diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.cpp b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
index c38fcfe8e6..d50397a8ae 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.cpp
@@ -597,7 +597,7 @@ void RangeFinder::handle_msg(const mavlink_message_t &msg)
 }
 
 #if HAL_MSP_RANGEFINDER_ENABLED
-void RangeFinder::handle_msp(const MSP::msp_rangefinder_sensor_t &pkt)
+void RangeFinder::handle_msp(const MSP::msp_rangefinder_data_message_t &pkt)
 {
     uint8_t i;
     for (i=0; i<num_instances; i++) {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder.h b/libraries/AP_RangeFinder/AP_RangeFinder.h
index 7cbbaebd21..439d62ff04 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder.h
@@ -142,7 +142,7 @@ public:
 
 #if HAL_MSP_RANGEFINDER_ENABLED
     // Handle an incoming DISTANCE_SENSOR message (from a MSP enabled range finder)
-    void handle_msp(const MSP::msp_rangefinder_sensor_t &pkt);
+    void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt);
 #endif
     // return true if we have a range finder with the specified orientation
     bool has_orientation(enum Rotation orientation) const;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
index 195af797d7..c6c7c6d214 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
@@ -33,7 +33,7 @@ public:
 
     virtual void handle_msg(const mavlink_message_t &msg) { return; }
 #if HAL_MSP_RANGEFINDER_ENABLED
-    virtual void handle_msp(const MSP::msp_rangefinder_sensor_t &pkt) { return; }
+    virtual void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) { return; }
 #endif
 
     enum Rotation orientation() const { return (Rotation)params.orientation.get(); }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp
index e47579ff8f..3754f7025b 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.cpp
@@ -46,7 +46,7 @@ bool AP_RangeFinder_MSP::detect()
 /*
    Set the distance based on a MSP message
 */
-void AP_RangeFinder_MSP::handle_msp(const MSP::msp_rangefinder_sensor_t &pkt)
+void AP_RangeFinder_MSP::handle_msp(const MSP::msp_rangefinder_data_message_t &pkt)
 {
     state.last_reading_ms = AP_HAL::millis();
     distance_cm = pkt.distance_mm / 10;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
index 273815f289..325c3d63d7 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MSP.h
@@ -22,7 +22,7 @@ public:
     void update(void) override;
 
     // Get update from msp
-    void handle_msp(const MSP::msp_rangefinder_sensor_t &pkt) override;
+    void handle_msp(const MSP::msp_rangefinder_data_message_t &pkt) override;
 
 protected: