diff --git a/msg/sensor_accel.msg b/msg/sensor_accel.msg
index d6d957cb8f..e0648cda00 100644
--- a/msg/sensor_accel.msg
+++ b/msg/sensor_accel.msg
@@ -1,18 +1,19 @@
-uint64 integral_dt	# integration time
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+
 uint64 error_count
+
 float32 x		# acceleration in the NED X board axis in m/s^2
 float32 y		# acceleration in the NED Y board axis in m/s^2
 float32 z		# acceleration in the NED Z board axis in m/s^2
-float32 x_integral	# velocity in the NED X board axis in m/s over the integration time frame
-float32 y_integral	# velocity in the NED Y board axis in m/s over the integration time frame
-float32 z_integral	# velocity in the NED Z board axis in m/s over the integration time frame
-float32 temperature	# temperature in degrees celsius
-float32 range_m_s2	# range in m/s^2 (+- this value)
-float32 scaling
 
+uint32 integral_dt	# integration time  (microseconds)
+float32 x_integral	# delta velocity in the NED X board axis in m/s over the integration time frame (integral_dt)
+float32 y_integral	# delta velocity in the NED Y board axis in m/s over the integration time frame (integral_dt)
+float32 z_integral	# delta velocity in the NED Z board axis in m/s over the integration time frame (integral_dt)
+
+float32 temperature	# temperature in degrees celsius
+
+float32 scaling		# scaling from raw to m/s^s
 int16 x_raw
 int16 y_raw
 int16 z_raw
-int16 temperature_raw
-
-uint32 device_id	# unique device ID for the sensor that does not change between power cycles
diff --git a/msg/sensor_baro.msg b/msg/sensor_baro.msg
index ebab887df1..c1b986087a 100644
--- a/msg/sensor_baro.msg
+++ b/msg/sensor_baro.msg
@@ -1,4 +1,7 @@
-float32 pressure	# static pressure measurement in millibar
-float32 temperature	# static temperature measurement in deg C
-uint64 error_count
 uint32 device_id	# Sensor ID that must be unique for each baro sensor and must not change
+
+uint64 error_count
+
+float32 pressure	# static pressure measurement in millibar
+
+float32 temperature	# static temperature measurement in deg C
diff --git a/msg/sensor_gyro.msg b/msg/sensor_gyro.msg
index 8b0b72f12d..e5395a5092 100644
--- a/msg/sensor_gyro.msg
+++ b/msg/sensor_gyro.msg
@@ -1,18 +1,19 @@
-uint64 integral_dt	# integration time
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
+
 uint64 error_count
+
 float32 x		# angular velocity in the NED X board axis in rad/s
 float32 y		# angular velocity in the NED Y board axis in rad/s
 float32 z		# angular velocity in the NED Z board axis in rad/s
-float32 x_integral	# delta angle in the NED X board axis in rad/s in the integration time frame
-float32 y_integral	# delta angle in the NED Y board axis in rad/s in the integration time frame
-float32 z_integral	# delta angle in the NED Z board axis in rad/s in the integration time frame
-float32 temperature	# temperature in degrees celcius
-float32 range_rad_s
-float32 scaling
 
+uint32 integral_dt	# integration time (microseconds)
+float32 x_integral	# delta angle in the NED X board axis in rad/s over the integration time frame (integral_dt)
+float32 y_integral	# delta angle in the NED Y board axis in rad/s over the integration time frame (integral_dt)
+float32 z_integral	# delta angle in the NED Z board axis in rad/s over the integration time frame (integral_dt)
+
+float32 temperature	# temperature in degrees celsius
+
+float32 scaling		# scaling from raw to rad/s
 int16 x_raw
 int16 y_raw
 int16 z_raw
-int16 temperature_raw
-
-uint32 device_id	# unique device ID for the sensor that does not change between power cycles
diff --git a/msg/sensor_mag.msg b/msg/sensor_mag.msg
index 2eeeca3608..c79bd2430c 100644
--- a/msg/sensor_mag.msg
+++ b/msg/sensor_mag.msg
@@ -1,15 +1,16 @@
-uint64 error_count
-float32 x
-float32 y
-float32 z
-float32 range_ga
-float32 scaling
-float32 temperature
+uint32 device_id	# unique device ID for the sensor that does not change between power cycles
 
