diff --git a/msg/distance_sensor.msg b/msg/distance_sensor.msg
index dd08e4b589..122384eacf 100644
--- a/msg/distance_sensor.msg
+++ b/msg/distance_sensor.msg
@@ -11,10 +11,11 @@ float32 variance		# Measurement variance (in m^2), 0 for unknown / invalid readi
 int8 signal_quality		# Signal quality in percent (0...100%), where 0 = invalid signal, 100 = perfect signal, and -1 = unknown signal quality.
 
 uint8 type			# Type from MAV_DISTANCE_SENSOR enum
-uint8 MAV_DISTANCE_SENSOR_LASER = 0
-uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
-uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
-uint8 MAV_DISTANCE_SENSOR_RADAR = 3
+uint8 TYPE_UNKNOWN    = 0
+uint8 TYPE_LASER      = 1
+uint8 TYPE_ULTRASOUND = 2
+uint8 TYPE_INFRARED   = 3
+uint8 TYPE_RADAR      = 4
 
 float32 h_fov # Sensor horizontal field of view (rad)
 float32 v_fov # Sensor vertical field of view (rad)
diff --git a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
index 8887408ff3..e742e9cc25 100644
--- a/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
+++ b/src/drivers/distance_sensor/cm8jl65/CM8JL65.cpp
@@ -113,7 +113,7 @@ CM8JL65::CM8JL65(const char *port, uint8_t rotation) :
 	_px4_rangefinder.set_max_distance(7.9f);	// Datasheet: 8.0m
 	_px4_rangefinder.set_fov(0.0488692f);
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_CM8JL65);
-	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
+	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::TYPE_LASER);
 }
 
 CM8JL65::~CM8JL65()
diff --git a/src/drivers/distance_sensor/mappydot/MappyDot.cpp b/src/drivers/distance_sensor/mappydot/MappyDot.cpp
index 3144237ab8..141b69ce1e 100644
--- a/src/drivers/distance_sensor/mappydot/MappyDot.cpp
+++ b/src/drivers/distance_sensor/mappydot/MappyDot.cpp
@@ -272,7 +272,7 @@ MappyDot::collect()
 		report.orientation      = _sensor_rotations[index];
 		report.signal_quality   = -1;
 		report.timestamp        = hrt_absolute_time();
-		report.type             = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+		report.type             = distance_sensor_s::TYPE_LASER;
 		report.variance         = 0;
 
 		int instance_id;
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index da8d5321b0..8189d1bc6f 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -227,7 +227,7 @@ MB12XX::collect()
 	report.orientation      = _sensor_rotations[_sensor_index];
 	report.signal_quality   = -1;
 	report.timestamp        = hrt_absolute_time();
-	report.type             = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+	report.type             = distance_sensor_s::TYPE_ULTRASOUND;
 	report.variance         = 0.0f;
 
