<wind_estimate_s>			_wind_pub{ORB_ID(wind_estimate)};
 
 	Ekf _ekf;
 
@@ -753,7 +753,7 @@ void Ekf2::Run()
 	imuSample imu_sample_new {};
 
 	hrt_abstime imu_dt = 0; // for tracking time slip later
-	sensor_bias_s bias{};
+	estimator_sensor_bias_s bias{};
 
 	if (_imu_sub_index >= 0) {
 		vehicle_imu_s imu;
@@ -1490,7 +1490,7 @@ void Ekf2::Run()
 				bias.mag_bias[1] = _last_valid_mag_cal[1];
 				bias.mag_bias[2] = _last_valid_mag_cal[2];
 
-				_sensor_bias_pub.publish(bias);
+				_estimator_sensor_bias_pub.publish(bias);
 			}
 
 			// publish estimator status
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index da72901284..d9aa5b4e86 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -43,21 +43,21 @@
 #pragma once
 
 #include <float.h>
-#include <lib/hysteresis/hysteresis.h>
 #include <math.h>
-#include <perf/perf_counter.h>
-#include <px4_platform_common/px4_config.h>
+
+#include <lib/hysteresis/hysteresis.h>
+#include <lib/perf/perf_counter.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/module.h>
-#include <px4_platform_common/module_params.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/module_params.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <uORB/Subscription.hpp>
 #include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/sensor_bias.h>
 #include <uORB/topics/vehicle_acceleration.h>
 #include <uORB/topics/vehicle_land_detected.h>
 #include <uORB/topics/vehicle_local_position.h>
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 007fdb439a..9ff9525321 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -58,6 +58,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("estimator_innovation_test_ratios", 200);
 	add_topic("estimator_innovation_variances", 200);
 	add_topic("estimator_innovations", 200);
+	add_topic("estimator_sensor_bias", 1000);
 	add_topic("estimator_status", 200);
 	add_topic("home_position");
 	add_topic("input_rc", 200);
@@ -70,7 +71,6 @@ void LoggedTopics::add_default_topics()
 	add_topic("radio_status");
 	add_topic("rate_ctrl_status", 200);
 	add_topic("safety", 1000);
-	add_topic("sensor_bias", 1000);
 	add_topic("sensor_combined", 100);
 	add_topic("sensor_correction", 1000);
 	add_topic("sensor_preflight", 200);
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 8b6884fb0c..7b607724dc 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -70,6 +70,7 @@
 #include <uORB/topics/debug_vect.h>
 #include <uORB/topics/differential_pressure.h>
 #include <uORB/topics/distance_sensor.h>
+#include <uORB/topics/estimator_sensor_bias.h>
 #include <uORB/topics/estimator_status.h>
 #include <uORB/topics/geofence_result.h>
 #include <uORB/topics/home_position.h>
@@ -84,7 +85,6 @@
 #include <uORB/topics/position_setpoint_triplet.h>
 #include <uORB/topics/sensor_accel_integrated.h>
 #include <uORB/topics/sensor_accel_status.h>
-#include <uORB/topics/sensor_bias.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/sensor_gyro_integrated.h>
 #include <uORB/topics/sensor_mag.h>
@@ -816,7 +816,7 @@ protected:
 	explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink),
 		_sensor_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
 		_sensor_time(0),
-		_bias_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_bias))),
+		_bias_sub(_mavlink->add_orb_subscription(ORB_ID(estimator_sensor_bias))),
 		_differential_pressure_sub(_mavlink->add_orb_subscription(ORB_ID(differential_pressure))),
 		_magnetometer_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_magnetometer))),
 		_air_data_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_air_data))),
@@ -864,7 +864,7 @@ protected:
 				_baro_timestamp = air_data.timestamp;
 			}
 
-			sensor_bias_s bias = {};
+			estimator_sensor_bias_s bias{};
 			_bias_sub->update(&bias);
 
 			differential_pressure_s differential_pressure = {};
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
index 33313f4c3b..56d78c3afa 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
@@ -79,10 +79,10 @@ void VehicleAcceleration::Stop()
 
 void VehicleAcceleration::SensorBiasUpdate(bool force)
 {
-	if (_sensor_bias_sub.updated() || force) {
-		sensor_bias_s bias;
+	if (_estimator_sensor_bias_sub.updated() || force) {
+		estimator_sensor_bias_s bias;
 
-		if (_sensor_bias_sub.copy(&bias)) {
+		if (_estimator_sensor_bias_sub.copy(&bias)) {
 			if (bias.accel_device_id == _selected_sensor_device_id) {
 				_bias = Vector3f{bias.accel_bias};
 
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
index 2ec0586ccc..394bb4b1a7 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
@@ -36,19 +36,18 @@
 #include <lib/conversion/rotation.h>
 #include <lib/mathlib/math/Limits.hpp>
 #include <lib/matrix/matrix/math.hpp>
-#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/estimator_sensor_bias.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/sensor_bias.h>
+#include <uORB/topics/sensor_accel.h>
 #include <uORB/topics/sensor_correction.h>
 #include <uORB/topics/sensor_selection.h>
-
-#include <uORB/topics/sensor_accel.h>
 #include <uORB/topics/vehicle_acceleration.h>
 
 class VehicleAcceleration : public ModuleParams, public px4::WorkItem
@@ -84,7 +83,7 @@ private:
 	uORB::Publication<vehicle_acceleration_s> _vehicle_acceleration_pub{ORB_ID(vehicle_acceleration)};
 
 	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
-	uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
+	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
 	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index e3ed845898..9bcbb3f74f 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -79,10 +79,10 @@ void VehicleAngularVelocity::Stop()
 
 void VehicleAngularVelocity::SensorBiasUpdate(bool force)
 {
-	if (_sensor_bias_sub.updated() || force) {
-		sensor_bias_s bias;
+	if (_estimator_sensor_bias_sub.updated() || force) {
+		estimator_sensor_bias_s bias;
 
-		if (_sensor_bias_sub.copy(&bias)) {
+		if (_estimator_sensor_bias_sub.copy(&bias)) {
 			if (bias.gyro_device_id == _selected_sensor_device_id) {
 				_bias = Vector3f{bias.gyro_bias};
 
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
index 317f260dc6..0d66296fa5 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
@@ -36,19 +36,18 @@
 #include <lib/conversion/rotation.h>
 #include <lib/mathlib/math/Limits.hpp>
 #include <lib/matrix/matrix/math.hpp>
-#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/log.h>
 #include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/px4_work_queue/WorkItem.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/estimator_sensor_bias.h>
 #include <uORB/topics/parameter_update.h>
-#include <uORB/topics/sensor_bias.h>
 #include <uORB/topics/sensor_correction.h>
-#include <uORB/topics/sensor_selection.h>
-
 #include <uORB/topics/sensor_gyro.h>
+#include <uORB/topics/sensor_selection.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
 
 class VehicleAngularVelocity : public ModuleParams, public px4::WorkItem
@@ -84,7 +83,7 @@ private:
 	uORB::Publication<vehicle_angular_velocity_s> _vehicle_angular_velocity_pub{ORB_ID(vehicle_angular_velocity)};
 
 	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
-	uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
+	uORB::Subscription _estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias)};
 	uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};