+uint64 error_count
+
+float32 x		# magnetic field in the NED X board axis in Gauss
+float32 y		# magnetic field in the NED Y board axis in Gauss
+float32 z		# magnetic field in the NED Z board axis in Gauss
+
+float32 temperature	# temperature in degrees celsius
+
+float32 scaling		# scaling from raw to Gauss
 int16 x_raw
 int16 y_raw
 int16 z_raw
 
-uint32 device_id	# unique device ID for the sensor that does not change between power cycles
-bool  is_external  # if true the mag is external (i.e. not built into the board)
-
+bool  is_external	# if true the mag is external (i.e. not built into the board)
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index 2f0f5962df..60cc17b24e 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -1458,7 +1458,6 @@ ADIS16448::measure()
 	}
 
 	grb.scaling = _gyro_range_scale * M_PI_F / 180.0f;
-	grb.range_rad_s = _gyro_range_rad_s;
 
 	/* Accel report: */
 	arb.x_raw = report.accel_x;
@@ -1488,7 +1487,6 @@ ADIS16448::measure()
 	}
 
 	arb.scaling = _accel_range_scale;
-	arb.range_m_s2 = _accel_range_m_s2;
 
 	/* Mag report: */
 	mrb.x_raw = report.mag_x;
@@ -1518,14 +1516,10 @@ ADIS16448::measure()
 	}
 
 	mrb.scaling  = _mag_range_scale / 1000.0f;
-	mrb.range_ga = _mag_range_mgauss / 1000.0f;
 
 	/* Temperature report: */
-	grb.temperature_raw = report.temp;
 	grb.temperature 	= (report.temp * 0.07386f) + 31.0f;
-
-	arb.temperature_raw = report.temp;
-	arb.temperature 	= (report.temp * 0.07386f) + 31.0f;
+	arb.temperature 	= grb.temperature;
 
 	matrix::Vector3f aval(x_in_new, y_in_new, z_in_new);
 	matrix::Vector3f aval_integrated;
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index 20c9f28d9c..e75187de1e 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -561,7 +561,6 @@ ADIS16477::publish_accel(const ADISReport &report)
 	arb.y_raw = report.accel_y;
 	arb.z_raw = report.accel_z;
 	arb.scaling = _accel_range_scale;
-	arb.range_m_s2 = _accel_range_m_s2;
 
 	float xraw_f = report.accel_x * _accel_range_scale;
 	float yraw_f = report.accel_y * _accel_range_scale;
@@ -588,7 +587,6 @@ ADIS16477::publish_accel(const ADISReport &report)
 
 	/* Temperature report: */
 	// temperature 1 LSB = 0.1°C
-	arb.temperature_raw = report.temp;
 	arb.temperature = report.temp * 0.1;
 
 	if (accel_notify) {
@@ -608,7 +606,6 @@ ADIS16477::publish_gyro(const ADISReport &report)
 
 	/* Gyro report: */
 	grb.scaling = math::radians(_gyro_range_scale);
-	grb.range_rad_s = _gyro_range_rad_s;
 	grb.x_raw = report.gyro_x;
 	grb.y_raw = report.gyro_y;
 	grb.z_raw = report.gyro_z;
@@ -639,7 +636,6 @@ ADIS16477::publish_gyro(const ADISReport &report)
 
 	/* Temperature report: */
 	// temperature 1 LSB = 0.1°C
-	grb.temperature_raw = report.temp;
 	grb.temperature = report.temp * 0.1f;
 
 	if (gyro_notify) {
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index 6fd2bdb4aa..9499b8065c 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -727,7 +727,6 @@ BMA180::measure()
 	report.y = ((report.y_raw * _accel_range_scale) - _accel_scale.y_offset) * _accel_scale.y_scale;
 	report.z = ((report.z_raw * _accel_range_scale) - _accel_scale.z_offset) * _accel_scale.z_scale;
 	report.scaling = _accel_range_scale;
-	report.range_m_s2 = _accel_range_m_s2;
 
 	_reports->force(&report);
 
diff --git a/src/drivers/imu/bmi055/BMI055_accel.cpp b/src/drivers/imu/bmi055/BMI055_accel.cpp
index f06daea1e0..4695c266bc 100644
--- a/src/drivers/imu/bmi055/BMI055_accel.cpp
+++ b/src/drivers/imu/bmi055/BMI055_accel.cpp
@@ -779,11 +779,9 @@ BMI055_accel::measure()
 	arb.z_integral = aval_integrated(2);
 
 	arb.scaling = _accel_range_scale;
-	arb.range_m_s2 = _accel_range_m_s2;
 
