diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 650e9bf81a..1b2689e6bb 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -2228,7 +2228,10 @@ protected:
 
 			mavlink_distance_sensor_t msg;
 
-			msg.time_boot_ms = dist_sensor.time_boot_ms;
+			msg.time_boot_ms = dist_sensor.timestamp / 1000; /* us to ms */
+
+			/* TODO: use correct ID here */
+			msg.id = 0;
 
 			switch (dist_sensor.type) {
 			case MAV_DISTANCE_SENSOR_ULTRASOUND:
@@ -2248,11 +2251,10 @@ protected:
 				break;
 			}
 
-			msg.id = dist_sensor.id;
 			msg.orientation = dist_sensor.orientation;
-			msg.min_distance = dist_sensor.min_distance;
-			msg.max_distance = dist_sensor.max_distance;
-			msg.current_distance = dist_sensor.current_distance;
+			msg.min_distance = dist_sensor.min_distance * 100.0f; /* m to cm */
+			msg.max_distance = dist_sensor.max_distance * 100.0f; /* m to cm */
+			msg.current_distance = dist_sensor.current_distance * 100.0f; /* m to cm */
 			msg.covariance = dist_sensor.covariance;
 
 			_mavlink->send_message(MAVLINK_MSG_ID_DISTANCE_SENSOR, &msg);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 25d577dd00..6fbb30a829 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -420,10 +420,10 @@ MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
 	struct distance_sensor_s d;
 	memset(&d, 0, sizeof(d));
 
-	d.time_boot_ms = hrt_absolute_time();
+	d.timestamp = hrt_absolute_time();
 	d.min_distance = 0.3f;
 	d.max_distance = 5.0f;
-	d.current_distance = flow.distance;
+	d.current_distance = flow.distance; /* both are in m */
 	d.type = 1;
 	d.id = 0;
 	d.orientation = 8;
@@ -470,10 +470,10 @@ MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
 	struct distance_sensor_s d;
 	memset(&d, 0, sizeof(d));
 
-	d.time_boot_ms = hrt_absolute_time();
+	d.timestamp = hrt_absolute_time();
 	d.min_distance = 0.3f;
 	d.max_distance = 5.0f;
-	d.current_distance = flow.distance;
+	d.current_distance = flow.distance; /* both are in m */
 	d.type = 1;
 	d.id = 0;
 	d.orientation = 8;
@@ -530,10 +530,10 @@ MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
 	struct distance_sensor_s d;
 	memset(&d, 0, sizeof(d));
 
-	d.time_boot_ms = dist_sensor.time_boot_ms;
-	d.min_distance = dist_sensor.min_distance;
-	d.max_distance = dist_sensor.max_distance;
-	d.current_distance = dist_sensor.current_distance;
+	d.timestamp = dist_sensor.time_boot_ms * 1000; /* ms to us */
+	d.min_distance = float(dist_sensor.min_distance) * 1e-2f; /* cm to m */
+	d.max_distance = float(dist_sensor.max_distance) * 1e-2f; /* cm to m */
+	d.current_distance = float(dist_sensor.current_distance) * 1e-2f; /* cm to m */
 	d.type = dist_sensor.type;
 	d.id = dist_sensor.id;
 	d.orientation = dist_sensor.orientation;