diff --git a/src/drivers/barometer/bmp280/bmp280.cpp b/src/drivers/barometer/bmp280/bmp280.cpp
index c515026020..a5752cb21d 100644
--- a/src/drivers/barometer/bmp280/bmp280.cpp
+++ b/src/drivers/barometer/bmp280/bmp280.cpp
@@ -595,11 +595,10 @@ BMP280::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u us \n", _report_ticks * USEC_PER_TICK);
-	_reports->print_info("report queue");
-	printf("P Pa:              %.3f\n", (double)_P);
-	printf("T:              %.3f\n", (double)_T);
-	printf("MSL pressure Pa:   %u\n", _msl_pressure);
 
+	sensor_baro_s brp = {};
+	_reports->get(&brp);
+	print_message(brp);
 }
 
 /**
@@ -778,11 +777,7 @@ test(enum BMP280_BUS busid)
 		exit(1);
 	}
 
-	PX4_WARN("single read");
-	PX4_WARN("pressure:    %10.4f", (double)report.pressure);
-	PX4_WARN("altitude:    %11.4f", (double)report.altitude);
-	PX4_WARN("temperature: %8.4f", (double)report.temperature);
-	PX4_WARN("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -818,11 +813,7 @@ test(enum BMP280_BUS busid)
 			exit(1);
 		}
 
-		PX4_WARN("periodic read %u", i);
-		PX4_WARN("pressure:    %10.4f", (double)report.pressure);
-		PX4_WARN("altitude:    %11.4f", (double)report.altitude);
-		PX4_WARN("temperature K: %8.4f", (double)report.temperature);
-		PX4_WARN("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/barometer/lps25h/lps25h.cpp b/src/drivers/barometer/lps25h/lps25h.cpp
index d32535b889..0849a6b834 100644
--- a/src/drivers/barometer/lps25h/lps25h.cpp
+++ b/src/drivers/barometer/lps25h/lps25h.cpp
@@ -799,9 +799,7 @@ LPS25H::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("pressure    %.2f\n", (double)_last_report.pressure);
-	printf("altitude:    %.2f\n", (double)_last_report.altitude);
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 
 	_reports->print_info("report queue");
 }
@@ -959,11 +957,7 @@ test(enum LPS25H_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -995,11 +989,7 @@ test(enum LPS25H_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature K: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp b/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp
index 7b40d00a03..3d169d7ad2 100644
--- a/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp
+++ b/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp
@@ -732,10 +732,10 @@ MPL3115A2::print_info()
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
 	_reports->print_info("report queue");
-	printf("device:         mpl3115a2\n");
-	printf("P:              %.3f\n", (double)_P);
-	printf("T:              %.3f\n", (double)_T);
-	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
+
+	sensor_baro_s brp = {};
+	_reports->get(&brp);
+	print_message(brp);
 }
 
 /**
@@ -899,11 +899,7 @@ test(enum MPL3115A2_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -935,11 +931,7 @@ test(enum MPL3115A2_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/barometer/ms5611/ms5611.cpp b/src/drivers/barometer/ms5611/ms5611.cpp
index 83bb1aa371..2082a5a591 100644
--- a/src/drivers/barometer/ms5611/ms5611.cpp
+++ b/src/drivers/barometer/ms5611/ms5611.cpp
@@ -895,9 +895,6 @@ MS5611::print_info()
 	printf("TEMP:           %d\n", _TEMP);
 	printf("SENS:           %lld\n", _SENS);
 	printf("OFF:            %lld\n", _OFF);
-	printf("P:              %.3f\n", (double)_P);
-	printf("T:              %.3f\n", (double)_T);
-	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
 	printf("factory_setup             %u\n", _prom.factory_setup);
 	printf("c1_pressure_sens          %u\n", _prom.c1_pressure_sens);
@@ -907,6 +904,10 @@ MS5611::print_info()
 	printf("c5_reference_temp         %u\n", _prom.c5_reference_temp);
 	printf("c6_temp_coeff_temp        %u\n", _prom.c6_temp_coeff_temp);
 	printf("serial_and_crc            %u\n", _prom.serial_and_crc);
+
+	sensor_baro_s brp = {};
+	_reports->get(&brp);
+	print_message(brp);
 }
 
