diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp
index c3b3bba1a8..67f85c2a1e 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.cpp
@@ -91,7 +91,7 @@ void AP_OpticalFlow_MSP::update(void)
 }
 
 // handle OPTICAL_FLOW msp messages
-void AP_OpticalFlow_MSP::handle_msp(const MSP::msp_opflow_sensor_t &pkt)
+void AP_OpticalFlow_MSP::handle_msp(const MSP::msp_opflow_data_message_t &pkt)
 {
     // record time message was received
     // ToDo: add jitter correction
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h
index b6ad6bd424..0bf7276179 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_MSP.h
@@ -18,7 +18,7 @@ public:
     void update(void) override;
 
     // get update from msp
-    void handle_msp(const MSP::msp_opflow_sensor_t &pkt) override;
+    void handle_msp(const MSP::msp_opflow_data_message_t &pkt) override;
 
     // detect if the sensor is available
     static AP_OpticalFlow_MSP *detect(OpticalFlow &_frontend);
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp
index 497c4a9fb5..3a2c5b0167 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp
@@ -180,7 +180,7 @@ void OpticalFlow::handle_msg(const mavlink_message_t &msg)
 }
 
 #if HAL_MSP_OPTICALFLOW_ENABLED
-void OpticalFlow::handle_msp(const MSP::msp_opflow_sensor_t &pkt)
+void OpticalFlow::handle_msp(const MSP::msp_opflow_data_message_t &pkt)
 {
     // exit immediately if not enabled
     if (!enabled()) {
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.h b/libraries/AP_OpticalFlow/OpticalFlow.h
index 91d3aecd89..d67d0cc475 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/OpticalFlow.h
@@ -77,7 +77,7 @@ public:
 
 #if HAL_MSP_OPTICALFLOW_ENABLED
     // handle optical flow msp messages
-    void handle_msp(const MSP::msp_opflow_sensor_t &pkt);
+    void handle_msp(const MSP::msp_opflow_data_message_t &pkt);
 #endif
 
     // quality - returns the surface quality as a measure from 0 ~ 255
diff --git a/libraries/AP_OpticalFlow/OpticalFlow_backend.h b/libraries/AP_OpticalFlow/OpticalFlow_backend.h
index 9c76bd8005..782aa2d470 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow_backend.h
+++ b/libraries/AP_OpticalFlow/OpticalFlow_backend.h
@@ -40,7 +40,7 @@ public:
 
 #if HAL_MSP_OPTICALFLOW_ENABLED
     // handle optical flow msp messages
-    virtual void handle_msp(const MSP::msp_opflow_sensor_t &pkt) {}
+    virtual void handle_msp(const MSP::msp_opflow_data_message_t &pkt) {}
 #endif
 
 protected: