diff --git a/msg/sensor_correction.msg b/msg/sensor_correction.msg
index 44f29f968a..4ac3f4c9b4 100644
--- a/msg/sensor_correction.msg
+++ b/msg/sensor_correction.msg
@@ -4,19 +4,46 @@
 
 # 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
-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 uORB instance 0
+float32[3] gyro_offset_0	# gyro XYZ offsets in the sensor frame in rad/s
+float32[3] gyro_scale_0		# gyro XYZ scale factors in the sensor frame
+
+# corrections for uORB instance 1
+float32[3] gyro_offset_1	# gyro XYZ offsets in the sensor frame in rad/s
+float32[3] gyro_scale_1		# gyro XYZ scale factors in the sensor frame
+
+# corrections for uORB instance 2
+float32[3] gyro_offset_2	# gyro XYZ offsets in the sensor frame in rad/s
+float32[3] gyro_scale_2		# 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
-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 uORB instance 0
+float32[3] accel_offset_0	# accelerometer XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_scale_0	# accelerometer XYZ scale factors in the sensor frame
+
+# corrections for uORB instance 1
+float32[3] accel_offset_1	# accelerometer XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_scale_1	# accelerometer XYZ scale factors in the sensor frame
+
+# corrections for uORB instance 2
+float32[3] accel_offset_2	# accelerometer XYZ offsets in the sensor frame in m/s/s
+float32[3] accel_scale_2	# 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
-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
+# corrections for uORB instance 0
+float32 baro_offset_0		# barometric pressure offsets in the sensor frame in m/s/s
+float32 baro_scale_0		# barometric pressure scale factors in the sensor frame
 
-uint8 selected_gyro_instance		# gyro uORB topic instance for the voted sensor
-uint8 selected_accel_instance		# accelerometer uORB topic instance for the voted sensor
-uint8 selected_baro_instance		# barometric pressure uORB topic instance for the voted sensor
+# corrections for uORB instance 1
+float32 baro_offset_1		# barometric pressure offsets in the sensor frame in m/s/s
+float32 baro_scale_1		# barometric pressure scale factors in the sensor frame
+
+# corrections for uORB instance 2
+float32 baro_offset_2		# barometric pressure offsets in the sensor frame in m/s/s
+float32 baro_scale_2		# barometric pressure scale factors in the sensor frame
+
+uint8 selected_gyro_instance	# gyro uORB topic instance for the voted sensor
+uint8 selected_accel_instance	# accelerometer uORB topic instance for the voted sensor
+uint8 selected_baro_instance	# barometric pressure uORB topic instance for the voted sensor