diff --git a/src/drivers/bma180/bma180.cpp b/src/drivers/bma180/bma180.cpp
index 6557746c1a..17757aaf70 100644
--- a/src/drivers/bma180/bma180.cpp
+++ b/src/drivers/bma180/bma180.cpp
@@ -149,7 +149,7 @@ private:
 
 	RingBuffer		*_reports;
 
-	struct accel_scale	_accel_scale;
+	struct accel_calibration_s	_accel_scale;
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
@@ -496,12 +496,12 @@ BMA180::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_accel_scale, (struct accel_scale *) arg, sizeof(_accel_scale));
+		memcpy(&_accel_scale, (struct accel_calibration_s *) arg, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
index 3af204edcd..92b3a1b2ca 100644
--- a/src/drivers/drv_accel.h
+++ b/src/drivers/drv_accel.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,6 +42,7 @@
 
 #include <stdint.h>
 #include <sys/ioctl.h>
+#include <uORB/topics/accel_calibration.h>
 
 #include "drv_sensor.h"
 #include "drv_orb_dev.h"
@@ -54,16 +55,6 @@
 #include <uORB/topics/sensor_accel.h>
 #define accel_report sensor_accel_s
 
-/** accel scaling factors; Vout = Vscale * (Vin + Voffset) */
-struct accel_scale {
-	float	x_offset;
-	float	x_scale;
-	float	y_offset;
-	float	y_scale;
-	float	z_offset;
-	float	z_scale;
-};
-
 /*
  * ioctl() definitions
  *
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 2ed65802cd..8c1f91f606 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -42,6 +42,7 @@
 
 #include <stdint.h>
 #include <sys/ioctl.h>
+#include <uORB/topics/gyro_calibration.h>
 
 #include "drv_sensor.h"
 #include "drv_orb_dev.h"
@@ -54,15 +55,6 @@
 #include <uORB/topics/sensor_gyro.h>
 #define gyro_report sensor_gyro_s
 
-/** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
-struct gyro_scale {
-	float	x_offset;
-	float	x_scale;
-	float	y_offset;
-	float	y_scale;
-	float	z_offset;
-	float	z_scale;
-};
 
 /*
  * ioctl() definitions
diff --git a/src/drivers/drv_mag.h b/src/drivers/drv_mag.h
index 75d914de8e..64a9c03680 100644
--- a/src/drivers/drv_mag.h
+++ b/src/drivers/drv_mag.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -40,6 +40,7 @@
 
 #include <stdint.h>
 #include <sys/ioctl.h>
+#include <uORB/topics/mag_calibration.h>
 
 #include "drv_sensor.h"
 #include "drv_orb_dev.h"
@@ -52,15 +53,6 @@
 #include <uORB/topics/sensor_mag.h>
 #define mag_report sensor_mag_s
 
-/** mag scaling factors; Vout = (Vin * Vscale) + Voffset */
-struct mag_scale {
-	float	x_offset;
-	float	x_scale;
-	float	y_offset;
-	float	y_scale;
-	float	z_offset;
-	float	z_scale;
-};
 
 /*
  * ioctl() definitions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp
index cdea2a4e02..a0b8ebc5a1 100644
--- a/src/drivers/hmc5883/hmc5883.cpp
+++ b/src/drivers/hmc5883/hmc5883.cpp
@@ -1075,23 +1075,21 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
 	// XXX do something smarter here
 	int fd = (int)enable;
 
-	struct mag_scale mscale_previous = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
+	struct mag_calibration_s mscale_previous;
+	mscale_previous.x_offset = 0.0f,
+	mscale_previous.x_scale = 1.0f,
+	mscale_previous.y_offset = 0.0f,
+	mscale_previous.y_scale = 1.0f,
+	mscale_previous.z_offset = 0.0f,
+	mscale_previous.z_scale = 1.0f,
 
-	struct mag_scale mscale_null = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
+	struct mag_calibration_s mscale_null;
+	mscale_null.x_offset = 0.0f,
+	mscale_null.x_scale = 1.0f,
+	mscale_null.y_offset = 0.0f,
+	mscale_null.y_scale = 1.0f,
+	mscale_null.z_offset = 0.0f,
+	mscale_null.z_scale = 1.0f,
 
 	float sum_excited[3] = {0.0f, 0.0f, 0.0f};
 
diff --git a/src/drivers/l3gd20/l3gd20.cpp b/src/drivers/l3gd20/l3gd20.cpp
index 266c5283be..6152218b7b 100644
--- a/src/drivers/l3gd20/l3gd20.cpp
+++ b/src/drivers/l3gd20/l3gd20.cpp
@@ -235,7 +235,7 @@ private:
 
 	ringbuffer::RingBuffer	*_reports;
 
-	struct gyro_scale	_gyro_scale;
+	struct gyro_calibration_s	_gyro_scale;
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 	orb_advert_t		_gyro_topic;
@@ -704,12 +704,12 @@ L3GD20::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
diff --git a/src/drivers/lsm303d/lsm303d.cpp b/src/drivers/lsm303d/lsm303d.cpp
index 8821c60c82..89b4d3135b 100644
--- a/src/drivers/lsm303d/lsm303d.cpp
+++ b/src/drivers/lsm303d/lsm303d.cpp
@@ -279,13 +279,13 @@ private:
 	ringbuffer::RingBuffer	*_accel_reports;
 	ringbuffer::RingBuffer		*_mag_reports;
 
-	struct accel_scale	_accel_scale;
+	struct accel_calibration_s	_accel_scale;
 	unsigned		_accel_range_m_s2;
 	float			_accel_range_scale;
 	unsigned		_accel_samplerate;
 	unsigned		_accel_onchip_filter_bandwith;
 
-	struct mag_scale	_mag_scale;
+	struct mag_calibration_s	_mag_scale;
 	unsigned		_mag_range_ga;
 	float			_mag_range_scale;
 	unsigned		_mag_samplerate;
@@ -962,7 +962,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_scale *s = (struct accel_scale *) arg;
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -984,7 +984,7 @@ LSM303D::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSELFTEST:
@@ -1095,12 +1095,12 @@ LSM303D::mag_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case MAGIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale));
+		memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
 		return OK;
 
 	case MAGIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale));
+		memcpy((struct mag_calibration_s *) arg, &_mag_scale, sizeof(_mag_scale));
 		return OK;
 
 	case MAGIOCSRANGE:
diff --git a/src/drivers/mpu6000/mpu6000.cpp b/src/drivers/mpu6000/mpu6000.cpp
index 626e02de35..d9c38feed8 100644
--- a/src/drivers/mpu6000/mpu6000.cpp
+++ b/src/drivers/mpu6000/mpu6000.cpp
@@ -267,7 +267,7 @@ private:
 
 	ringbuffer::RingBuffer	*_accel_reports;
 
-	struct accel_scale	_accel_scale;
+	struct accel_calibration_s	_accel_scale;
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
@@ -276,7 +276,7 @@ private:
 
 	ringbuffer::RingBuffer	*_gyro_reports;
 
-	struct gyro_scale	_gyro_scale;
+	struct gyro_calibration_s	_gyro_scale;
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 
@@ -1400,7 +1400,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_scale *s = (struct accel_scale *) arg;
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -1414,7 +1414,7 @@ MPU6000::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -1484,12 +1484,12 @@ MPU6000::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
diff --git a/src/drivers/mpu9250/mpu9250.cpp b/src/drivers/mpu9250/mpu9250.cpp
index 738ebd0874..e28e49b629 100644
--- a/src/drivers/mpu9250/mpu9250.cpp
+++ b/src/drivers/mpu9250/mpu9250.cpp
@@ -194,6 +194,250 @@
  */
 #define MPU9250_TIMER_REDUCTION				200
 
