diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg
index c5e427e194..876ccd7c4a 100644
--- a/msg/sensor_combined.msg
+++ b/msg/sensor_combined.msg
@@ -4,6 +4,14 @@ int32 MAGNETOMETER_MODE_NORMAL = 0
 int32 MAGNETOMETER_MODE_POSITIVE_BIAS = 1
 int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
 
+uint32 SENSOR_PRIO_MIN = 0
+uint32 SENSOR_PRIO_VERY_LOW = 25
+uint32 SENSOR_PRIO_LOW = 50
+uint32 SENSOR_PRIO_DEFAULT = 75
+uint32 SENSOR_PRIO_HIGH = 100
+uint32 SENSOR_PRIO_VERY_HIGH = 125
+uint32 SENSOR_PRIO_MAX = 255
+
 # Sensor readings in raw and SI-unit form.
 #
 # These values are read from the sensors. Raw values are in sensor-specific units,
@@ -21,6 +29,7 @@ uint64 timestamp			# Timestamp in microseconds since boot, from gyro
 #
 int16[3] gyro_raw			# Raw sensor values of angular velocity
 float32[3] gyro_rad_s			# Angular velocity in radian per seconds
+uint32 gyro_priority			# Sensor priority
 uint32 gyro_errcount			# Error counter for gyro 0
 float32 gyro_temp			# Temperature of gyro 0
 
@@ -29,6 +38,7 @@ float32[3] accelerometer_m_s2		# Acceleration in NED body frame, in m/s^2
 int16 accelerometer_mode			# Accelerometer measurement mode
 float32 accelerometer_range_m_s2		# Accelerometer measurement range in m/s^2
 uint64 accelerometer_timestamp	# Accelerometer timestamp
+uint32 accelerometer_priority	# Sensor priority
 uint32 accelerometer_errcount	# Error counter for accel 0
 float32 accelerometer_temp		# Temperature of accel 0
 
@@ -38,42 +48,49 @@ int16 magnetometer_mode			# Magnetometer measurement mode
 float32 magnetometer_range_ga		# measurement range in Gauss
 float32 magnetometer_cuttoff_freq_hz	# Internal analog low pass frequency of sensor
 uint64 magnetometer_timestamp	# Magnetometer timestamp
+uint32 magnetometer_priority			# Sensor priority
 uint32 magnetometer_errcount		# Error counter for mag 0
 float32 magnetometer_temp		# Temperature of mag 0
 
 int16[3] gyro1_raw			# Raw sensor values of angular velocity
 float32[3] gyro1_rad_s			# Angular velocity in radian per seconds
 uint64 gyro1_timestamp		# Gyro timestamp
+uint32 gyro1_priority			# Sensor priority
 uint32 gyro1_errcount		# Error counter for gyro 1
 float32 gyro1_temp			# Temperature of gyro 1
 
 int16[3] accelerometer1_raw		# Raw acceleration in NED body frame
 float32[3] accelerometer1_m_s2		# Acceleration in NED body frame, in m/s^2
 uint64 accelerometer1_timestamp	# Accelerometer timestamp
+uint32 accelerometer1_priority	# Sensor priority
 uint32 accelerometer1_errcount	# Error counter for accel 1
 float32 accelerometer1_temp		# Temperature of accel 1
 
 int16[3] magnetometer1_raw		# Raw magnetic field in NED body frame
 float32[3] magnetometer1_ga		# Magnetic field in NED body frame, in Gauss
 uint64 magnetometer1_timestamp	# Magnetometer timestamp
+uint32 magnetometer1_priority			# Sensor priority
 uint32 magnetometer1_errcount	# Error counter for mag 1
 float32 magnetometer1_temp		# Temperature of mag 1
 
 int16[3] gyro2_raw			# Raw sensor values of angular velocity
 float32[3] gyro2_rad_s			# Angular velocity in radian per seconds
 uint64 gyro2_timestamp		# Gyro timestamp
+uint32 gyro2_priority			# Sensor priority
 uint32 gyro2_errcount		# Error counter for gyro 1
 float32 gyro2_temp			# Temperature of gyro 1
 
 int16[3] accelerometer2_raw		# Raw acceleration in NED body frame
 float32[3] accelerometer2_m_s2		# Acceleration in NED body frame, in m/s^2
 uint64 accelerometer2_timestamp	# Accelerometer timestamp
+uint32 accelerometer2_priority	# Sensor priority
 uint32 accelerometer2_errcount	# Error counter for accel 2
 float32 accelerometer2_temp		# Temperature of accel 2
 
 int16[3] magnetometer2_raw		# Raw magnetic field in NED body frame
 float32[3] magnetometer2_ga		# Magnetic field in NED body frame, in Gauss
 uint64 magnetometer2_timestamp	# Magnetometer timestamp
+uint32 magnetometer2_priority			# Sensor priority
 uint32 magnetometer2_errcount	# Error counter for mag 2
 float32 magnetometer2_temp		# Temperature of mag 2
 
