diff --git a/msg/templates/uorb/msg.cpp.template b/msg/templates/uorb/msg.cpp.template
index 11764637a4..d803e34f30 100644
--- a/msg/templates/uorb/msg.cpp.template
+++ b/msg/templates/uorb/msg.cpp.template
@@ -65,7 +65,7 @@ topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), fiel
 }@
 
 #include <cinttypes>
-#include <cstdio>
+#include <px4_log.h>
 #include <px4_defines.h>
 #include <uORB/topics/@(topic_name).h>
 #include <drivers/drv_hrt.h>
@@ -80,14 +80,14 @@ ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), _
 
 void print_message(const @uorb_struct& message)
 {
-	printf(" @(uorb_struct)\n");
-	printf("\ttimestamp: %" PRIu64, message.timestamp);
+	PX4_INFO_RAW(" @(uorb_struct)\n");
+	PX4_INFO_RAW("\ttimestamp: %" PRIu64, message.timestamp);
 	if (message.timestamp != 0) {
-		printf(" (%.6f seconds ago)\n", hrt_elapsed_time(&message.timestamp) / 1e6);
+		PX4_INFO_RAW(" (%.6f seconds ago)\n", hrt_elapsed_time(&message.timestamp) / 1e6);
 	} else {
-		printf("\n");
+		PX4_INFO_RAW("\n");
 	}
 @[for field in sorted_fields]@
 	@( print_field(field) )@
 @[end for]@
-}
\ No newline at end of file
+}
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index b5d89cdba7..d876d83bb1 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -208,7 +208,7 @@ def print_field(field):
 
         else:
             for i in range(array_length):
-                print("printf(\"\\t" + field.type + " " + field.name + "[" + str(i) + "]\");")
+                print("PX4_INFO_RAW(\"\\t" + field.type + " " + field.name + "[" + str(i) + "]\");")
                 print(" print_message(message." + field.name + "[" + str(i) + "]);")
             return
 
@@ -242,11 +242,11 @@ def print_field(field):
                 field_name = "(" + field_name + " ? \"True\" : \"False\")"
 
         else:
-            print("printf(\"\\n\\t" + field.name + "\");")
+            print("PX4_INFO_RAW(\"\\n\\t" + field.name + "\");")
             print("\tprint_message(message."+ field.name + ");")
             return
 
-    print("printf(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
+    print("PX4_INFO_RAW(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
 
 
 def print_field_def(field):
diff --git a/src/systemcmds/topic_listener/generate_listener.py b/src/systemcmds/topic_listener/generate_listener.py
index 18fefacf1e..8a8b95beb7 100755
--- a/src/systemcmds/topic_listener/generate_listener.py
+++ b/src/systemcmds/topic_listener/generate_listener.py
@@ -92,6 +92,7 @@ print("""
 #include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
+#include <px4_log.h>
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdint.h>
@@ -125,7 +126,7 @@ for index, (m, t) in enumerate(zip(messages, topics)):
 	print("\t\tlistener<%s_s>(ORB_ID(%s), num_msgs, topic_instance, topic_interval);" % (m, t))
 
 print("\t} else {")
-print("\t\t printf(\" Topic did not match any known topics\\n\");")
+print("\t\t PX4_INFO_RAW(\" Topic did not match any known topics\\n\");")
 print("\t}")
 
 print("}\n")
diff --git a/src/systemcmds/topic_listener/topic_listener.hpp b/src/systemcmds/topic_listener/topic_listener.hpp
index 239ed02e21..8760ca2b3d 100644
--- a/src/systemcmds/topic_listener/topic_listener.hpp
+++ b/src/systemcmds/topic_listener/topic_listener.hpp
@@ -43,6 +43,7 @@
 #include <px4_middleware.h>
 #include <px4_app.h>
 #include <px4_config.h>
+#include <px4_log.h>
 #include <uORB/uORB.h>
 #include <string.h>
 #include <stdint.h>
@@ -54,7 +55,7 @@ template <typename T>
 void listener(const orb_id_t &id, unsigned num_msgs, unsigned topic_instance, unsigned topic_interval)
 {
 	if (orb_exists(id, topic_instance) != 0) {
-		printf("never published\n");
+		PX4_INFO_RAW("never published\n");
 		return;
 	}
 
@@ -79,7 +80,7 @@ void listener(const orb_id_t &id, unsigned num_msgs, unsigned topic_instance, un
 			start_time = hrt_absolute_time();
 			i++;
 
-			printf("\nTOPIC: %s instance %d #%d\n", id->o_name, topic_instance, i);
+			PX4_INFO_RAW("\nTOPIC: %s instance %d #%d\n", id->o_name, topic_instance, i);
 
 			T container;
 
@@ -92,7 +93,7 @@ void listener(const orb_id_t &id, unsigned num_msgs, unsigned topic_instance, un
 
 		} else {
 			if (hrt_elapsed_time(&start_time) > 2 * 1000 * 1000) {
-				printf("Waited for 2 seconds without a message. Giving up.\n");
+				PX4_INFO_RAW("Waited for 2 seconds without a message. Giving up.\n");
 				break;
 			}
 		}