 	_last_temperature = 23 + report.temp * 1.0f / 512.0f;
 
-	arb.temperature_raw = report.temp;
 	arb.temperature = _last_temperature;
 	arb.device_id = _device_id.devid;
 
diff --git a/src/drivers/imu/bmi055/BMI055_gyro.cpp b/src/drivers/imu/bmi055/BMI055_gyro.cpp
index 30a4fd32a5..a979f405f2 100644
--- a/src/drivers/imu/bmi055/BMI055_gyro.cpp
+++ b/src/drivers/imu/bmi055/BMI055_gyro.cpp
@@ -755,9 +755,7 @@ BMI055_gyro::measure()
 	grb.z_integral = gval_integrated(2);
 
 	grb.scaling = _gyro_range_scale;
-	grb.range_rad_s = _gyro_range_rad_s;
 
-	grb.temperature_raw = report.temp;
 	grb.temperature = _last_temperature;
 	grb.device_id = _device_id.devid;
 
diff --git a/src/drivers/imu/bmi160/bmi160.cpp b/src/drivers/imu/bmi160/bmi160.cpp
index 30d5a46837..d26f386c9a 100644
--- a/src/drivers/imu/bmi160/bmi160.cpp
+++ b/src/drivers/imu/bmi160/bmi160.cpp
@@ -1186,11 +1186,9 @@ BMI160::measure()
 	arb.z_integral = aval_integrated(2);
 
 	arb.scaling = _accel_range_scale;
-	arb.range_m_s2 = _accel_range_m_s2;
 
 	_last_temperature = 23 + report.temp * 1.0f / 512.0f;
 
-	arb.temperature_raw = report.temp;
 	arb.temperature = _last_temperature;
 
 	/* return device ID */
@@ -1224,9 +1222,7 @@ BMI160::measure()
 	grb.z_integral = gval_integrated(2);
 
 	grb.scaling = _gyro_range_scale;
-	grb.range_rad_s = _gyro_range_rad_s;
 
-	grb.temperature_raw = report.temp;
 	grb.temperature = _last_temperature;
 
 	/* return device ID */
diff --git a/src/drivers/imu/fxas21002c/fxas21002c.cpp b/src/drivers/imu/fxas21002c/fxas21002c.cpp
index 51808a2602..6dcbeb86a2 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c.cpp
@@ -1071,7 +1071,6 @@ FXAS21002C::measure()
 	gyro_report.z_integral = gval_integrated(2);
 
 	gyro_report.scaling = _gyro_range_scale;
-	gyro_report.range_rad_s = _gyro_range_rad_s;
 
 	/* return device ID */
 	gyro_report.device_id = _device_id.devid;
diff --git a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
index ef4c87e044..26adc9c1f2 100644
--- a/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
+++ b/src/drivers/imu/fxos8701cq/fxos8701cq.cpp
@@ -1469,7 +1469,6 @@ FXOS8701CQ::measure()
 	accel_report.z_integral = aval_integrated(2);
 
 	accel_report.scaling = _accel_range_scale;
-	accel_report.range_m_s2 = _accel_range_m_s2;
 
 	/* return device ID */
 	accel_report.device_id = _device_id.devid;
@@ -1535,7 +1534,6 @@ FXOS8701CQ::mag_measure()
 	mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
 	mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
 	mag_report.scaling = _mag_range_scale;
-	mag_report.range_ga = (float)_mag_range_ga;
 	mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
 
 	mag_report.temperature = _last_temperature;
@@ -1818,8 +1816,6 @@ test()
 	PX4_INFO("accel y: \t%d\traw", (int)accel_report.y_raw);
 	PX4_INFO("accel z: \t%d\traw", (int)accel_report.z_raw);
 
-	PX4_INFO("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
-
 	/* get the driver */
 	fd_mag = open(FXOS8701C_DEVICE_PATH_MAG, O_RDONLY);
 
@@ -1850,7 +1846,6 @@ test()
 	PX4_INFO("mag x: \t%d\traw", (int)m_report.x_raw);
 	PX4_INFO("mag y: \t%d\traw", (int)m_report.y_raw);
 	PX4_INFO("mag z: \t%d\traw", (int)m_report.z_raw);
-	PX4_INFO("mag range: %8.4f ga", (double)m_report.range_ga);
 
