diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
index b050b696df..02c6c0db79 100644
--- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019, 2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -164,7 +164,7 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
 				if ((device_id != 0) && (device_id == sensor_selection.accel_device_id)) {
 
 					if (_sensor_sub.ChangeInstance(i) && _sensor_sub.registerCallback()) {
-						PX4_DEBUG("selected sensor changed %d -> %d", _calibration.device_id(), device_id);
+						PX4_DEBUG("selected sensor changed %" PRIu32 " -> %" PRIu32 "", _calibration.device_id(), device_id);
 
 						// clear bias and corrections
 						_bias.zero();
@@ -178,7 +178,7 @@ bool VehicleAcceleration::SensorSelectionUpdate(bool force)
 				}
 			}
 
-			PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.accel_device_id);
+			PX4_ERR("unable to find or subscribe to selected sensor (%" PRIu32 ")", sensor_selection.accel_device_id);
 			_calibration.set_device_id(0);
 		}
 	}
@@ -256,7 +256,7 @@ void VehicleAcceleration::Run()
 
 void VehicleAcceleration::PrintStatus()
 {
-	PX4_INFO("selected sensor: %d, rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]",
+	PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz, estimated bias: [%.4f %.4f %.4f]",
 		 _calibration.device_id(), (double)_filter_sample_rate,
 		 (double)_bias(0), (double)_bias(1), (double)_bias(2));
 
diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
index f3aeb46699..0c6bdcfef4 100644
--- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
+++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
@@ -207,7 +207,7 @@ void VehicleAirData::Run()
 			}
 
 			if (_selected_sensor_sub_index >= 0) {
-				PX4_INFO("%s switch from #%u -> #%d", "BARO", _selected_sensor_sub_index, best_index);
+				PX4_INFO("%s switch from #%" PRIu8 " -> #%d", "BARO", _selected_sensor_sub_index, best_index);
 			}
 
 			_selected_sensor_sub_index = best_index;
@@ -316,10 +316,11 @@ void VehicleAirData::Run()
 void VehicleAirData::PrintStatus()
 {
 	if (_selected_sensor_sub_index >= 0) {
-		PX4_INFO("selected barometer: %d (%d)", _last_data[_selected_sensor_sub_index].device_id, _selected_sensor_sub_index);
+		PX4_INFO("selected barometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id,
+			 _selected_sensor_sub_index);
 
 		if (fabsf(_thermal_offset[_selected_sensor_sub_index]) > 0.f) {
-			PX4_INFO("%d temperature offset: %.4f", _last_data[_selected_sensor_sub_index].device_id,
+			PX4_INFO("%" PRIu32 " temperature offset: %.4f", _last_data[_selected_sensor_sub_index].device_id,
 				 (double)_thermal_offset[_selected_sensor_sub_index]);
 		}
 	}
diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index 790f2a70bf..475a5d7ff3 100644
--- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -265,7 +265,7 @@ bool VehicleAngularVelocity::SensorSelectionUpdate(bool force)
 				}
 			}
 
-			PX4_ERR("unable to find or subscribe to selected sensor (%d)", sensor_selection.gyro_device_id);
+			PX4_ERR("unable to find or subscribe to selected sensor (%" PRIu32 ")", sensor_selection.gyro_device_id);
 			_selected_sensor_device_id = 0;
 		}
 	}
@@ -784,7 +784,7 @@ void VehicleAngularVelocity::CalibrateAndPublish(bool publish, const hrt_abstime
 
 void VehicleAngularVelocity::PrintStatus()
 {
-	PX4_INFO("selected sensor: %d, rate: %.1f Hz %s",
+	PX4_INFO("selected sensor: %" PRIu32 ", rate: %.1f Hz %s",
 		 _selected_sensor_device_id, (double)_filter_sample_rate_hz, _fifo_available ? "FIFO" : "");
 	PX4_INFO("estimated bias: [%.4f %.4f %.4f]", (double)_bias(0), (double)_bias(1), (double)_bias(2));
 
diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
index 180a581ccd..32a75bece7 100644
--- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp
@@ -119,10 +119,10 @@ void VehicleIMU::ParametersUpdate(bool force)
 
 		// constrain IMU integration time 1-10 milliseconds (100-1000 Hz)
 		int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
-						  100, math::max(_param_imu_gyro_ratemax.get(), 1000));
+						  (int32_t)100, math::max(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
 
 		if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
-			PX4_WARN("IMU_INTEG_RATE updated %d -> %d", _param_imu_integ_rate.get(), imu_integration_rate_hz);
+			PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
 			_param_imu_integ_rate.set(imu_integration_rate_hz);
 			_param_imu_integ_rate.commit_no_notification();
 		}
@@ -322,7 +322,7 @@ bool VehicleIMU::UpdateAccel()
 				const uint64_t clipping_total = _status.accel_clipping[0] + _status.accel_clipping[1] + _status.accel_clipping[2];
 
 				if (clipping_total > _last_clipping_notify_total_count + 1000) {
-					mavlink_log_critical(&_mavlink_log_pub, "Accel %d clipping, not safe to fly!", _instance);
+					mavlink_log_critical(&_mavlink_log_pub, "Accel %" PRIu8 " clipping, not safe to fly!", _instance);
 					_last_clipping_notify_time = accel.timestamp_sample;
 					_last_clipping_notify_total_count = clipping_total;
 				}
@@ -530,7 +530,8 @@ void VehicleIMU::UpdateIntegratorConfiguration()
 				_intervals_configured = true;
 				_update_integrator_config = false;
 
