diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 478bb85b73..6a384b781d 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1074,12 +1074,12 @@ int commander_thread_main(int argc, char *argv[])
 	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));
 
 	/* Subscribe to telemetry status topics */
-	int telemetry_subs[TELEMETRY_STATUS_ORB_ID_NUM];
-	uint64_t telemetry_last_heartbeat[TELEMETRY_STATUS_ORB_ID_NUM];
-	uint64_t telemetry_last_dl_loss[TELEMETRY_STATUS_ORB_ID_NUM];
-	bool telemetry_lost[TELEMETRY_STATUS_ORB_ID_NUM];
+	int telemetry_subs[ORB_MULTI_MAX_INSTANCES];
+	uint64_t telemetry_last_heartbeat[ORB_MULTI_MAX_INSTANCES];
+	uint64_t telemetry_last_dl_loss[ORB_MULTI_MAX_INSTANCES];
+	bool telemetry_lost[ORB_MULTI_MAX_INSTANCES];
 
-	for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+	for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
 		telemetry_subs[i] = -1;
 		telemetry_last_heartbeat[i] = 0;
 		telemetry_last_dl_loss[i] = 0;
@@ -1340,10 +1340,10 @@ int commander_thread_main(int argc, char *argv[])
 			}
 		}
 
-		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+		for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
 
-			if (telemetry_subs[i] < 0 && (OK == orb_exists(telemetry_status_orb_id[i], 0))) {
-				telemetry_subs[i] = orb_subscribe(telemetry_status_orb_id[i]);
+			if (telemetry_subs[i] < 0 && (OK == orb_exists(ORB_ID(telemetry_status), i))) {
+				telemetry_subs[i] = orb_subscribe_multi(ORB_ID(telemetry_status), i);
 			}
 
 			orb_check(telemetry_subs[i], &updated);
@@ -1352,7 +1352,7 @@ int commander_thread_main(int argc, char *argv[])
 				struct telemetry_status_s telemetry;
 				memset(&telemetry, 0, sizeof(telemetry));
 
-				orb_copy(telemetry_status_orb_id[i], telemetry_subs[i], &telemetry);
+				orb_copy(ORB_ID(telemetry_status), telemetry_subs[i], &telemetry);
 
 				/* perform system checks when new telemetry link connected */
 				if (
@@ -1951,7 +1951,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* data links check */
 		bool have_link = false;
 
-		for (int i = 0; i < TELEMETRY_STATUS_ORB_ID_NUM; i++) {
+		for (int i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
 			if (telemetry_last_heartbeat[i] != 0 &&
 			    hrt_elapsed_time(&telemetry_last_heartbeat[i]) < datalink_loss_timeout * 1e6) {
 				/* handle the case where data link was gained first time or regained,