 	/* reset to default polling */
 	if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index 90a124f4d1..dea6405d53 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -1015,8 +1015,6 @@ L3GD20::measure()
 
 	report.z_raw = raw_report.z;
 
-	report.temperature_raw = raw_report.temp;
-
 	float xraw_f = report.x_raw;
 	float yraw_f = report.y_raw;
 	float zraw_f = report.z_raw;
@@ -1043,7 +1041,6 @@ L3GD20::measure()
 	report.temperature = L3GD20_TEMP_OFFSET_CELSIUS - raw_report.temp;
 
 	report.scaling = _gyro_range_scale;
-	report.range_rad_s = _gyro_range_rad_s;
 
 	/* return device ID */
 	report.device_id = _device_id.devid;
diff --git a/src/drivers/imu/lsm303d/lsm303d.cpp b/src/drivers/imu/lsm303d/lsm303d.cpp
index 44eafac989..4551049553 100644
--- a/src/drivers/imu/lsm303d/lsm303d.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d.cpp
@@ -1577,7 +1577,6 @@ LSM303D::measure()
 	accel_report.z_integral = aval_integrated(2);
 
 	accel_report.scaling = _accel_range_scale;
-	accel_report.range_m_s2 = _accel_range_m_s2;
 
 	/* return device ID */
 	accel_report.device_id = _device_id.devid;
@@ -1658,7 +1657,6 @@ LSM303D::mag_measure()
 	mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
 	mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
 	mag_report.scaling = _mag_range_scale;
-	mag_report.range_ga = (float)_mag_range_ga;
 	mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
 
 	/* remember the temperature. The datasheet isn't clear, but it
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index f3aaa01a8a..f45ff3a9c8 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -1970,6 +1970,7 @@ MPU6000::measure()
 
 	/* NOTE: Axes have been swapped to match the board a few lines above. */
 
+	arb.scaling = _accel_range_scale;
 	arb.x_raw = report.accel_x;
 	arb.y_raw = report.accel_y;
 	arb.z_raw = report.accel_z;
@@ -1997,9 +1998,6 @@ MPU6000::measure()
 	arb.y_integral = aval_integrated(1);
 	arb.z_integral = aval_integrated(2);
 
-	arb.scaling = _accel_range_scale;
-	arb.range_m_s2 = _accel_range_m_s2;
-
 	if (is_icm_device()) { // if it is an ICM20608
 		_last_temperature = (report.temp) / 326.8f + 25.0f;
 
@@ -2007,7 +2005,6 @@ MPU6000::measure()
 		_last_temperature = (report.temp) / 361.0f + 35.0f;
 	}
 
-	arb.temperature_raw = report.temp;
 	arb.temperature = _last_temperature;
 
 	/* return device ID */
@@ -2041,9 +2038,7 @@ MPU6000::measure()
 	grb.z_integral = gval_integrated(2);
 
 	grb.scaling = _gyro_range_scale;
-	grb.range_rad_s = _gyro_range_rad_s;
 
-	grb.temperature_raw = report.temp;
 	grb.temperature = _last_temperature;
 
 	/* return device ID */
diff --git a/src/drivers/imu/mpu9250/mag.cpp b/src/drivers/imu/mpu9250/mag.cpp
index b4acce8a0d..191f8c3710 100644
--- a/src/drivers/imu/mpu9250/mag.cpp
+++ b/src/drivers/imu/mpu9250/mag.cpp
@@ -225,7 +225,6 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 	mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
 	mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
 	mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
-	mrb.range_ga = 48.0f;
 	mrb.scaling = _mag_range_scale;
 	mrb.temperature = _parent->_last_temperature;
 	mrb.device_id = _parent->_mag->_device_id.devid;
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 0d5b6b715a..069b3bab01 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -1437,11 +1437,9 @@ MPU9250::measure()
 	arb.z_integral = aval_integrated(2);
 
 	arb.scaling = _accel_range_scale;
-	arb.range_m_s2 = _accel_range_m_s2;
 
 	_last_temperature = (report.temp) / 361.0f + 35.0f;
 
-	arb.temperature_raw = report.temp;
 	arb.temperature = _last_temperature;
 
 	/* return device ID */
@@ -1475,9 +1473,7 @@ MPU9250::measure()
 	grb.z_integral = gval_integrated(2);
 
 	grb.scaling = _gyro_range_scale;
-	grb.range_rad_s = _gyro_range_rad_s;
 