+class MPU9250_gyro;
+
+class MPU9250 : public device::SPI
+{
+public:
+	MPU9250(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device, enum Rotation rotation);
+	virtual ~MPU9250();
+
+	virtual int		init();
+
+	virtual ssize_t		read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void			print_info();
+
+	void			print_registers();
+
+	// deliberately cause a sensor error
+	void 			test_error();
+
+protected:
+	virtual int		probe();
+
+	friend class MPU9250_gyro;
+
+	virtual ssize_t		gyro_read(struct file *filp, char *buffer, size_t buflen);
+	virtual int		gyro_ioctl(struct file *filp, int cmd, unsigned long arg);
+
+private:
+	MPU9250_gyro		*_gyro;
+	uint8_t			_whoami;	/** whoami result */
+
+	struct hrt_call		_call;
+	unsigned		_call_interval;
+
+	ringbuffer::RingBuffer	*_accel_reports;
+
+	struct accel_calibration_s	_accel_scale;
+	float			_accel_range_scale;
+	float			_accel_range_m_s2;
+	orb_advert_t		_accel_topic;
+	int			_accel_orb_class_instance;
+	int			_accel_class_instance;
+
+	ringbuffer::RingBuffer	*_gyro_reports;
+
+	struct gyro_calibration_s	_gyro_scale;
+	float			_gyro_range_scale;
+	float			_gyro_range_rad_s;
+
+	unsigned		_dlpf_freq;
+
+	unsigned		_sample_rate;
+	perf_counter_t		_accel_reads;
+	perf_counter_t		_gyro_reads;
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_bad_transfers;
+	perf_counter_t		_bad_registers;
+	perf_counter_t		_good_transfers;
+	perf_counter_t		_reset_retries;
+	perf_counter_t		_duplicates;
+	perf_counter_t		_controller_latency_perf;
+
+	uint8_t			_register_wait;
+	uint64_t		_reset_wait;
+
+	math::LowPassFilter2p	_accel_filter_x;
+	math::LowPassFilter2p	_accel_filter_y;
+	math::LowPassFilter2p	_accel_filter_z;
+	math::LowPassFilter2p	_gyro_filter_x;
+	math::LowPassFilter2p	_gyro_filter_y;
+	math::LowPassFilter2p	_gyro_filter_z;
+
+	Integrator		_accel_int;
+	Integrator		_gyro_int;
+
+	enum Rotation		_rotation;
+
+	// this is used to support runtime checking of key
+	// configuration registers to detect SPI bus errors and sensor
+	// reset
+#define MPU9250_NUM_CHECKED_REGISTERS 11
+	static const uint8_t	_checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_values[MPU9250_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_bad[MPU9250_NUM_CHECKED_REGISTERS];
+	uint8_t			_checked_next;
+
+	// last temperature reading for print_info()
+	float			_last_temperature;
+
+	// keep last accel reading for duplicate detection
+	uint16_t		_last_accel[3];
+	bool			_got_duplicate;
+
+	/**
+	 * Start automatic measurement.
+	 */
+	void			start();
+
+	/**
+	 * Stop automatic measurement.
+	 */
+	void			stop();
+
+	/**
+	 * Reset chip.
+	 *
+	 * Resets the chip and measurements ranges, but not scale and offset.
+	 */
+	int			reset();
+
+	/**
+	 * Static trampoline from the hrt_call context; because we don't have a
+	 * generic hrt wrapper yet.
+	 *
+	 * Called by the HRT in interrupt context at the specified rate if
+	 * automatic polling is enabled.
+	 *
+	 * @param arg		Instance pointer for the driver that is polling.
+	 */
+	static void		measure_trampoline(void *arg);
+
+	/**
+	 * Fetch measurements from the sensor and update the report buffers.
+	 */
+	void			measure();
+
+	/**
+	 * Read a register from the MPU9250
+	 *
+	 * @param		The register to read.
+	 * @return		The value that was read.
+	 */
+	uint8_t			read_reg(unsigned reg, uint32_t speed = MPU9250_LOW_BUS_SPEED);
+	uint16_t		read_reg16(unsigned reg);
+
+	/**
+	 * Write a register in the MPU9250
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_reg(unsigned reg, uint8_t value);
+
+	/**
+	 * Modify a register in the MPU9250
+	 *
+	 * Bits are cleared before bits are set.
+	 *
+	 * @param reg		The register to modify.
+	 * @param clearbits	Bits in the register to clear.
+	 * @param setbits	Bits in the register to set.
+	 */
+	void			modify_reg(unsigned reg, uint8_t clearbits, uint8_t setbits);
+
+	/**
+	 * Write a register in the MPU9250, updating _checked_values
+	 *
+	 * @param reg		The register to write.
+	 * @param value		The new value to write.
+	 */
+	void			write_checked_reg(unsigned reg, uint8_t value);
+
+	/**
+	 * Set the MPU9250 measurement range.
+	 *
+	 * @param max_g		The maximum G value the range must support.
+	 * @return		OK if the value can be supported, -ERANGE otherwise.
+	 */
+	int			set_accel_range(unsigned max_g);
+
+	/**
+	 * Swap a 16-bit value read from the MPU9250 to native byte order.
+	 */
+	uint16_t		swap16(uint16_t val) { return (val >> 8) | (val << 8);	}
+
+	/**
+	 * Get the internal / external state
+	 *
+	 * @return true if the sensor is not on the main MCU board
+	 */
+	bool			is_external() { return (_bus == EXTERNAL_BUS); }
+
+	/**
+	 * Measurement self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			self_test();
+
+	/**
+	 * Accel self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			accel_self_test();
+
+	/**
+	 * Gyro self test
+	 *
+	 * @return 0 on success, 1 on failure
+	 */
+	int 			gyro_self_test();
+
+	/*
+	  set low pass filter frequency
+	 */
+	void _set_dlpf_filter(uint16_t frequency_hz);
+
+	/*
+	  set sample rate (approximate) - 1kHz to 5Hz
+	*/
+	void _set_sample_rate(unsigned desired_sample_rate_hz);
+
+	/*
+	  check that key registers still have the right value
+	 */
+	void check_registers(void);
+
+	/* do not allow to copy this class due to pointer data members */
+	MPU9250(const MPU9250 &);
+	MPU9250 operator=(const MPU9250 &);
+
+#pragma pack(push, 1)
+	/**
+	 * Report conversation within the MPU9250, including command byte and
+	 * interrupt status.
+	 */
+	struct MPUReport {
+		uint8_t		cmd;
+		uint8_t		status;
+		uint8_t		accel_x[2];
+		uint8_t		accel_y[2];
+		uint8_t		accel_z[2];
+		uint8_t		temp[2];
+		uint8_t		gyro_x[2];
+		uint8_t		gyro_y[2];
+		uint8_t		gyro_z[2];
+	};
+#pragma pack(pop)
+};
 