 	int instance_id;
diff --git a/src/drivers/distance_sensor/pga460/pga460.cpp b/src/drivers/distance_sensor/pga460/pga460.cpp
index 1765cde777..045ff7aaa8 100644
--- a/src/drivers/distance_sensor/pga460/pga460.cpp
+++ b/src/drivers/distance_sensor/pga460/pga460.cpp
@@ -773,7 +773,7 @@ void PGA460::uORB_publish_results(const float object_distance)
 	struct distance_sensor_s report = {};
 	report.timestamp = hrt_absolute_time();
 	report.device_id = _device_id.devid;
-	report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+	report.type = distance_sensor_s::TYPE_ULTRASOUND;
 	report.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	report.current_distance = object_distance;
 	report.min_distance = MIN_DETECTABLE_DISTANCE;
diff --git a/src/drivers/distance_sensor/srf02/SRF02.cpp b/src/drivers/distance_sensor/srf02/SRF02.cpp
index 70ef61833b..0fdee41de4 100644
--- a/src/drivers/distance_sensor/srf02/SRF02.cpp
+++ b/src/drivers/distance_sensor/srf02/SRF02.cpp
@@ -39,7 +39,7 @@ SRF02::SRF02(const I2CSPIDriverConfig &config) :
 	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_SRF02);
-	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND);
+	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::TYPE_ULTRASOUND);
 	_px4_rangefinder.set_max_distance(SRF02_MAX_DISTANCE);
 	_px4_rangefinder.set_min_distance(SRF02_MIN_DISTANCE);
 }
diff --git a/src/drivers/distance_sensor/srf05/SRF05.cpp b/src/drivers/distance_sensor/srf05/SRF05.cpp
index 9612601057..f663ed7013 100644
--- a/src/drivers/distance_sensor/srf05/SRF05.cpp
+++ b/src/drivers/distance_sensor/srf05/SRF05.cpp
@@ -51,7 +51,7 @@ SRF05::SRF05(const uint8_t rotation) :
 	_px4_rangefinder(0 /* no device type for GPIO input */, rotation)
 {
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_SRF05);
-	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND);
+	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::TYPE_ULTRASOUND);
 	_px4_rangefinder.set_min_distance(HXSRX0X_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(HXSRX0X_MAX_DISTANCE);
 	_px4_rangefinder.set_fov(0.261799); // 15 degree FOV
diff --git a/src/drivers/distance_sensor/teraranger/TERARANGER.cpp b/src/drivers/distance_sensor/teraranger/TERARANGER.cpp
index 8c5e9b3d0c..b1cc8c3b02 100644
--- a/src/drivers/distance_sensor/teraranger/TERARANGER.cpp
+++ b/src/drivers/distance_sensor/teraranger/TERARANGER.cpp
@@ -79,7 +79,7 @@ TERARANGER::TERARANGER(const I2CSPIDriverConfig &config) :
 	_px4_rangefinder(get_device_id(), config.rotation)
 {
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_TERARANGER);
-	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
+	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::TYPE_LASER);
 }
 
 TERARANGER::~TERARANGER()
diff --git a/src/drivers/distance_sensor/tfmini/TFMINI.cpp b/src/drivers/distance_sensor/tfmini/TFMINI.cpp
index 150d1c486d..5d58e0b7e8 100644
--- a/src/drivers/distance_sensor/tfmini/TFMINI.cpp
+++ b/src/drivers/distance_sensor/tfmini/TFMINI.cpp
@@ -57,7 +57,7 @@ TFMINI::TFMINI(const char *port, uint8_t rotation) :
 	}
 
 	_px4_rangefinder.set_device_id(device_id.devid);
-	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER);
+	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::TYPE_LASER);
 }
 
 TFMINI::~TFMINI()
diff --git a/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp
index 6558aef348..69a544813d 100644
--- a/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp
+++ b/src/drivers/distance_sensor/ulanding_radar/AerotennaULanding.cpp
@@ -56,7 +56,7 @@ AerotennaULanding::AerotennaULanding(const char *port, uint8_t rotation) :
 
 	_px4_rangefinder.set_device_id(device_id.devid);
 	_px4_rangefinder.set_device_type(DRV_DIST_DEVTYPE_ULANDING);
-	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR);
+	_px4_rangefinder.set_rangefinder_type(distance_sensor_s::TYPE_RADAR);
 
 	_px4_rangefinder.set_min_distance(ULANDING_MIN_DISTANCE);
 	_px4_rangefinder.set_max_distance(ULANDING_MAX_DISTANCE);
diff --git a/src/drivers/optical_flow/px4flow/px4flow.cpp b/src/drivers/optical_flow/px4flow/px4flow.cpp
index c1c59ed7a9..ca80e1d2a5 100644
--- a/src/drivers/optical_flow/px4flow/px4flow.cpp
+++ b/src/drivers/optical_flow/px4flow/px4flow.cpp
@@ -319,7 +319,7 @@ PX4FLOW::collect()
 		distance_report.current_distance = report.ground_distance_m;
 		distance_report.variance = 0.0f;
 		distance_report.signal_quality = -1;
-		distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+		distance_report.type = distance_sensor_s::TYPE_ULTRASOUND;
 		distance_report.device_id = device_id.devid;
 		distance_report.orientation = _sonar_rotation;
 
diff --git a/src/drivers/uavcan/sensors/rangefinder.cpp b/src/drivers/uavcan/sensors/rangefinder.cpp
index cff084292c..b01db575b5 100644
--- a/src/drivers/uavcan/sensors/rangefinder.cpp
+++ b/src/drivers/uavcan/sensors/rangefinder.cpp
@@ -86,17 +86,17 @@ void UavcanRangefinderBridge::range_sub_cb(const
 
 		switch (msg.sensor_type) {
 		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_SONAR:
-			rangefinder_type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+			rangefinder_type = distance_sensor_s::TYPE_ULTRASOUND;
 			break;
 
