diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
index 66c0a2cf10..6d57cd9ca4 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
@@ -74,10 +74,7 @@ bool VehicleAcceleration::Start()
 void VehicleAcceleration::Stop()
 {
 	// clear all registered callbacks
-	for (auto &sub : _sensor_sub) {
-		sub.unregisterCallback();
-	}
-
+	_sensor_sub.unregisterCallback();
 	_sensor_selection_sub.unregisterCallback();
 
 	Deinit();
@@ -107,11 +104,11 @@ void VehicleAcceleration::CheckFilters()
 					const uint8_t samples = math::constrain(roundf(configured_interval_us / sample_interval_avg), 1.f,
 										(float)sensor_accel_s::ORB_QUEUE_LENGTH);
 
-					_sensor_sub[_selected_sensor_sub_index].set_required_updates(samples);
+					_sensor_sub.set_required_updates(samples);
 					_required_sample_updates = samples;
 
 				} else {
-					_sensor_sub[_selected_sensor_sub_index].set_required_updates(1);
+					_sensor_sub.set_required_updates(1);
 					_required_sample_updates = 1;
 				}
 			}
@@ -161,17 +158,12 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
 		_sensor_selection_sub.copy(&sensor_selection);
 
 		if (_selected_sensor_device_id != sensor_selection.accel_device_id) {
-			// clear all registered callbacks
-			for (auto &sub : _sensor_sub) {
-				sub.unregisterCallback();
-			}
+			for (uint8_t i = 0; i < MAX_SENSOR_COUNT; i++) {
+				uORB::SubscriptionData<sensor_accel_s> sensor_accel_sub{ORB_ID(sensor_accel), i};
 
-			for (int i = 0; i < MAX_SENSOR_COUNT; i++) {
-				sensor_accel_s report{};
-				_sensor_sub[i].copy(&report);
+				if ((sensor_accel_sub.get().device_id != 0) && (sensor_accel_sub.get().device_id == sensor_selection.accel_device_id)) {
 
-				if ((report.device_id != 0) && (report.device_id == sensor_selection.accel_device_id)) {
-					if (_sensor_sub[i].registerCallback()) {
+					if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) {
 						PX4_DEBUG("selected sensor changed %d -> %d", _selected_sensor_sub_index, i);
 
 						// record selected sensor (array index)
@@ -181,7 +173,7 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
 						// clear bias and corrections
 						_bias.zero();
 
-						_calibration.set_device_id(report.device_id);
+						_calibration.set_device_id(sensor_accel_sub.get().device_id);
 
 						// reset sample interval accumulator on sensor change
 						_timestamp_sample_last = 0;
@@ -227,54 +219,44 @@ void VehicleAcceleration::Run()
 	SensorBiasUpdate(selection_updated);
 	ParametersUpdate();
 
-	bool sensor_updated = _sensor_sub[_selected_sensor_sub_index].updated();
-
 	// process all outstanding messages
-	while (sensor_updated || selection_updated) {
-		selection_updated = false;
+	sensor_accel_s sensor_data;
 
-		sensor_accel_s sensor_data;
+	while (_sensor_sub.update(&sensor_data)) {
 
-		if (_sensor_sub[_selected_sensor_sub_index].copy(&sensor_data)) {
+		// collect sample interval average for filters
+		if ((_timestamp_sample_last > 0) && (sensor_data.timestamp_sample > _timestamp_sample_last)) {
+			_interval_sum += (sensor_data.timestamp_sample - _timestamp_sample_last);
+			_interval_count++;
 
-			if (sensor_updated) {
-				// collect sample interval average for filters
-				if ((_timestamp_sample_last > 0) && (sensor_data.timestamp_sample > _timestamp_sample_last)) {
-					_interval_sum += (sensor_data.timestamp_sample - _timestamp_sample_last);
-					_interval_count++;
+		} else {
+			_interval_sum = 0.f;
+			_interval_count = 0.f;
+		}
 
-				} else {
-					_interval_sum = 0.f;
-					_interval_count = 0.f;
-				}
+		_timestamp_sample_last = sensor_data.timestamp_sample;
 
-				_timestamp_sample_last = sensor_data.timestamp_sample;
-			}
+		CheckFilters();
 
-			CheckFilters();
+		// Apply calibration and filter
+		//  - calibration offsets, scale factors, and thermal scale (if available)
+		//  - estimated in run bias (if available)
+		//  - biquad low-pass filter
+		const Vector3f accel_corrected = _calibration.Correct(Vector3f{sensor_data.x, sensor_data.y, sensor_data.z}) - _bias;
+		const Vector3f accel_filtered = _lp_filter.apply(accel_corrected);
 
-			// Apply calibration and filter
-			//  - calibration offsets, scale factors, and thermal scale (if available)
-			//  - estimated in run bias (if available)
-			//  - biquad low-pass filter
-			const Vector3f accel_corrected = _calibration.Correct(Vector3f{sensor_data.x, sensor_data.y, sensor_data.z}) - _bias;
-			const Vector3f accel_filtered = _lp_filter.apply(accel_corrected);
+		_acceleration_prev = accel_corrected;
 
-			_acceleration_prev = accel_corrected;
+		// publish once all new samples are processed
+		if (!_sensor_sub.updated()) {
+			// Publish vehicle_acceleration
+			vehicle_acceleration_s v_acceleration;
+			v_acceleration.timestamp_sample = sensor_data.timestamp_sample;
+			accel_filtered.copyTo(v_acceleration.xyz);
+			v_acceleration.timestamp = hrt_absolute_time();
+			_vehicle_acceleration_pub.publish(v_acceleration);
 
-			// publish once all new samples are processed
-			sensor_updated = _sensor_sub[_selected_sensor_sub_index].updated();
-
-			if (!sensor_updated) {
-				// Publish vehicle_acceleration
-				vehicle_acceleration_s v_acceleration;
-				v_acceleration.timestamp_sample = sensor_data.timestamp_sample;
-				accel_filtered.copyTo(v_acceleration.xyz);
-				v_acceleration.timestamp = hrt_absolute_time();
-				_vehicle_acceleration_pub.publish(v_acceleration);
-
-				return;
-			}
+			return;
 		}
 	}
 }
diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
index 73003534e0..bebe9760bb 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.hpp
@@ -81,11 +81,7 @@ private:
 	uORB::Subscription _params_sub{ORB_ID(parameter_update)};
 
 	uORB::SubscriptionCallbackWorkItem _sensor_selection_sub{this, ORB_ID(sensor_selection)};
-	uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
-		{this, ORB_ID(sensor_accel), 0},
-		{this, ORB_ID(sensor_accel), 1},
-		{this, ORB_ID(sensor_accel), 2}
-	};
+	uORB::SubscriptionCallbackWorkItem _sensor_sub{this, ORB_ID(sensor_accel)};
 
 	calibration::Accelerometer _calibration{};