diff --git a/msg/DistanceSensorModeChangeRequest.msg b/msg/DistanceSensorModeChangeRequest.msg
index 294e225e35..01d5a49cd3 100644
--- a/msg/DistanceSensorModeChangeRequest.msg
+++ b/msg/DistanceSensorModeChangeRequest.msg
@@ -1,5 +1,5 @@
 uint64 timestamp		# time since system start (microseconds)
 
-uint8 req_mode 			# requested mode of operation
-uint8 MODE_DISABLED = 0
-uint8 MODE_ENABLED  = 1
+uint8 request_on_off 			# request to disable/enable the distance sensor
+uint8 REQUEST_OFF = 0
+uint8 REQUEST_ON  = 1
diff --git a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
index 152073f2ac..614d408a5e 100644
--- a/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
+++ b/src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
@@ -145,7 +145,7 @@ private:
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
 	typeof(px4::msg::VehicleStatus::vehicle_type) _vehicle_type{px4::msg::VehicleStatus::VEHICLE_TYPE_UNKNOWN};
 	uORB::Subscription _dist_sense_mode_change_sub{ORB_ID(distance_sensor_mode_change_request)};
-	typeof(px4::msg::DistanceSensorModeChangeRequest::req_mode) _req_mode{px4::msg::DistanceSensorModeChangeRequest::MODE_DISABLED};
+	typeof(px4::msg::DistanceSensorModeChangeRequest::request_on_off) _req_mode{px4::msg::DistanceSensorModeChangeRequest::REQUEST_OFF};
 	bool _restriction{false};
 	bool _auto_restriction{false};
 	bool _prev_restriction{false};
@@ -419,10 +419,10 @@ int LightwareLaser::updateRestriction()
 		distance_sensor_mode_change_request_s dist_sense_mode_change;
 
 		if (_dist_sense_mode_change_sub.copy(&dist_sense_mode_change)) {
-			_req_mode = dist_sense_mode_change.req_mode;
+			_req_mode = dist_sense_mode_change.request_on_off;
 
 		} else {
-			_req_mode = distance_sensor_mode_change_request_s::MODE_DISABLED;
+			_req_mode = distance_sensor_mode_change_request_s::REQUEST_OFF;
 		}
 	}
 
@@ -466,7 +466,7 @@ int LightwareLaser::updateRestriction()
 		break;
 
 	case 2:
-		_restriction = _auto_restriction && _req_mode != distance_sensor_mode_change_request_s::MODE_ENABLED;
+		_restriction = _auto_restriction && _req_mode != distance_sensor_mode_change_request_s::REQUEST_ON;
 		break;
 	}
 
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index e46decdfb1..cd73e7e7d3 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -112,7 +112,7 @@ Navigator::Navigator() :
 
 	_distance_sensor_mode_change_request_pub.advertise();
 	_distance_sensor_mode_change_request_pub.get().timestamp = hrt_absolute_time();
-	_distance_sensor_mode_change_request_pub.get().req_mode = distance_sensor_mode_change_request_s::MODE_DISABLED;
+	_distance_sensor_mode_change_request_pub.get().request_on_off = distance_sensor_mode_change_request_s::REQUEST_OFF;
 	_distance_sensor_mode_change_request_pub.update();
 
 	// Update the timeout used in mission_block (which can't hold it's own parameters)
@@ -1459,21 +1459,21 @@ void Navigator::publish_distance_sensor_mode_request()
 	// Send request to enable distance sensor when in the landing phase of a mission or RTL
 	if (((_navigation_mode == &_rtl) && _rtl.isLanding()) || ((_navigation_mode == &_mission) && _mission.isLanding())) {
 
-		if (_distance_sensor_mode_change_request_pub.get().req_mode !=
-		    distance_sensor_mode_change_request_s::MODE_ENABLED) {
+		if (_distance_sensor_mode_change_request_pub.get().request_on_off !=
+		    distance_sensor_mode_change_request_s::REQUEST_ON) {
 
 			_distance_sensor_mode_change_request_pub.get().timestamp = hrt_absolute_time();
-			_distance_sensor_mode_change_request_pub.get().req_mode =
-				distance_sensor_mode_change_request_s::MODE_ENABLED;
+			_distance_sensor_mode_change_request_pub.get().request_on_off =
+				distance_sensor_mode_change_request_s::REQUEST_ON;
 			_distance_sensor_mode_change_request_pub.update();
 		}
 
-	} else if (_distance_sensor_mode_change_request_pub.get().req_mode !=
-		   distance_sensor_mode_change_request_s::MODE_DISABLED) {
+	} else if (_distance_sensor_mode_change_request_pub.get().request_on_off !=
+		   distance_sensor_mode_change_request_s::REQUEST_OFF) {
 
 		_distance_sensor_mode_change_request_pub.get().timestamp = hrt_absolute_time();
-		_distance_sensor_mode_change_request_pub.get().req_mode =
-			distance_sensor_mode_change_request_s::MODE_DISABLED;
+		_distance_sensor_mode_change_request_pub.get().request_on_off =
+			distance_sensor_mode_change_request_s::REQUEST_OFF;
 		_distance_sensor_mode_change_request_pub.update();
 	}
 }