-	grb.temperature_raw = report.temp;
 	grb.temperature = _last_temperature;
 
 	/* return device ID */
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883.cpp b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
index 37c9661077..e0cfae88df 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
@@ -891,7 +891,6 @@ HMC5883::collect()
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
 	new_report.timestamp = hrt_absolute_time();
 	new_report.error_count = perf_event_count(_comms_errors);
-	new_report.range_ga = _range_ga;
 	new_report.scaling = _range_scale;
 	new_report.device_id = _device_id.devid;
 
diff --git a/src/drivers/magnetometer/ist8310/ist8310.cpp b/src/drivers/magnetometer/ist8310/ist8310.cpp
index 0d7e16f929..9dcf87a896 100644
--- a/src/drivers/magnetometer/ist8310/ist8310.cpp
+++ b/src/drivers/magnetometer/ist8310/ist8310.cpp
@@ -891,7 +891,6 @@ IST8310::collect()
 	new_report.timestamp = hrt_absolute_time();
 	new_report.is_external = sensor_is_external;
 	new_report.error_count = perf_event_count(_comms_errors);
-	new_report.range_ga = 1.6f; // constant for this sensor for x and y
 	new_report.scaling = _range_scale;
 	new_report.device_id = _device_id.devid;
 
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
index 0e58d2c328..36446cfcbf 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
@@ -372,7 +372,6 @@ LIS3MDL::collect()
 
 	new_mag_report.timestamp = hrt_absolute_time();
 	new_mag_report.error_count = perf_event_count(_comms_errors);
-	new_mag_report.range_ga = _range_ga;
 	new_mag_report.scaling = _range_scale;
 	new_mag_report.device_id = _device_id.devid;
 
diff --git a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
index 9db661e55e..636f9b66f7 100644
--- a/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
+++ b/src/drivers/magnetometer/lsm303agr/LSM303AGR.cpp
@@ -479,7 +479,6 @@ LSM303AGR::collect()
 		mag_report.y = ((yraw_f * _mag_range_scale) - _mag_scale.y_offset) * _mag_scale.y_scale;
 		mag_report.z = ((zraw_f * _mag_range_scale) - _mag_scale.z_offset) * _mag_scale.z_scale;
 		mag_report.scaling = _mag_range_scale;
-		mag_report.range_ga = _mag_range_ga;
 		mag_report.error_count = perf_event_count(_bad_registers) + perf_event_count(_bad_values);
 
 		/* remember the temperature. The datasheet isn't clear, but it
diff --git a/src/lib/drivers/device/integrator.cpp b/src/lib/drivers/device/integrator.cpp
index 102a92fd0f..423c05f393 100644
--- a/src/lib/drivers/device/integrator.cpp
+++ b/src/lib/drivers/device/integrator.cpp
@@ -51,7 +51,7 @@ Integrator::Integrator(uint64_t auto_reset_interval, bool coning_compensation) :
 }
 
 bool
-Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt)
+Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt)
 {
 	if (_last_integration_time == 0) {
 		/* this is the first item in the integrator */
@@ -115,7 +115,7 @@ Integrator::put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &int
 
 bool
 Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
-			      uint64_t &integral_dt)
+			      uint32_t &integral_dt)
 {
 	if (_last_integration_time == 0) {
 		/* this is the first item in the integrator */
@@ -134,7 +134,7 @@ Integrator::put_with_interval(unsigned interval_us, matrix::Vector3f &val, matri
 }
 
 matrix::Vector3f
-Integrator::get(bool reset, uint64_t &integral_dt)
+Integrator::get(bool reset, uint32_t &integral_dt)
 {
 	matrix::Vector3f val = _alpha;
 
@@ -146,7 +146,7 @@ Integrator::get(bool reset, uint64_t &integral_dt)
 }
 
 matrix::Vector3f
-Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val)
+Integrator::get_and_filtered(bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val)
 {
 	// Do the usual get with reset first but don't return yet.
 	matrix::Vector3f ret_integral = get(reset, integral_dt);
@@ -160,18 +160,13 @@ Integrator::get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f
 }
 
 void
-Integrator::_reset(uint64_t &integral_dt)
+Integrator::_reset(uint32_t &integral_dt)
 {
-	_alpha(0) = 0.0f;
-	_alpha(1) = 0.0f;
-	_alpha(2) = 0.0f;
-	_last_alpha(0) = 0.0f;
-	_last_alpha(1) = 0.0f;
-	_last_alpha(2) = 0.0f;
-	_beta(0) = 0.0f;
-	_beta(1) = 0.0f;
-	_beta(2) = 0.0f;
+	_alpha.zero();
+	_last_alpha.zero();
+	_beta.zero();
 