@@ -81,11 +98,13 @@ float32 baro_pres_mbar			# Barometric pressure, already temp. comp.
 float32 baro_alt_meter			# Altitude, already temp. comp.
 float32 baro_temp_celcius		# Temperature in degrees celsius
 uint64 baro_timestamp		# Barometer timestamp
+uint32 baro_priority			# Sensor priority
 
 float32 baro1_pres_mbar			# Barometric pressure, already temp. comp.
 float32 baro1_alt_meter			# Altitude, already temp. comp.
 float32 baro1_temp_celcius		# Temperature in degrees celsius
 uint64 baro1_timestamp		# Barometer timestamp
+uint32 baro1_priority			# Sensor priority
 
 float32[10] adc_voltage_v		# ADC voltages of ADC Chan 10/11/12/13 or -1
 uint16[10] adc_mapping		# Channel indices of each of these values
@@ -94,7 +113,9 @@ float32 mcu_temp_celcius			# Internal temperature measurement of MCU
 float32 differential_pressure_pa			# Airspeed sensor differential pressure
 uint64 differential_pressure_timestamp	# Last measurement timestamp
 float32 differential_pressure_filtered_pa	# Low pass filtered airspeed sensor differential pressure reading
+uint32 differential_pressure_priority			# Sensor priority
 
 float32 differential_pressure1_pa			# Airspeed sensor differential pressure
 uint64 differential_pressure1_timestamp	# Last measurement timestamp
 float32 differential_pressure1_filtered_pa	# Low pass filtered airspeed sensor differential pressure reading
+uint32 differential_pressure1_priority			# Sensor priority
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index bdf9fb5dc2..274f10c3e9 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -211,8 +211,8 @@ private:
 	int		_accel2_sub;			/**< raw accel2 data subscription */
 	int		_mag2_sub;			/**< raw mag2 data subscription */
 	int 		_rc_sub;			/**< raw rc channels data subscription */
-	int		_baro_sub;			/**< raw baro data subscription */
-	int		_baro1_sub;			/**< raw baro data subscription */
+	int		_baro_sub;			/**< raw baro0 data subscription */
+	int		_baro1_sub;			/**< raw baro1 data subscription */
 	//int		_airspeed_sub;			/**< airspeed subscription */
 	int		_diff_pres_sub;			/**< raw differential pressure subscription */
 	int		_vcontrol_mode_sub;			/**< vehicle control mode subscription */
@@ -227,6 +227,19 @@ private:
 	orb_advert_t	_battery_pub;			/**< battery status */
 	orb_advert_t	_airspeed_pub;			/**< airspeed */
 	orb_advert_t	_diff_pres_pub;			/**< differential_pressure */
+	
+	int32_t _gyro_prio;			/**< gyro0 sensor priority */
+	int32_t	_accel_prio;			/**< accel0 sensor priority */
+	int32_t	_mag_prio;			/**< mag0 sensor priority */
+	int32_t	_gyro1_prio;			/**< gyro1 sensor priority */
+	int32_t	_accel1_prio;			/**<accel1 sensor priority */
+	int32_t	_mag1_prio;			/**< mag1 sensor priority */
+	int32_t	_gyro2_prio;			/**< gyro2 sensor priority */
+	int32_t	_accel2_prio;			/**< accel2 sensor priority */
+	int32_t	_mag2_prio;			/**< mag2 sensor priority */
+	int32_t	_baro_prio;			/**< baro0 sensor priority */
+	int32_t	_baro1_prio;			/**< baro1 sensor priority */
+	int32_t	_diff_pres_prio;		/**< baro1 sensor priority */
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
@@ -511,6 +524,19 @@ Sensors::Sensors() :
 	_airspeed_pub(nullptr),
 	_diff_pres_pub(nullptr),
 
+	/* sensor priorities */
+	_gyro_prio(-1),
+	_accel_prio(-1),
+	_mag_prio(-1),
+	_gyro1_prio(-1),
+	_accel1_prio(-1),
+	_mag1_prio(-1),
+	_gyro2_prio(-1),
+	_accel2_prio(-1),
+	_mag2_prio(-1),
+	_baro_prio(-1),
+	_baro1_prio(-1),
+
 	/* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
 
