diff --git a/msg/Rpm.msg b/msg/Rpm.msg
index 7a6b179b84..fcec7edaf8 100644
--- a/msg/Rpm.msg
+++ b/msg/Rpm.msg
@@ -1,7 +1,4 @@
-uint64 timestamp                      # time since system start (microseconds)
-
-float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
-float32 estimated_accurancy_rpm       # estimated accuracy in Revolution per minute
+uint64 timestamp # time since system start (microseconds)
 
+float32 rpm_estimate # filtered revolutions per minute
 float32 rpm_raw # measured rpm
-float32 rpm_estimate # filtered rpm
diff --git a/src/drivers/rpm/pcf8583/PCF8583.cpp b/src/drivers/rpm/pcf8583/PCF8583.cpp
index 085015247f..f72c200efb 100644
--- a/src/drivers/rpm/pcf8583/PCF8583.cpp
+++ b/src/drivers/rpm/pcf8583/PCF8583.cpp
@@ -196,12 +196,10 @@ void PCF8583::RunImpl()
 
 	// Calculate RPM and accuracy estimation
 	float indicated_rpm = (((float)diffCount / _param_pcf8583_magnet.get()) / ((float)diffTime / 1e6f)) * 60.f;
-	float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1e6f) * 60.f;
 
 	// publish data to uorb
 	rpm_s msg{};
-	msg.indicated_frequency_rpm = indicated_rpm;
-	msg.estimated_accurancy_rpm = estimated_accurancy;
+	msg.rpm_estimate = indicated_rpm;
 	msg.timestamp = hrt_absolute_time();
 	_rpm_pub.publish(msg);
 
diff --git a/src/drivers/rpm/rpm_simulator/rpm_simulator.cpp b/src/drivers/rpm/rpm_simulator/rpm_simulator.cpp
index 5e1e8b016c..4926d1ca9f 100644
--- a/src/drivers/rpm/rpm_simulator/rpm_simulator.cpp
+++ b/src/drivers/rpm/rpm_simulator/rpm_simulator.cpp
@@ -66,8 +66,7 @@ int rpm_simulator_main(int argc, char *argv[])
 
 	// prpepare RPM data message
 	rpm.timestamp = timestamp_us;
-	rpm.indicated_frequency_rpm = frequency;
-	rpm.estimated_accurancy_rpm = frequency / 100.0f;
+	rpm.rpm_estimate = frequency;
 
 	// Publish data and let the user know what was published
 	rpm_pub.publish(rpm);
diff --git a/src/modules/mavlink/streams/RAW_RPM.hpp b/src/modules/mavlink/streams/RAW_RPM.hpp
index 9d2088123f..cfc4ceb54d 100644
--- a/src/modules/mavlink/streams/RAW_RPM.hpp
+++ b/src/modules/mavlink/streams/RAW_RPM.hpp
@@ -68,7 +68,7 @@ private:
 				mavlink_raw_rpm_t msg{};
 
 				msg.index = i;
-				msg.frequency = rpm.indicated_frequency_rpm;
+				msg.frequency = rpm.rpm_estimate;
 
 				mavlink_msg_raw_rpm_send_struct(_mavlink->get_channel(), &msg);
 				updated = true;
diff --git a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
index c1bdfb6dc1..58e6ece481 100644
--- a/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
+++ b/src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
@@ -388,14 +388,12 @@ void SimulatorMavlink::handle_message(const mavlink_message_t *msg)
 		break;
 
 	case MAVLINK_MSG_ID_RAW_RPM:
-		mavlink_raw_rpm_t rpm;
-		mavlink_msg_raw_rpm_decode(msg, &rpm);
-		rpm_s rpmmsg{};
-		rpmmsg.timestamp = hrt_absolute_time();
-		rpmmsg.indicated_frequency_rpm = rpm.frequency;
-		rpmmsg.estimated_accurancy_rpm = 0;
-
-		_rpm_pub.publish(rpmmsg);
+		mavlink_raw_rpm_t rpm_mavlink;
+		mavlink_msg_raw_rpm_decode(msg, &rpm_mavlink);
+		rpm_s rpm_uorb{};
+		rpm_uorb.timestamp = hrt_absolute_time();
+		rpm_uorb.rpm_estimate = rpm_mavlink.frequency;
+		_rpm_pub.publish(rpm_uorb);
 		break;
 	}
 }