 	integral_dt = (_last_integration_time - _last_reset_time);
+
 	_last_reset_time = _last_integration_time;
 }
diff --git a/src/lib/drivers/device/integrator.h b/src/lib/drivers/device/integrator.h
index 994529b297..4d1ed3a167 100644
--- a/src/lib/drivers/device/integrator.h
+++ b/src/lib/drivers/device/integrator.h
@@ -67,7 +67,7 @@ public:
 	 * @return		true if putting the item triggered an integral reset and the integral should be
 	 *			published.
 	 */
-	bool put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint64_t &integral_dt);
+	bool put(uint64_t timestamp, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
 
 	/**
 	 * Put an item into the integral but provide an interval instead of a timestamp.
@@ -81,8 +81,7 @@ public:
 	 * @return		true if putting the item triggered an integral reset and the integral should be
 	 *			published.
 	 */
-	bool put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral,
-			       uint64_t &integral_dt);
+	bool put_with_interval(unsigned interval_us, matrix::Vector3f &val, matrix::Vector3f &integral, uint32_t &integral_dt);
 
 	/**
 	 * Get the current integral and reset the integrator if needed.
@@ -91,7 +90,7 @@ public:
 	 * @param integral_dt	Get the dt in us of the current integration (only if reset).
 	 * @return		the integral since the last read-reset
 	 */
-	matrix::Vector3f	get(bool reset, uint64_t &integral_dt);
+	matrix::Vector3f	get(bool reset, uint32_t &integral_dt);
 
 
 	/**
@@ -103,7 +102,7 @@ public:
 	 * @param filtered_val	The integral differentiated by the integration time.
 	 * @return		the integral since the last read-reset
 	 */
-	matrix::Vector3f	get_and_filtered(bool reset, uint64_t &integral_dt, matrix::Vector3f &filtered_val);
+	matrix::Vector3f	get_and_filtered(bool reset, uint32_t &integral_dt, matrix::Vector3f &filtered_val);
 
 
 	/**
@@ -132,5 +131,5 @@ private:
 	 *
 	 * @param integral_dt	Get the dt in us of the current integration.
 	 */
-	void _reset(uint64_t &integral_dt);
+	void _reset(uint32_t &integral_dt);
 };
diff --git a/src/modules/simulator/accelsim/accelsim.cpp b/src/modules/simulator/accelsim/accelsim.cpp
index a6966043a1..af1345e837 100644
--- a/src/modules/simulator/accelsim/accelsim.cpp
+++ b/src/modules/simulator/accelsim/accelsim.cpp
@@ -861,7 +861,6 @@ ACCELSIM::_measure()
 	accel_report.z = raw_accel_report.z;
 
 	accel_report.scaling = _accel_range_scale;
-	accel_report.range_m_s2 = _accel_range_m_s2;
 
 	_accel_reports->force(&accel_report);
 
diff --git a/src/modules/simulator/gyrosim/gyrosim.cpp b/src/modules/simulator/gyrosim/gyrosim.cpp
index a8ba200928..ed58393f87 100644
--- a/src/modules/simulator/gyrosim/gyrosim.cpp
+++ b/src/modules/simulator/gyrosim/gyrosim.cpp
@@ -1033,11 +1033,9 @@ GYROSIM::_measure()
 	arb.z_raw = (int16_t)(mpu_report.accel_z / _accel_range_scale);
 
 	arb.scaling = _accel_range_scale;
-	arb.range_m_s2 = _accel_range_m_s2;
 
 	_last_temperature = mpu_report.temp;
 
-	arb.temperature_raw = (int16_t)((mpu_report.temp - 35.0f) * 361.0f);
 	arb.temperature = _last_temperature;
 
 	arb.x = mpu_report.accel_x;
@@ -1060,9 +1058,7 @@ GYROSIM::_measure()
 	grb.z_raw = (int16_t)(mpu_report.gyro_z / _gyro_range_scale);
 
 	grb.scaling = _gyro_range_scale;
-	grb.range_rad_s = _gyro_range_rad_s;
 