 /**
@@ -1118,11 +1119,7 @@ test(enum MS5611_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -1154,11 +1151,7 @@ test(enum MS5611_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index 6716b666e8..cf3748d21d 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -317,10 +317,7 @@ BATT_SMBUS::test()
 
 		if (updated) {
 			if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
-				PX4_INFO("V=%4.2f C=%4.2f AveC=%4.2f DismAh=%f Cap:%hu TempC:%4.2f Remaining:%3.2f\n RunTimeToEmpty:%hu AveTimeToEmpty:%hu CycleCount:%hu SerialNum:%04x",
-					 (double)status.voltage_v, (double)status.current_a, (double)status.average_current_a, (double)status.discharged_mah,
-					 (uint16_t)status.capacity, (double)status.temperature, (double)status.remaining, (uint16_t)status.run_time_to_empty,
-					 (uint16_t)status.average_time_to_empty, (uint16_t)status.cycle_count, (uint16_t)status.serial_number);
+				print_message(status);
 			}
 		}
 
diff --git a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp b/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
index 9676a1a717..2bc716c2c6 100644
--- a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
+++ b/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
@@ -801,10 +801,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f of sonar %d,id=%d", (double)report.distance_vector[report.just_updated], report.just_updated,
-	      report.id[report.just_updated]);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -831,14 +828,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-
-		/* Print the sonar rangefinder report sonar distance vector */
-		for (uint8_t count = 0; count < SRF02_MAX_RANGEFINDERS; count++) {
-			warnx("measurement: %0.3f of sonar %u, id=%d", (double)report.distance_vector[count], count + 1, report.id[count]);
-		}
-
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
index 395fca19d9..d1c4e4424d 100644
--- a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+++ b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
@@ -231,16 +231,7 @@ int leddar_one_main(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		bool valid = false;
-
-		if (report.current_distance > report.min_distance
-		    && report.current_distance < report.max_distance) {
-			valid = true;
-		}
-
-		warnx("valid: %u\n", valid);
-		warnx("distance: %0.3fm\n", (double)report.current_distance);
-		warnx("time: %llu\n", report.timestamp);
+		print_message(report);
 
 	} else {
 		help();
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
index 12bd237ea9..f953fe1820 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
+++ b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
@@ -123,7 +123,8 @@ void LidarLitePWM::print_info()
 	perf_print_counter(_read_errors);
 	perf_print_counter(_sensor_zero_resets);
 	warnx("poll interval:  %u ticks", getMeasureTicks());
-	warnx("distance: %.3fm", (double)_range.current_distance);
+
+	print_message(_range);
 }
 
 void LidarLitePWM::print_registers()
diff --git a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
index 579d7198a5..6d74172f96 100644
--- a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+++ b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
@@ -217,9 +217,7 @@ test()
 		return;
 	}
 
-	PX4_INFO("single read");
-	PX4_INFO("measurement: %0.2f m", (double)report.current_distance);
-	PX4_INFO("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (PX4_OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -249,11 +247,7 @@ test()
 			return;
 		}
 
-		PX4_INFO("periodic read %u", i);
-		PX4_INFO("valid %u", (float)report.current_distance > report.min_distance
-			 && (float)report.current_distance < report.max_distance ? 1 : 0);
-		PX4_INFO("measurement: %0.3f m", (double)report.current_distance);
-		PX4_INFO("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index 01ec3b55a1..c2cde11700 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -797,9 +797,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -826,11 +824,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp
index 8986a0e5bb..9f9f300e55 100644
--- a/src/drivers/distance_sensor/sf0x/sf0x.cpp
+++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp
@@ -863,9 +863,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement:  %0.2f m", (double)report.current_distance);
-	warnx("time: %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2 Hz rate */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -894,11 +892,7 @@ test()
 			break;
 		}
 
-		warnx("read #%u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement:  %0.3f m", (double)report.current_distance);
-		warnx("time: %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to the default rate */
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index 54aac5b2e9..6f8b7e0911 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -732,9 +732,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -761,11 +759,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp
index 224281b665..2c7d9ac46c 100644
--- a/src/drivers/distance_sensor/srf02/srf02.cpp
+++ b/src/drivers/distance_sensor/srf02/srf02.cpp
@@ -801,9 +801,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -830,11 +828,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp b/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp
index 49f35b84cd..cb7b61f949 100644
--- a/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp
+++ b/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp
@@ -801,9 +801,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -830,11 +828,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index 714c8cb4f2..f1c311354d 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -845,9 +845,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -874,9 +872,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/tfmini/tfmini.cpp b/src/drivers/distance_sensor/tfmini/tfmini.cpp
index 306b508b91..71440b6097 100644
--- a/src/drivers/distance_sensor/tfmini/tfmini.cpp
+++ b/src/drivers/distance_sensor/tfmini/tfmini.cpp
@@ -828,9 +828,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement:  %0.2f m", (double)report.current_distance);
-	warnx("time: %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2 Hz rate */
 	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -859,11 +857,7 @@ test()
 			break;
 		}
 
-		warnx("read #%u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement:  %0.3f m", (double)report.current_distance);
-		warnx("time: %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to the default rate */
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 845976b51f..5d927e6937 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -873,19 +873,10 @@ GPS::print_status()
 	}
 
 	PX4_INFO("port: %s, baudrate: %d, status: %s", _port, _baudrate, _healthy ? "OK" : "NOT OK");
-	PX4_INFO("sat info: %s, noise: %d, jamming detected: %s",
-		 (_p_report_sat_info != nullptr) ? "enabled" : "disabled",
-		 _report_gps_pos.noise_per_ms,
-		 _report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
+	PX4_INFO("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled");
 
 	if (_report_gps_pos.timestamp != 0) {
-		PX4_INFO("position lock: %d, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
-			 _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp) / 1000.0);
-		PX4_INFO("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
-		PX4_INFO("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
-			 (double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
-		PX4_INFO("hdop: %.2f, vdop: %.2f", (double)_report_gps_pos.hdop, (double)_report_gps_pos.vdop);
-		PX4_INFO("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
+		print_message(_report_gps_pos);
 
 		if (_helper) {
 			PX4_INFO("rate position: \t\t%6.2f Hz", (double)_helper->getPositionUpdateRate());
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index 4a0a9f35ec..660d859e81 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -1869,16 +1869,7 @@ test()
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / ADIS16448_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -1888,14 +1879,7 @@ test()
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+	print_message(g_report);
 
 	/* do a simple mag demand read */
 	sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -1905,16 +1889,7 @@ test()
 		err(1, "immediate mag read failed");
 	}
 
-	warnx("mag x: \t% 9.5f\tgauss", (double)m_report.x);
-	warnx("mag y: \t% 9.5f\tgauss", (double)m_report.y);
-	warnx("mag z: \t% 9.5f\tgauss", (double)m_report.z);
-	warnx("mag x: \t%d\traw", (int)m_report.x_raw);
-	warnx("mag y: \t%d\traw", (int)m_report.y_raw);
-	warnx("mag z: \t%d\traw", (int)m_report.z_raw);
-	warnx("mag range: %8.4f gauss", (double)m_report.range_ga);
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(m_report);
 
 	/* XXX add poll-rate tests here too */
 	close(fd_mag);
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index 5376666532..d33056be45 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -838,18 +838,7 @@ test()
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / 9.81f));
-
-	/* XXX add poll-rate tests here too */
+	print_message(a_report);
 
 	reset();
 	errx(0, "PASS");
diff --git a/src/drivers/imu/bmi055/bmi055_main.cpp b/src/drivers/imu/bmi055/bmi055_main.cpp
index 3332749517..b82ed4f250 100644
--- a/src/drivers/imu/bmi055/bmi055_main.cpp
+++ b/src/drivers/imu/bmi055/bmi055_main.cpp
@@ -225,19 +225,7 @@ test(bool external_bus, enum sensor_type sensor)
 			err(1, "immediate accel read failed");
 		}
 
-		warnx("single read");
-		warnx("time:     %lld", a_report.timestamp);
-		warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-		warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-		warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-		warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-		warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-		warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-		warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-		      (double)(a_report.range_m_s2 / BMI055_ONE_G));
-		warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-		warnx("temp:  \t%d\traw 0x%0x", (short)g_report.temperature_raw, (unsigned short)a_report.temperature_raw);
-
+		print_message(a_report);
 
 		/* reset to default polling */
 		if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -261,7 +249,6 @@ test(bool external_bus, enum sensor_type sensor)
 			err(1, "gyro reset to manual polling");
 		}
 
-
 		/* do a simple demand read */
 		sz = read(fd_gyr, &g_report, sizeof(g_report));
 
@@ -270,15 +257,7 @@ test(bool external_bus, enum sensor_type sensor)
 			err(1, "immediate gyro read failed");
 		}
 
-		warnx("gyr x: \t% 9.5f\trad/s", (double)g_report.x);
-		warnx("gyr y: \t% 9.5f\trad/s", (double)g_report.y);
-		warnx("gyr z: \t% 9.5f\trad/s", (double)g_report.z);
-		warnx("gyr x: \t%d\traw", (int)g_report.x_raw);
-		warnx("gyr y: \t%d\traw", (int)g_report.y_raw);
-		warnx("gyr z: \t%d\traw", (int)g_report.z_raw);
-		warnx("gyr range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-		      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
+		print_message(g_report);
 
 		/* reset to default polling */
 		if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -286,7 +265,6 @@ test(bool external_bus, enum sensor_type sensor)
 		}
 
 		close(fd_gyr);
-
 	}
 
 	if ((sensor == BMI055_ACCEL) || (sensor == BMI055_GYRO)) {
@@ -295,7 +273,6 @@ test(bool external_bus, enum sensor_type sensor)
 	}
 
 	errx(0, "PASS");
-
 }
 
 /**
diff --git a/src/drivers/imu/bmi160/bmi160_main.cpp b/src/drivers/imu/bmi160/bmi160_main.cpp
index 6b2ce4de92..a8c4f1062b 100644
--- a/src/drivers/imu/bmi160/bmi160_main.cpp
+++ b/src/drivers/imu/bmi160/bmi160_main.cpp
@@ -151,16 +151,7 @@ test(bool external_bus)
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / BMI160_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -170,17 +161,7 @@ test(bool external_bus)
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(g_report);
 
 	/* reset to default polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/imu/fxas21002c/fxas21002c.cpp b/src/drivers/imu/fxas21002c/fxas21002c.cpp
index 15dc70661c..c978bf6cc2 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c.cpp
@@ -1273,16 +1273,7 @@ test()
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("temp: \t%d\tC", (int)g_report.temperature);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+	print_message(g_report);
 
 	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "reset to default polling");
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index bf988fa7ea..7a90de6514 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -1251,16 +1251,7 @@ test()
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("temp: \t%d\tC", (int)g_report.temperature);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+	print_message(g_report);
 
 	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "reset to default polling");
diff --git a/src/drivers/imu/lsm303d/lsm303d.cpp b/src/drivers/imu/lsm303d/lsm303d.cpp
index b425a3331e..90c3c2aa3b 100644
--- a/src/drivers/imu/lsm303d/lsm303d.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d.cpp
@@ -1965,15 +1965,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-
-	warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x);
-	warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y);
-	warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z);
-	warnx("accel x: \t%d\traw", (int)accel_report.x_raw);
-	warnx("accel y: \t%d\traw", (int)accel_report.y_raw);
-	warnx("accel z: \t%d\traw", (int)accel_report.z_raw);
-
-	warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
+	print_message(accel_report);
 
 	int fd_mag = -1;
 	struct mag_report m_report;
@@ -1999,13 +1991,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("mag x: \t% 9.5f\tga", (double)m_report.x);
-	warnx("mag y: \t% 9.5f\tga", (double)m_report.y);
-	warnx("mag z: \t% 9.5f\tga", (double)m_report.z);
-	warnx("mag x: \t%d\traw", (int)m_report.x_raw);
-	warnx("mag y: \t%d\traw", (int)m_report.y_raw);
-	warnx("mag z: \t%d\traw", (int)m_report.z_raw);
-	warnx("mag range: %8.4f ga", (double)m_report.range_ga);
+	print_message(m_report);
 
 	/* reset to default polling */
 	if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 16939944c0..df0d5a9a46 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -2456,16 +2456,7 @@ test(enum MPU6000_BUS busid)
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / MPU6000_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -2475,17 +2466,7 @@ test(enum MPU6000_BUS busid)
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(g_report);
 
 	/* reset to default polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/imu/mpu9250/main.cpp b/src/drivers/imu/mpu9250/main.cpp
index 3dd1a4ff3f..9c2a82367a 100644
--- a/src/drivers/imu/mpu9250/main.cpp
+++ b/src/drivers/imu/mpu9250/main.cpp
@@ -331,16 +331,7 @@ test(enum MPU9250_BUS busid)
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / MPU9250_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -350,17 +341,7 @@ test(enum MPU9250_BUS busid)
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(g_report);
 
 	/* do a simple demand read */
 	sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -370,14 +351,7 @@ test(enum MPU9250_BUS busid)
 		err(1, "immediate mag read failed");
 	}
 
-	warnx("mag x: \t% 9.5f\tGa", (double)m_report.x);
-	warnx("mag y: \t% 9.5f\tGa", (double)m_report.y);
-	warnx("mag z: \t% 9.5f\tGa", (double)m_report.z);
-	warnx("mag x: \t%d\traw", (int)m_report.x_raw);
-	warnx("mag y: \t%d\traw", (int)m_report.y_raw);
-	warnx("mag z: \t%d\traw", (int)m_report.z_raw);
-	warnx("mag range: %8.4f Ga", (double)m_report.range_ga);
-	warnx("mag temp:  %8.4f\tdeg celsius", (double)m_report.temperature);
+	print_message(m_report);
 
 	/* reset to default polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883.cpp b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
index 031cbb7129..0bf1a1b83b 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
@@ -1413,12 +1413,7 @@ HMC5883::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
-	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
-	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
-	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)(1.0f / _range_scale), (double)_range_ga);
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 	_reports->print_info("report queue");
 }
 
@@ -1598,9 +1593,7 @@ test(enum HMC5883_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* check if mag is onboard or external */
 	if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
@@ -1639,9 +1632,7 @@ test(enum HMC5883_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	errx(0, "PASS");
diff --git a/src/drivers/magnetometer/ist8310/ist8310.cpp b/src/drivers/magnetometer/ist8310/ist8310.cpp
index 689db00532..faec184d53 100644
--- a/src/drivers/magnetometer/ist8310/ist8310.cpp
+++ b/src/drivers/magnetometer/ist8310/ist8310.cpp
@@ -1253,12 +1253,7 @@ IST8310::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
-	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
-	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f\n",
-	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)(1.0f / _range_scale));
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 	_reports->print_info("report queue");
 }
 
@@ -1412,17 +1407,13 @@ test(enum IST8310_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	PX4_INFO("single read");
-	PX4_INFO("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-	PX4_INFO("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* check if mag is onboard or external */
 	if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
 		errx(1, "failed to get if mag is onboard or external");
 	}
 