-				PX4_DEBUG("accel (%d), gyro (%d), accel samples: %d, gyro samples: %d, accel interval: %.1f, gyro interval: %.1f sub samples: %d",
+				PX4_DEBUG("accel (%" PRIu32 "), gyro (%" PRIu32 "), accel samples: %" PRIu8 ", gyro samples: %" PRIu8
+					  ", accel interval: %.1f, gyro interval: %.1f sub samples: %d",
 					  _accel_calibration.device_id(), _gyro_calibration.device_id(), accel_integral_samples, gyro_integral_samples,
 					  (double)_accel_interval_us, (double)_gyro_interval_us, n);
 
@@ -564,8 +565,10 @@ void VehicleIMU::UpdateGyroVibrationMetrics(const Vector3f &delta_angle)
 
 void VehicleIMU::PrintStatus()
 {
-	PX4_INFO("%d - Accel ID: %d, interval: %.1f us (SD %.1f us), Gyro ID: %d, interval: %.1f us (SD %.1f us)", _instance,
-		 _accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance),
+
+	PX4_INFO("%" PRIu8 " - Accel ID: %" PRIu32 ", interval: %.1f us (SD %.1f us), Gyro ID: %" PRIu32
+		 ", interval: %.1f us (SD %.1f us)",
+		 _instance, _accel_calibration.device_id(), (double)_accel_interval_us, (double)sqrtf(_accel_interval_best_variance),
 		 _gyro_calibration.device_id(), (double)_gyro_interval_us, (double)sqrtf(_gyro_interval_best_variance));
 
 	perf_print_counter(_accel_generation_gap_perf);
diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
index 3ab14110d0..9ce0a13f0f 100644
--- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020, 2001 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -217,7 +217,7 @@ void VehicleMagnetometer::MagCalibrationUpdate()
 
 					if (_calibration[mag_index].set_offset(mag_cal_offset)) {
 
-						PX4_INFO("%d (%d) EST:%d offset committed: [%.2f %.2f %.2f]->[%.2f %.2f %.2f] (full [%.2f %.2f %.2f])",
+						PX4_INFO("%d (%" PRIu32 ") EST:%d offset committed: [%.2f %.2f %.2f]->[%.2f %.2f %.2f] (full [%.2f %.2f %.2f])",
 							 mag_index, _calibration[mag_index].device_id(), i,
 							 (double)mag_cal_orig(0), (double)mag_cal_orig(1), (double)mag_cal_orig(2),
 							 (double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2),
@@ -375,7 +375,7 @@ void VehicleMagnetometer::Run()
 
 			if (_param_sens_mag_mode.get()) {
 				if (_selected_sensor_sub_index >= 0) {
-					PX4_INFO("%s switch from #%u -> #%d", "MAG", _selected_sensor_sub_index, best_index);
+					PX4_INFO("%s switch from #%" PRId8 " -> #%d", "MAG", _selected_sensor_sub_index, best_index);
 				}
 			}
 
@@ -530,7 +530,7 @@ void VehicleMagnetometer::calcMagInconsistency()
 void VehicleMagnetometer::PrintStatus()
 {
 	if (_selected_sensor_sub_index >= 0) {
-		PX4_INFO("selected magnetometer: %d (%d)", _last_data[_selected_sensor_sub_index].device_id,
+		PX4_INFO("selected magnetometer: %" PRIu32 " (%" PRId8 ")", _last_data[_selected_sensor_sub_index].device_id,
 			 _selected_sensor_sub_index);
 	}
 
diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index 1a2731515e..11bb5fcc55 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016, 2021 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -106,7 +106,8 @@ void VotedSensorsUpdate::parametersUpdate()
 					} else {
 						// change relative priority to incorporate any sensor faults
 						int priority_change = _accel.priority_configured[uorb_index] - accel_priority_old;
-						_accel.priority[uorb_index] = math::constrain(_accel.priority[uorb_index] + priority_change, 1, 100);
+						_accel.priority[uorb_index] = math::constrain(_accel.priority[uorb_index] + priority_change, static_cast<int32_t>(1),
+									      static_cast<int32_t>(100));
 					}
 				}
 			}
@@ -128,7 +129,8 @@ void VotedSensorsUpdate::parametersUpdate()
 					} else {
 						// change relative priority to incorporate any sensor faults
 						int priority_change = _gyro.priority_configured[uorb_index] - gyro_priority_old;
-						_gyro.priority[uorb_index] = math::constrain(_gyro.priority[uorb_index] + priority_change, 1, 100);
+						_gyro.priority[uorb_index] = math::constrain(_gyro.priority[uorb_index] + priority_change, static_cast<int32_t>(1),
+									     static_cast<int32_t>(100));
 					}
 				}
 			}
@@ -355,11 +357,11 @@ void VotedSensorsUpdate::initSensorClass(SensorData &sensor_data, uint8_t sensor
 
 void VotedSensorsUpdate::printStatus()
 {
-	PX4_INFO("selected gyro: %d (%d)", _selection.gyro_device_id, _gyro.last_best_vote);
+	PX4_INFO("selected gyro: %" PRIu32 " (%" PRIu8 ")", _selection.gyro_device_id, _gyro.last_best_vote);
 	_gyro.voter.print();
 
 	PX4_INFO_RAW("\n");
-	PX4_INFO("selected accel: %d (%d)", _selection.accel_device_id, _accel.last_best_vote);
+	PX4_INFO("selected accel: %" PRIu32 " (%" PRIu8 ")", _selection.accel_device_id, _accel.last_best_vote);
 	_accel.voter.print();
 }