 /*
   list of registers that will be checked in check_registers(). Note
@@ -910,7 +1154,7 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_scale *s = (struct accel_scale *) arg;
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -924,7 +1168,7 @@ MPU9250::ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -1006,12 +1250,12 @@ MPU9250::gyro_ioctl(struct file *filp, int cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index 166c0b9aa0..5c97bdad92 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -181,14 +181,13 @@ int do_accel_calibration(int mavlink_fd)
 
 	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
 
-	struct accel_scale accel_scale = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
+	struct accel_calibration_s accel_scale;
+	accel_scale.x_offset = 0.0f;
+	accel_scale.x_scale = 1.0f;
+	accel_scale.y_offset = 0.0f;
+	accel_scale.y_scale = 1.0f;
+	accel_scale.z_offset = 0.0f;
+	accel_scale.z_scale = 1.0f;
 
 	int res = OK;
 
diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp
index 114a4c527d..2b09a5329d 100644
--- a/src/modules/commander/gyro_calibration.cpp
+++ b/src/modules/commander/gyro_calibration.cpp
@@ -73,7 +73,7 @@ typedef struct  {
 	int			mavlink_fd;
 	int32_t			device_id[max_gyros];
 	int			gyro_sensor_sub[max_gyros];
-	struct gyro_scale	gyro_scale[max_gyros];
+	struct gyro_calibration_s	gyro_scale[max_gyros];
 	struct gyro_report	gyro_report_0;
 } gyro_worker_data_t;
 
@@ -159,14 +159,13 @@ int do_gyro_calibration(int mavlink_fd)
 
 	worker_data.mavlink_fd = mavlink_fd;
 
-	struct gyro_scale gyro_scale_zero = {
-		0.0f,	// x offset
-		1.0f,	// x scale
-		0.0f,	// y offset
-		1.0f,	// y scale
-		0.0f,	// z offset
-		1.0f,	// z scale
-	};
+	struct gyro_calibration_s gyro_scale_zero;
+	gyro_scale_zero.x_offset = 0.0f;
+	gyro_scale_zero.x_scale = 1.0f;
+	gyro_scale_zero.y_offset = 0.0f;
+	gyro_scale_zero.y_scale = 1.0f;
+	gyro_scale_zero.z_offset = 0.0f;
+	gyro_scale_zero.z_scale = 1.0f;
 
 	int device_prio_max = 0;
 	int32_t device_id_primary = 0;
@@ -192,7 +191,7 @@ int do_gyro_calibration(int mavlink_fd)
 #endif
 