-	grb.temperature_raw = (int16_t)((mpu_report.temp - 35.0f) * 361.0f);
 	grb.temperature = _last_temperature;
 
 	grb.x = mpu_report.gyro_x;
@@ -1322,8 +1318,6 @@ test()
 	PX4_INFO("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
 	PX4_INFO("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
 	PX4_INFO("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	PX4_INFO("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-		 (double)(a_report.range_m_s2 / CONSTANTS_ONE_G));
 
 	/* do a simple demand read */
 	sz = h_gyro.read(&g_report, sizeof(g_report));
@@ -1340,11 +1334,8 @@ test()
 	PX4_INFO("gyro x: \t%d\traw", (int)g_report.x_raw);
 	PX4_INFO("gyro y: \t%d\traw", (int)g_report.y_raw);
 	PX4_INFO("gyro z: \t%d\traw", (int)g_report.z_raw);
-	PX4_INFO("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-		 (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
 
 	PX4_INFO("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	PX4_INFO("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
 
 
 	/* XXX add poll-rate tests here too */
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index f25216a775..e34cf1bf36 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -145,7 +145,6 @@ void UavcanMagnetometerBridge::mag_sub_cb(const
 		&msg)
 {
 	lock();
-	_report.range_ga = 1.3F;   // Arbitrary number, doesn't really mean anything
 	/*
 	 * FIXME HACK
 	 * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
diff --git a/src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp b/src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp
index 4fc75abc1e..cc1155528d 100644
--- a/src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_ak8963_wrapper/df_ak8963_wrapper.cpp
@@ -297,7 +297,6 @@ int DfAK8963Wrapper::_publish(struct mag_sensor_data &data)
 
 	// TODO: get these right
 	//mag_report.scaling = -1.0f;
-	//mag_report.range_m_s2 = -1.0f;
 
 	mag_report.device_id = m_id.dev_id;
 
diff --git a/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp b/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
index 937106047f..16e96267a1 100644
--- a/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp
@@ -297,7 +297,6 @@ int DfHmc5883Wrapper::_publish(struct mag_sensor_data &data)
 
 	// TODO: get these right
 	//mag_report.scaling = -1.0f;
-	//mag_report.range_m_s2 = -1.0f;
 
 	mag_report.device_id = m_id.dev_id;
 
diff --git a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
index 2fdff30580..c11dba6995 100644
--- a/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_lsm9ds1_wrapper/df_lsm9ds1_wrapper.cpp
@@ -570,7 +570,7 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
 	}
 
 	matrix::Vector3f vec_integrated_unused;
-	uint64_t integral_dt_unused;
+	uint32_t integral_dt_unused;
 	matrix::Vector3f accel_val(data.accel_m_s2_x,
 				   data.accel_m_s2_y,
 				   data.accel_m_s2_z);
@@ -628,16 +628,13 @@ int DfLsm9ds1Wrapper::_publish(struct imu_sensor_data &data)
 
 	// TODO: get these right
 	gyro_report.scaling = -1.0f;
-	gyro_report.range_rad_s = -1.0f;
 	gyro_report.device_id = m_id.dev_id;
 
 	accel_report.scaling = -1.0f;
-	accel_report.range_m_s2 = -1.0f;
 	accel_report.device_id = m_id.dev_id;
 
 	if (_mag_enabled) {
 		mag_report.scaling = -1.0f;
-		mag_report.range_ga = -1.0f;
 		mag_report.device_id = m_id.dev_id;
 	}
 
diff --git a/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp b/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
index 8870fd851e..3e9467eed5 100644
--- a/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_mpu6050_wrapper/df_mpu6050_wrapper.cpp
@@ -432,7 +432,7 @@ int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data)
 	uint64_t now = hrt_absolute_time();
 
 	matrix::Vector3f vec_integrated_unused;
-	uint64_t integral_dt_unused;
+	uint32_t integral_dt_unused;
 
 	matrix::Vector3f accel_val(data.accel_m_s2_x, data.accel_m_s2_y, data.accel_m_s2_z);
 
@@ -495,11 +495,9 @@ int DfMPU6050Wrapper::_publish(struct imu_sensor_data &data)
 
 	// TODO: get these right
 	gyro_report.scaling = -1.0f;
-	gyro_report.range_rad_s = -1.0f;
 	gyro_report.device_id = m_id.dev_id;
 
 	accel_report.scaling = -1.0f;
-	accel_report.range_m_s2 = -1.0f;
 	accel_report.device_id = m_id.dev_id;
 
