diff --git a/msg/SensorAccelFifo.msg b/msg/SensorAccelFifo.msg
index 1eae5dd149..76f9c49bf5 100644
--- a/msg/SensorAccelFifo.msg
+++ b/msg/SensorAccelFifo.msg
@@ -4,10 +4,11 @@ uint64 timestamp_sample
 uint32 device_id          # unique device ID for the sensor that does not change between power cycles
 
 float32 dt                # delta time between samples (microseconds)
-float32 scale
 
 uint8 samples             # number of valid samples
 
 int16[32] x               # acceleration in the FRD board frame X-axis in m/s^2
 int16[32] y               # acceleration in the FRD board frame Y-axis in m/s^2
 int16[32] z               # acceleration in the FRD board frame Z-axis in m/s^2
+
+uint8 ORB_QUEUE_LENGTH = 4
diff --git a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp
index 9994745a02..a9b142578c 100644
--- a/src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+++ b/src/lib/drivers/accelerometer/PX4Accelerometer.cpp
@@ -145,7 +145,6 @@ void PX4Accelerometer::updateFIFO(sensor_accel_fifo_s &sample)
 	}
 
 	sample.device_id = _device_id;
-	sample.scale = _scale;
 	sample.timestamp = hrt_absolute_time();
 	_sensor_fifo_pub.publish(sample);
 
diff --git a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp
index fdce2004a1..f862a00bf6 100644
--- a/src/lib/drivers/gyroscope/PX4Gyroscope.cpp
+++ b/src/lib/drivers/gyroscope/PX4Gyroscope.cpp
@@ -144,11 +144,9 @@ void PX4Gyroscope::updateFIFO(sensor_gyro_fifo_s &sample)
 	}
 
 	sample.device_id = _device_id;
-	sample.scale = _scale;
 	sample.timestamp = hrt_absolute_time();
 	_sensor_fifo_pub.publish(sample);
 
-
 	// publish
 	sensor_gyro_s report;
 	report.timestamp_sample = sample.timestamp_sample;
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index 0264c930de..449fe1afb0 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -840,7 +840,7 @@ void VehicleAngularVelocity::Run()
 					float data[FIFO_SIZE_MAX];
 
 					for (int n = 0; n < N; n++) {
-						data[n] = sensor_fifo_data.scale * raw_data_array[axis][n];
+						data[n] = raw_data_array[axis][n];
 					}
 
 					// save last filtered sample