 		// Reset all offsets to 0 and scales to 1
-		(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale));
+		(void)memcpy(&worker_data.gyro_scale[s], &gyro_scale_zero, sizeof(gyro_scale_zero));
 #ifndef __PX4_QURT
 		sprintf(str, "%s%u", GYRO_BASE_DEVICE_PATH, s);
 		int fd = px4_open(str, 0);
diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp
index 351fd2dd73..b8a0e47a36 100644
--- a/src/modules/commander/mag_calibration.cpp
+++ b/src/modules/commander/mag_calibration.cpp
@@ -103,14 +103,13 @@ int do_mag_calibration(int mavlink_fd)
 	mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
 
 #ifndef __PX4_QURT
-	struct mag_scale mscale_null = {
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-		0.0f,
-		1.0f,
-	};
+	struct mag_calibration_s mscale_null;
+	mscale_null.x_offset = 0.0f;
+	mscale_null.x_scale = 1.0f;
+	mscale_null.y_offset = 0.0f;
+	mscale_null.y_scale = 1.0f;
+	mscale_null.z_offset = 0.0f;
+	mscale_null.z_scale = 1.0f;
 #endif
 
 	int result = OK;
@@ -595,7 +594,7 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
 		for (unsigned cur_mag=0; cur_mag<max_mags; cur_mag++) {
 			if (device_ids[cur_mag] != 0) {
 				int fd_mag = -1;
-				struct mag_scale mscale;
+				struct mag_calibration_s mscale;
 
 				// Set new scale
 
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index bb5dcae0ff..2ea05bdba2 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -464,7 +464,7 @@ private:
 	 * @param device: the device id of the sensor.
 	 * @return: true if config is ok
 	 */
-	bool	apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, const int device_id);
+	bool	apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id);
 
 	/**
 	 * Apply a accel calibration.
@@ -474,7 +474,7 @@ private:
 	 * @param device: the device id of the sensor.
 	 * @return: true if config is ok
 	 */
-	bool	apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale, const int device_id);
+	bool	apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id);
 
 	/**
 	 * Apply a mag calibration.
@@ -484,7 +484,7 @@ private:
 	 * @param device: the device id of the sensor.
 	 * @return: true if config is ok
 	 */
-	bool	apply_mag_calibration(DevHandle &h, const struct mag_scale *mscale, const int device_id);
+	bool	apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id);
 
 	/**
 	 * Check for changes in rc_parameter_map
@@ -1255,7 +1255,7 @@ Sensors::parameter_update_poll(bool forced)
 
 				/* if the calibration is for this device, apply it */
 				if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
-					struct gyro_scale gscale = {};
+					struct gyro_calibration_s gscale = {};
 					(void)sprintf(str, "CAL_GYRO%u_XOFF", i);
 					failed = failed || (OK != param_get(param_find(str), &gscale.x_offset));
 					(void)sprintf(str, "CAL_GYRO%u_YOFF", i);
@@ -1323,7 +1323,7 @@ Sensors::parameter_update_poll(bool forced)
 
 				/* if the calibration is for this device, apply it */
 				if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
-					struct accel_scale ascale = {};
+					struct accel_calibration_s ascale = {};
 					(void)sprintf(str, "CAL_ACC%u_XOFF", i);
 					failed = failed || (OK != param_get(param_find(str), &ascale.x_offset));
 					(void)sprintf(str, "CAL_ACC%u_YOFF", i);
@@ -1400,7 +1400,7 @@ Sensors::parameter_update_poll(bool forced)
 
 				/* if the calibration is for this device, apply it */
 				if (device_id == h.ioctl(DEVIOCGDEVICEID, 0)) {
-					struct mag_scale mscale = {};
+					struct mag_calibration_s mscale = {};
 					(void)sprintf(str, "CAL_MAG%u_XOFF", i);
 					failed = failed || (OK != param_get(param_find(str), &mscale.x_offset));
 					(void)sprintf(str, "CAL_MAG%u_YOFF", i);
@@ -1515,12 +1515,12 @@ Sensors::parameter_update_poll(bool forced)
 }
 
 bool
-Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, const int device_id)
+Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_calibration_s *gcal, const int device_id)
 {
 #ifndef __PX4_QURT
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
-	const int res = h.ioctl(GYROIOCSSCALE, (long unsigned int)gscale);
+	const int res = h.ioctl(GYROIOCSSCALE, (long unsigned int)gcal);
 
 	if (res) {
 		return false;
@@ -1535,10 +1535,10 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, c
 	static orb_advert_t gyro_calibration_pub = nullptr;
 
 	if (gyro_calibration_pub != nullptr) {
-		orb_publish(ORB_ID(gyro_calibration), gyro_calibration_pub, gscale);
+		orb_publish(ORB_ID(gyro_calibration), gyro_calibration_pub, gcal);
 
