diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
index edc3712b96..9e8f744fdf 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
@@ -468,12 +468,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m
 
     switch (cmd_msp) {
     case MSP2_SENSOR_RANGEFINDER: {
-        const MSP::msp_rangefinder_sensor_t *pkt = (const MSP::msp_rangefinder_sensor_t *)src->ptr;
+        const MSP::msp_rangefinder_data_message_t *pkt = (const MSP::msp_rangefinder_data_message_t *)src->ptr;
         msp_handle_rangefinder(*pkt);
     }
     break;
     case MSP2_SENSOR_OPTIC_FLOW: {
-        const MSP::msp_opflow_sensor_t *pkt = (const MSP::msp_opflow_sensor_t *)src->ptr;
+        const MSP::msp_opflow_data_message_t *pkt = (const MSP::msp_opflow_data_message_t *)src->ptr;
         msp_handle_opflow(*pkt);
     }
     break;
@@ -497,7 +497,7 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_sensor_command(uint16_t cmd_m
     return MSP_RESULT_NO_REPLY;
 }
 
-void AP_MSP_Telem_Backend::msp_handle_opflow(const MSP::msp_opflow_sensor_t &pkt)
+void AP_MSP_Telem_Backend::msp_handle_opflow(const MSP::msp_opflow_data_message_t &pkt)
 {
 #if HAL_MSP_OPTICALFLOW_ENABLED
     OpticalFlow *optflow = AP::opticalflow();
@@ -508,7 +508,7 @@ void AP_MSP_Telem_Backend::msp_handle_opflow(const MSP::msp_opflow_sensor_t &pkt
 #endif
 }
 
-void AP_MSP_Telem_Backend::msp_handle_rangefinder(const MSP::msp_rangefinder_sensor_t &pkt)
+void AP_MSP_Telem_Backend::msp_handle_rangefinder(const MSP::msp_rangefinder_data_message_t &pkt)
 {
 #if HAL_MSP_RANGEFINDER_ENABLED
     RangeFinder *rangefinder = AP::rangefinder();
diff --git a/libraries/AP_MSP/AP_MSP_Telem_Backend.h b/libraries/AP_MSP/AP_MSP_Telem_Backend.h
index b34db4e792..771eef76ee 100644
--- a/libraries/AP_MSP/AP_MSP_Telem_Backend.h
+++ b/libraries/AP_MSP/AP_MSP_Telem_Backend.h
@@ -159,8 +159,8 @@ protected:
     MSP::MSPCommandResult msp_process_out_command(uint16_t cmd_msp, MSP::sbuf_t *dst);
 
     // MSP sensor command processing
-    void msp_handle_opflow(const MSP::msp_opflow_sensor_t &pkt);
-    void msp_handle_rangefinder(const MSP::msp_rangefinder_sensor_t &pkt);
+    void msp_handle_opflow(const MSP::msp_opflow_data_message_t &pkt);
+    void msp_handle_rangefinder(const MSP::msp_rangefinder_data_message_t &pkt);
     void msp_handle_gps(const MSP::msp_gps_data_message_t &pkt);
     void msp_handle_compass(const MSP::msp_compass_data_message_t &pkt);
     void msp_handle_baro(const MSP::msp_baro_data_message_t &pkt);
diff --git a/libraries/AP_MSP/msp_sensors.h b/libraries/AP_MSP/msp_sensors.h
index ecf9418335..e8d7f07b73 100644
--- a/libraries/AP_MSP/msp_sensors.h
+++ b/libraries/AP_MSP/msp_sensors.h
@@ -2,20 +2,18 @@
 
 namespace MSP
 {
-// inav/src/main/io/rangefinder_msp.c
+// src/main/msp/msp_protocol_v2_sensor_msg.h
 typedef struct PACKED {
     uint8_t quality;    // [0;255]
     int32_t distance_mm; // Negative value for out of range
-} msp_rangefinder_sensor_t;
+} msp_rangefinder_data_message_t;
 
-// inav/src/main/io/opflow_msp.c
 typedef struct PACKED {
     uint8_t quality;    // [0;255]
     int32_t motion_x;
     int32_t motion_y;
-} msp_opflow_sensor_t;
+} msp_opflow_data_message_t;
 
-// inav/src/main/io/gps_msp.c
 typedef struct PACKED {
     uint8_t  instance;                  // sensor instance number to support multi-sensor setups
     uint16_t gps_week;                   // GPS week, 0xFFFF if not available