 		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_RADAR:
-			rangefinder_type = distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR;
+			rangefinder_type = distance_sensor_s::TYPE_RADAR;
 			break;
 
 		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_LIDAR:
 		case uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_UNDEFINED:
 		default:
-			rangefinder_type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+			rangefinder_type = distance_sensor_s::TYPE_LASER;
 			break;
 		}
 
diff --git a/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp b/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
index 129bd32c21..f61f9102fe 100644
--- a/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
+++ b/src/drivers/uavcannode/Publishers/RangeSensorMeasurement.hpp
@@ -81,19 +81,19 @@ public:
 
 			// sensor type
 			switch (dist.type) {
-			case distance_sensor_s::MAV_DISTANCE_SENSOR_LASER:
+			case distance_sensor_s::TYPE_LASER:
 				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_LIDAR;
 				break;
 
-			case distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND:
+			case distance_sensor_s::TYPE_ULTRASOUND:
 				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_SONAR;
 				break;
 
-			case distance_sensor_s::MAV_DISTANCE_SENSOR_RADAR:
+			case distance_sensor_s::TYPE_RADAR:
 				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_RADAR;
 				break;
 
-			case distance_sensor_s::MAV_DISTANCE_SENSOR_INFRARED:
+			case distance_sensor_s::TYPE_INFRARED:
 			default:
 				range_sensor.sensor_type = uavcan::equipment::range_sensor::Measurement::SENSOR_TYPE_UNDEFINED;
 				break;
diff --git a/src/lib/collision_prevention/CollisionPreventionTest.cpp b/src/lib/collision_prevention/CollisionPreventionTest.cpp
index 9de0a208aa..93f293d23c 100644
--- a/src/lib/collision_prevention/CollisionPreventionTest.cpp
+++ b/src/lib/collision_prevention/CollisionPreventionTest.cpp
@@ -220,7 +220,7 @@ TEST_F(CollisionPreventionTest, testBehaviorOnWithDistanceMessage)
 
 	message.variance = 0.1f;
 	message.signal_quality = 100;
-	message.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+	message.type = distance_sensor_s::TYPE_LASER;
 	message.orientation = distance_sensor_s::ROTATION_FORWARD_FACING;
 	message.h_fov = math::radians(50.f);
 	message.v_fov = math::radians(30.f);
diff --git a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
index 63937f8f59..bd44af7ac1 100644
--- a/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
+++ b/src/lib/drivers/rangefinder/PX4Rangefinder.cpp
@@ -39,7 +39,7 @@ PX4Rangefinder::PX4Rangefinder(const uint32_t device_id, const uint8_t device_or
 {
 	set_device_id(device_id);
 	set_orientation(device_orientation);
-	set_rangefinder_type(distance_sensor_s::MAV_DISTANCE_SENSOR_LASER); // Default to type LASER
+	set_rangefinder_type(distance_sensor_s::TYPE_LASER); // Default to type LASER
 }
 
 PX4Rangefinder::~PX4Rangefinder()
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index 1668db9ca8..65d40dcf2b 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -206,13 +206,13 @@ void BlockLocalPositionEstimator::Run()
 
 				if (s->get().timestamp == 0) { continue; }
 
-				if (s->get().type == distance_sensor_s::MAV_DISTANCE_SENSOR_LASER &&
+				if (s->get().type == distance_sensor_s::TYPE_LASER &&
 				    s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
 				    _sub_lidar == nullptr) {
 					_sub_lidar = s;
 					mavlink_log_info(&mavlink_log_pub, "%sDownward-facing Lidar detected with ID %zu", msg_label, i);
 
-				} else if (s->get().type == distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND &&
+				} else if (s->get().type == distance_sensor_s::TYPE_ULTRASOUND &&
 					   s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
 					   _sub_sonar == nullptr) {
 					_sub_sonar = s;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 84471a2287..3422891537 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -841,7 +841,7 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 		d.min_distance = _param_ekf2_min_rng;
 		d.max_distance = _param_ekf2_rng_a_hmax;
 		d.current_distance = flow.distance; /* both are in m */
-		d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+		d.type = distance_sensor_s::TYPE_ULTRASOUND;
 		d.device_id = device_id.devid;
 		d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 		d.variance = 0.01;
@@ -887,7 +887,7 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 	d.min_distance = 0.3f;
 	d.max_distance = 5.0f;
 	d.current_distance = flow.distance; /* both are in m */
-	d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+	d.type = distance_sensor_s::TYPE_LASER;
 	d.device_id = device_id.devid;
 	d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	d.variance = 0.01;
@@ -939,25 +939,55 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
 	device_id.devid_s.address = dist_sensor.id;
 
 	ds.timestamp        = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */
+	ds.device_id        = device_id.devid;
 	ds.min_distance     = static_cast<float>(dist_sensor.min_distance) * 1e-2f;     /* cm to m */
 	ds.max_distance     = static_cast<float>(dist_sensor.max_distance) * 1e-2f;     /* cm to m */
 	ds.current_distance = static_cast<float>(dist_sensor.current_distance) * 1e-2f; /* cm to m */
 	ds.variance         = dist_sensor.covariance * 1e-4f;                           /* cm^2 to m^2 */
+
+	if (dist_sensor.signal_quality <= 0) {
+		// Mavlink DISTANCE_SENSOR: 0 = unknown/unset signal quality
+		ds.signal_quality = -1;
+
+	} else if (dist_sensor.signal_quality == 1) {
+		// Mavlink DISTANCE_SENSOR: 1 = invalid signal
+		ds.signal_quality = 0;
+
+	} else {
+		ds.signal_quality = math::constrain(dist_sensor.signal_quality, (uint8_t)1, (uint8_t)100);
+	}
+
+	switch (dist_sensor.type) {
+	case MAV_DISTANCE_SENSOR_LASER:
+		ds.type = distance_sensor_s::TYPE_LASER;
+		break;
+
+	case MAV_DISTANCE_SENSOR_ULTRASOUND:
+		ds.type = distance_sensor_s::TYPE_ULTRASOUND;
+		break;
+
+	case MAV_DISTANCE_SENSOR_INFRARED:
+		ds.type = distance_sensor_s::TYPE_INFRARED;
+		break;
+
+	case MAV_DISTANCE_SENSOR_RADAR:
+		ds.type = distance_sensor_s::TYPE_RADAR;
+		break;
+
+	case MAV_DISTANCE_SENSOR_UNKNOWN:
+	default:
+		ds.type = distance_sensor_s::TYPE_UNKNOWN;
+		break;
+	}
+
 	ds.h_fov            = dist_sensor.horizontal_fov;
 	ds.v_fov            = dist_sensor.vertical_fov;
 	ds.q[0]             = dist_sensor.quaternion[0];
 	ds.q[1]             = dist_sensor.quaternion[1];
 	ds.q[2]             = dist_sensor.quaternion[2];
 	ds.q[3]             = dist_sensor.quaternion[3];
-	ds.type             = dist_sensor.type;
-	ds.device_id        = device_id.devid;
 	ds.orientation      = dist_sensor.orientation;
 
-	// MAVLink DISTANCE_SENSOR signal_quality value of 0 means unset/unknown
-	// quality value. Also it comes normalised between 1 and 100 while the uORB
-	// signal quality is normalised between 0 and 100.
-	ds.signal_quality = dist_sensor.signal_quality == 0 ? -1 : 100 * (dist_sensor.signal_quality - 1) / 99;
-
 	_distance_sensor_pub.publish(ds);
 }
 
diff --git a/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp b/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp
index 9042403a48..d64f2dac61 100644
--- a/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp
+++ b/src/modules/mavlink/streams/DISTANCE_SENSOR.hpp
@@ -63,37 +63,61 @@ private:
 		bool updated = false;
 
 		for (int i = 0; i < _distance_sensor_subs.size(); i++) {
-			distance_sensor_s dist_sensor;
+			distance_sensor_s distance_sensor;
 
-			if (_distance_sensor_subs[i].update(&dist_sensor)) {
+			if (_distance_sensor_subs[i].update(&distance_sensor)) {
 				mavlink_distance_sensor_t msg{};
 
-				msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
+				msg.time_boot_ms = distance_sensor.timestamp / 1000; // us -> ms
 
-				switch (dist_sensor.type) {
-				case MAV_DISTANCE_SENSOR_ULTRASOUND:
+				switch (distance_sensor.type) {
+				default:
+				case distance_sensor_s::TYPE_UNKNOWN:
+					msg.type = MAV_DISTANCE_SENSOR_UNKNOWN;
+					break;
+
+				case distance_sensor_s::TYPE_LASER:
+					msg.type = MAV_DISTANCE_SENSOR_LASER;
+					break;
+
+				case distance_sensor_s::TYPE_ULTRASOUND:
 					msg.type = MAV_DISTANCE_SENSOR_ULTRASOUND;
 					break;
 
-				case MAV_DISTANCE_SENSOR_LASER:
-					msg.type = MAV_DISTANCE_SENSOR_LASER;
-					break;
-
-				case MAV_DISTANCE_SENSOR_INFRARED:
+				case distance_sensor_s::TYPE_INFRARED:
 					msg.type = MAV_DISTANCE_SENSOR_INFRARED;
 					break;
 
-				default:
-					msg.type = MAV_DISTANCE_SENSOR_LASER;
+				case distance_sensor_s::TYPE_RADAR:
+					msg.type = MAV_DISTANCE_SENSOR_RADAR;
 					break;
 				}
 
-				msg.current_distance = dist_sensor.current_distance * 1e2f; // m to cm
+				msg.min_distance     = math::constrain(roundf(distance_sensor.min_distance * 1e2f), 0.f,
+								       static_cast<float>(UINT16_MAX)); // m to cm
+				msg.max_distance     = math::constrain(roundf(distance_sensor.max_distance * 1e2f), 0.f,
+								       static_cast<float>(UINT16_MAX)); // m to cm
+				msg.current_distance = math::constrain(roundf(distance_sensor.current_distance * 1e2f), 0.f,
+								       static_cast<float>(UINT16_MAX)); // m to cm
 				msg.id               = i;
-				msg.max_distance     = dist_sensor.max_distance * 1e2f;     // m to cm
-				msg.min_distance     = dist_sensor.min_distance * 1e2f;     // m to cm
-				msg.orientation      = dist_sensor.orientation;
-				msg.covariance       = dist_sensor.variance * 1e4f;         // m^2 to cm^2
+				msg.orientation      = distance_sensor.orientation;
+				msg.covariance       = distance_sensor.variance * 1e4f; // m^2 to cm^2
+				msg.horizontal_fov   = distance_sensor.h_fov;
+				msg.vertical_fov     = distance_sensor.v_fov;
+				msg.quaternion[0]    = distance_sensor.q[0];
+				msg.quaternion[1]    = distance_sensor.q[1];
+				msg.quaternion[2]    = distance_sensor.q[2];
+				msg.quaternion[3]    = distance_sensor.q[3];
+
+				if (distance_sensor.signal_quality < 0) {
+					msg.signal_quality = 0; // 0 = unknown/unset
+
+				} else if (distance_sensor.signal_quality == 0) {
+					msg.signal_quality = 1; // 1 = invalid signal
+
+				} else if (distance_sensor.signal_quality >= 0) {
+					msg.signal_quality = math::constrain(distance_sensor.signal_quality, (int8_t)2, (int8_t)100);
+				}
 
 				mavlink_msg_distance_sensor_send_struct(_mavlink->get_channel(), &msg);
 
diff --git a/src/modules/sih/sih.cpp b/src/modules/sih/sih.cpp
index 77b3e13819..7a4fb40aab 100644
--- a/src/modules/sih/sih.cpp
+++ b/src/modules/sih/sih.cpp
@@ -535,7 +535,7 @@ void Sih::send_airspeed()
 void Sih::send_dist_snsr()
 {
 	_distance_snsr.timestamp = _now;
-	_distance_snsr.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
+	_distance_snsr.type = distance_sensor_s::TYPE_LASER;
 	_distance_snsr.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
 	_distance_snsr.min_distance = _distance_snsr_min;
 	_distance_snsr.max_distance = _distance_snsr_max;