 	} else {
-		gyro_calibration_pub = orb_advertise(ORB_ID(gyro_calibration), gscale);
+		gyro_calibration_pub = orb_advertise(ORB_ID(gyro_calibration), gcal);
 	}
 
 	return true;
@@ -1546,12 +1546,12 @@ Sensors::apply_gyro_calibration(DevHandle &h, const struct gyro_scale *gscale, c
 }
 
 bool
-Sensors::apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale, const int device_id)
+Sensors::apply_accel_calibration(DevHandle &h, const struct accel_calibration_s *acal, const int device_id)
 {
 #ifndef __PX4_QURT
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
-	const int res = h.ioctl(ACCELIOCSSCALE, (long unsigned int)ascale);
+	const int res = h.ioctl(ACCELIOCSSCALE, (long unsigned int)acal);
 
 	if (res) {
 		return false;
@@ -1566,10 +1566,10 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale,
 	static orb_advert_t accel_calibration_pub = nullptr;
 
 	if (accel_calibration_pub != nullptr) {
-		orb_publish(ORB_ID(accel_calibration), accel_calibration_pub, ascale);
+		orb_publish(ORB_ID(accel_calibration), accel_calibration_pub, acal);
 
 	} else {
-		accel_calibration_pub = orb_advertise(ORB_ID(accel_calibration), ascale);
+		accel_calibration_pub = orb_advertise(ORB_ID(accel_calibration), acal);
 	}
 
 	return true;
@@ -1577,12 +1577,12 @@ Sensors::apply_accel_calibration(DevHandle &h, const struct accel_scale *ascale,
 }
 
 bool
-Sensors::apply_mag_calibration(DevHandle &h, const struct mag_scale *mscale, const int device_id)
+Sensors::apply_mag_calibration(DevHandle &h, const struct mag_calibration_s *mcal, const int device_id)
 {
 #ifndef __PX4_QURT
 
 	/* On most systems, we can just use the IOCTL call to set the calibration params. */
-	const int res = h.ioctl(MAGIOCSSCALE, (long unsigned int)mscale);
+	const int res = h.ioctl(MAGIOCSSCALE, (long unsigned int)mcal);
 
 	if (res) {
 		return false;
@@ -1597,10 +1597,10 @@ Sensors::apply_mag_calibration(DevHandle &h, const struct mag_scale *mscale, con
 	static orb_advert_t mag_calibration_pub = nullptr;
 
 	if (mag_calibration_pub != nullptr) {
-		orb_publish(ORB_ID(mag_calibration), mag_calibration_pub, mscale);
+		orb_publish(ORB_ID(mag_calibration), mag_calibration_pub, mcal);
 
 	} else {
-		mag_calibration_pub = orb_advertise(ORB_ID(mag_calibration), mscale);
+		mag_calibration_pub = orb_advertise(ORB_ID(mag_calibration), mcal);
 	}
 
 	return true;
diff --git a/src/platforms/posix/drivers/accelsim/accelsim.cpp b/src/platforms/posix/drivers/accelsim/accelsim.cpp
index 63e3785118..664ea8ea8c 100644
--- a/src/platforms/posix/drivers/accelsim/accelsim.cpp
+++ b/src/platforms/posix/drivers/accelsim/accelsim.cpp
@@ -114,13 +114,13 @@ private:
 	ringbuffer::RingBuffer	*_accel_reports;
 	ringbuffer::RingBuffer	*_mag_reports;
 
-	struct accel_scale	_accel_scale;
+	struct accel_calibration_s	_accel_scale;
 	unsigned		_accel_range_m_s2;
 	float			_accel_range_scale;
 	unsigned		_accel_samplerate;
 	unsigned		_accel_onchip_filter_bandwith;
 