@@ -1027,6 +1053,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 		raw.accelerometer_raw[2] = accel_report.z_raw;
 
 		raw.accelerometer_timestamp = accel_report.timestamp;
+		raw.accelerometer_priority = _accel_prio;
 		raw.accelerometer_errcount = accel_report.error_count;
 		raw.accelerometer_temp = accel_report.temperature;
 	}
@@ -1050,6 +1077,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 		raw.accelerometer1_raw[2] = accel_report.z_raw;
 
 		raw.accelerometer1_timestamp = accel_report.timestamp;
+		raw.accelerometer1_priority = _accel1_prio;
 		raw.accelerometer1_errcount = accel_report.error_count;
 		raw.accelerometer1_temp = accel_report.temperature;
 	}
@@ -1073,6 +1101,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 		raw.accelerometer2_raw[2] = accel_report.z_raw;
 
 		raw.accelerometer2_timestamp = accel_report.timestamp;
+		raw.accelerometer2_priority = _accel2_prio;
 		raw.accelerometer2_errcount = accel_report.error_count;
 		raw.accelerometer2_temp = accel_report.temperature;
 	}
@@ -1101,6 +1130,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 		raw.gyro_raw[2] = gyro_report.z_raw;
 
 		raw.timestamp = gyro_report.timestamp;
+		raw.gyro_priority = _gyro_prio;
 		raw.gyro_errcount = gyro_report.error_count;
 		raw.gyro_temp = gyro_report.temperature;
 	}
@@ -1124,6 +1154,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 		raw.gyro1_raw[2] = gyro_report.z_raw;
 
 		raw.gyro1_timestamp = gyro_report.timestamp;
+		raw.gyro1_priority = _gyro1_prio;
 		raw.gyro1_errcount = gyro_report.error_count;
 		raw.gyro1_temp = gyro_report.temperature;
 	}
@@ -1147,6 +1178,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 		raw.gyro2_raw[2] = gyro_report.z_raw;
 
 		raw.gyro2_timestamp = gyro_report.timestamp;
+		raw.gyro2_priority = _gyro2_prio;
 		raw.gyro2_errcount = gyro_report.error_count;
 		raw.gyro2_temp = gyro_report.temperature;
 	}
@@ -1176,6 +1208,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 		raw.magnetometer_raw[2] = mag_report.z_raw;
 
 		raw.magnetometer_timestamp = mag_report.timestamp;
+		raw.magnetometer_priority = _mag_prio;
 		raw.magnetometer_errcount = mag_report.error_count;
 		raw.magnetometer_temp = mag_report.temperature;
 	}
@@ -1200,6 +1233,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 		raw.magnetometer1_raw[2] = mag_report.z_raw;
 
 		raw.magnetometer1_timestamp = mag_report.timestamp;
+		raw.magnetometer1_priority = _mag1_prio;
 		raw.magnetometer1_errcount = mag_report.error_count;
 		raw.magnetometer1_temp = mag_report.temperature;
 	}
@@ -1224,6 +1258,7 @@ Sensors::mag_poll(struct sensor_combined_s &raw)
 		raw.magnetometer2_raw[2] = mag_report.z_raw;
 
 		raw.magnetometer2_timestamp = mag_report.timestamp;
+		raw.magnetometer2_priority = _mag2_prio;
 		raw.magnetometer2_errcount = mag_report.error_count;
 		raw.magnetometer2_temp = mag_report.temperature;
 	}
@@ -1244,6 +1279,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
 		raw.baro_temp_celcius = _barometer.temperature; // Temperature in degrees celcius
 
 		raw.baro_timestamp = _barometer.timestamp;
+		raw.baro_priority = _baro_prio;
 	}
 
 	orb_check(_baro1_sub, &baro_updated);
@@ -1259,6 +1295,7 @@ Sensors::baro_poll(struct sensor_combined_s &raw)
 		raw.baro1_temp_celcius = baro_report.temperature; // Temperature in degrees celcius
 
 		raw.baro1_timestamp = baro_report.timestamp;
+		raw.baro1_priority = _baro1_prio;
 	}
 }
 
@@ -2114,6 +2151,21 @@ Sensors::task_main()
 	_rc_parameter_map_sub = orb_subscribe(ORB_ID(rc_parameter_map));
 	_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 
+	/*
+	 * get sensor priorities
+	 */
+	orb_priority(_gyro_sub, &_gyro_prio);
+	orb_priority(_accel_sub, &_accel_prio);
+	orb_priority(_mag_sub, &_mag_prio);
+	orb_priority(_gyro1_sub, &_gyro1_prio);
+	orb_priority(_accel1_sub, &_accel1_prio);
+	orb_priority(_mag1_sub, &_mag1_prio);
+	orb_priority(_gyro2_sub, &_gyro2_prio);
+	orb_priority(_accel2_sub, &_accel2_prio);
+	orb_priority(_mag2_sub, &_mag2_prio);
+	orb_priority(_baro_sub, &_baro_prio);
+	orb_priority(_baro1_sub, &_baro1_prio);
+
 	/* rate limit vehicle status updates to 5Hz */
 	orb_set_interval(_vcontrol_mode_sub, 200);