 	// TODO: remove these (or get the values)
diff --git a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
index 0adf2e1f4b..d7b08bc4bc 100644
--- a/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
+++ b/src/platforms/posix/drivers/df_mpu9250_wrapper/df_mpu9250_wrapper.cpp
@@ -706,11 +706,9 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
 
 	// TODO: get these right
 	gyro_report.scaling = -1.0f;
-	gyro_report.range_rad_s = -1.0f;
 	gyro_report.device_id = m_id.dev_id;
 
 	accel_report.scaling = -1.0f;
-	accel_report.range_m_s2 = -1.0f;
 	accel_report.device_id = m_id.dev_id;
 
 	if (_mag_enabled) {
@@ -718,7 +716,6 @@ int DfMpu9250Wrapper::_publish(struct imu_sensor_data &data)
 		mag_report.is_external = false;
 
 		mag_report.scaling = -1.0f;
-		mag_report.range_ga = -1.0f;
 		mag_report.device_id = m_id.dev_id;
 
 		xraw_f = data.mag_ga_x;
diff --git a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
index 246e91d548..804c0e1a30 100644
--- a/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
+++ b/src/platforms/qurt/fc_addon/mpu_spi/mpu9x50_main.cpp
@@ -405,31 +405,26 @@ void update_reports()
 	_gyro.y = ((_data.gyro_raw[1] * _data.gyro_scaling) - _gyro_sc.y_offset) * _gyro_sc.y_scale;
 	_gyro.z = ((_data.gyro_raw[2] * _data.gyro_scaling) - _gyro_sc.z_offset) * _gyro_sc.z_scale;
 	_gyro.temperature = _data.temperature;
-	_gyro.range_rad_s = _data.gyro_range_rad_s;
 	_gyro.scaling = _data.gyro_scaling;
 	_gyro.x_raw = _data.gyro_raw[0];
 	_gyro.y_raw = _data.gyro_raw[1];
 	_gyro.z_raw = _data.gyro_raw[2];
-	_gyro.temperature_raw = _data.temperature_raw;
 
 	_accel.timestamp = _data.timestamp;
 	_accel.x = ((_data.accel_raw[0] * _data.accel_scaling) - _accel_sc.x_offset) * _accel_sc.x_scale;
 	_accel.y = ((_data.accel_raw[1] * _data.accel_scaling) - _accel_sc.y_offset) * _accel_sc.y_scale;
 	_accel.z = ((_data.accel_raw[2] * _data.accel_scaling) - _accel_sc.z_offset) * _accel_sc.z_scale;
 	_accel.temperature = _data.temperature;
-	_accel.range_m_s2 = _data.accel_range_m_s2;
 	_accel.scaling = _data.accel_scaling;
 	_accel.x_raw = _data.accel_raw[0];
 	_accel.y_raw = _data.accel_raw[1];
 	_accel.z_raw = _data.accel_raw[2];
-	_accel.temperature_raw = _data.temperature_raw;
 
 	if (_data.mag_data_ready) {
 		_mag.timestamp = _data.timestamp;
 		_mag.x = ((_data.mag_raw[0] * _data.mag_scaling) - _mag_sc.x_offset) * _mag_sc.x_scale;
 		_mag.y = ((_data.mag_raw[1] * _data.mag_scaling) - _mag_sc.y_offset) * _mag_sc.y_scale;
 		_mag.z = ((_data.mag_raw[2] * _data.mag_scaling) - _mag_sc.z_offset) * _mag_sc.z_scale;
-		_mag.range_ga = _data.mag_range_ga;
 		_mag.scaling = _data.mag_scaling;
 		_mag.temperature = _data.temperature;
 		_mag.x_raw = _data.mag_raw[0];
diff --git a/src/systemcmds/tests/test_microbench_uorb.cpp b/src/systemcmds/tests/test_microbench_uorb.cpp
index 57bcd8f17f..85ead44fac 100644
--- a/src/systemcmds/tests/test_microbench_uorb.cpp
+++ b/src/systemcmds/tests/test_microbench_uorb.cpp
@@ -126,7 +126,6 @@ void MicroBenchORB::reset()
 	lpos.dist_bottom_valid = rand();
 
 	gyro.timestamp = rand();
-	gyro.temperature_raw = rand();
 }
 
 ut_declare_test_c(test_microbench_uorb, MicroBenchORB)