-	struct mag_scale	_mag_scale;
+	struct mag_calibration_s	_mag_scale;
 	unsigned		_mag_range_ga;
 	float			_mag_range_scale;
 	unsigned		_mag_samplerate;
@@ -584,7 +584,7 @@ ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_scale *s = (struct accel_scale *) arg;
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -606,7 +606,7 @@ ACCELSIM::devIOCTL(unsigned long cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale *) arg, &(_accel_scale), sizeof(_accel_scale));
+		memcpy((struct accel_calibration_s *) arg, &(_accel_scale), sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSELFTEST:
@@ -712,12 +712,12 @@ ACCELSIM::mag_ioctl(unsigned long cmd, unsigned long arg)
 
 	case MAGIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_mag_scale, (struct mag_scale *) arg, sizeof(_mag_scale));
+		memcpy(&_mag_scale, (struct mag_calibration_s *) arg, sizeof(_mag_scale));
 		return OK;
 
 	case MAGIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct mag_scale *) arg, &_mag_scale, sizeof(_mag_scale));
+		memcpy((struct mag_calibration_s *) arg, &_mag_scale, sizeof(_mag_scale));
 		return OK;
 
 	case MAGIOCSRANGE:
diff --git a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
index 3b42951cc9..012db15942 100644
--- a/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
+++ b/src/platforms/posix/drivers/gyrosim/gyrosim.cpp
@@ -154,7 +154,7 @@ private:
 
 	ringbuffer::RingBuffer	*_accel_reports;
 
-	struct accel_scale	_accel_scale;
+	struct accel_calibration_s	_accel_scale;
 	float			_accel_range_scale;
 	float			_accel_range_m_s2;
 	orb_advert_t		_accel_topic;
@@ -163,7 +163,7 @@ private:
 
 	ringbuffer::RingBuffer	*_gyro_reports;
 
-	struct gyro_scale	_gyro_scale;
+	struct gyro_calibration_s	_gyro_scale;
 	float			_gyro_range_scale;
 	float			_gyro_range_rad_s;
 
@@ -839,7 +839,7 @@ GYROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
 
 	case ACCELIOCSSCALE: {
 			/* copy scale, but only if off by a few percent */
-			struct accel_scale *s = (struct accel_scale *) arg;
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
 			float sum = s->x_scale + s->y_scale + s->z_scale;
 
 			if (sum > 2.0f && sum < 4.0f) {
@@ -853,7 +853,7 @@ GYROSIM::devIOCTL(unsigned long cmd, unsigned long arg)
 
 	case ACCELIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct accel_scale *) arg, &_accel_scale, sizeof(_accel_scale));
+		memcpy((struct accel_calibration_s *) arg, &_accel_scale, sizeof(_accel_scale));
 		return OK;
 
 	case ACCELIOCSRANGE:
@@ -910,12 +910,12 @@ GYROSIM::gyro_ioctl(unsigned long cmd, unsigned long arg)
 
 	case GYROIOCSSCALE:
 		/* copy scale in */
-		memcpy(&_gyro_scale, (struct gyro_scale *) arg, sizeof(_gyro_scale));
+		memcpy(&_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCGSCALE:
 		/* copy scale out */
-		memcpy((struct gyro_scale *) arg, &_gyro_scale, sizeof(_gyro_scale));
+		memcpy((struct gyro_calibration_s *) arg, &_gyro_scale, sizeof(_gyro_scale));
 		return OK;
 
 	case GYROIOCSRANGE:
diff --git a/src/systemcmds/config/config.c b/src/systemcmds/config/config.c
index 362af65353..0e30af4b5f 100644
--- a/src/systemcmds/config/config.c
+++ b/src/systemcmds/config/config.c
@@ -180,7 +180,7 @@ do_gyro(int argc, char *argv[])
 
 			if (ret) {
 				warnx("gyro self test FAILED! Check calibration:");
-				struct gyro_scale scale;
+				struct gyro_calibration_s scale;
 				ret = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&scale);
 
 				if (ret) {
@@ -262,7 +262,7 @@ do_mag(int argc, char *argv[])
 
 			if (ret) {
 				warnx("mag self test FAILED! Check calibration:");
-				struct mag_scale scale;
+				struct mag_calibration_s scale;
 				ret = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&scale);
 
 				if (ret) {
@@ -344,7 +344,7 @@ do_accel(int argc, char *argv[])
 
 			if (ret) {
 				warnx("accel self test FAILED! Check calibration:");
-				struct accel_scale scale;
+				struct accel_calibration_s scale;
 				ret = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&scale);
 
 				if (ret) {