-	PX4_INFO("device active: %s", ret ? "external" : "onboard");
-
 	/* set the queue depth to 5 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
 		errx(1, "failed to set queue depth");
@@ -1453,9 +1444,7 @@ test(enum IST8310_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		PX4_INFO("periodic read %u", i);
-		PX4_INFO("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-		PX4_INFO("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	PX4_INFO("PASS");
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
index 5c25f2ace7..b1daa82b0c 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
@@ -1297,12 +1297,7 @@ LIS3MDL::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
-	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
-	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
-	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)(1.0f / _range_scale), (double)_range_ga);
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 	_reports->print_info("report queue");
 }
 
@@ -1494,17 +1489,13 @@ test(enum LIS3MDL_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* check if mag is onboard or external */
 	if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
 		errx(1, "failed to get if mag is onboard or external");
 	}
 
-	warnx("device active: %s", ret ? "external" : "onboard");
-
 	/* set the queue depth to 5 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
 		errx(1, "failed to set queue depth");
@@ -1535,9 +1526,7 @@ test(enum LIS3MDL_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	errx(0, "PASS");
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 90355af6e5..0fecb67b77 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -872,11 +872,7 @@ test()
 		warnx("immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
-	warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
-	warnx("framecount_integral: %u",
-	      f_integral.frame_count_since_last_readout);
+	print_message(report);
 
 	/* start the sensor polling at 10Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
@@ -903,25 +899,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-
-		warnx("framecount_total: %u", f.frame_count);
-		warnx("framecount_integral: %u",
-		      f_integral.frame_count_since_last_readout);
-		warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
-		warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
-		warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral);
-		warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral);
-		warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral);
-		warnx("integration_timespan [us]: %u", f_integral.integration_timespan);
-		warnx("ground_distance: %0.2f m",
-		      (double) f_integral.ground_distance / 1000);
-		warnx("time since last sonar update [us]: %i",
-		      f_integral.sonar_timestamp);
-		warnx("quality integration average : %i", f_integral.qual);
-		warnx("quality : %i", f.qual);
-
-
+		print_message(report);
 	}
 
 	errx(0, "PASS");
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index d9137b41c2..f3e8276cea 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -1214,7 +1214,7 @@ UavcanNode::print_info()
 	printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
 
 	if (_outputs.noutputs != 0) {
-		printf("ESC output: ");
+		PX4_INFO("ESC output: ");
 
 		for (uint8_t i = 0; i < _outputs.noutputs; i++) {
 			printf("%d ", (int)(_outputs.output[i] * 1000));
@@ -1224,28 +1224,11 @@ UavcanNode::print_info()
 
 		// ESC status
 		int esc_sub = orb_subscribe(ORB_ID(esc_status));
-		struct esc_status_s esc;
-		memset(&esc, 0, sizeof(esc));
+		esc_status_s esc = {};
 		orb_copy(ORB_ID(esc_status), esc_sub, &esc);
-
-		printf("ESC Status:\n");
-		printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
-
-		for (uint8_t i = 0; i < _outputs.noutputs; i++) {
-			const float temp_celsius = (esc.esc[i].esc_temperature > 0) ?
-						   (esc.esc[i].esc_temperature - 273.15F) : 0.0F;
-
-			printf("%d\t",    esc.esc[i].esc_address);
-			printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
-			printf("%3.2f\t", (double)esc.esc[i].esc_current);
-			printf("%3.2f\t", (double)temp_celsius);
-			printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
-			printf("%d\t",    esc.esc[i].esc_rpm);
-			printf("%d",      esc.esc[i].esc_errorcount);
-			printf("\n");
-		}
-
 		orb_unsubscribe(esc_sub);
+
+		print_message(esc);
 	}
 
 	// Sensor bridges
diff --git a/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp b/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
index e82ce1807f..d3f2a15b03 100644
--- a/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
+++ b/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
@@ -395,8 +395,7 @@ test()
 		return 1;
 	}
 
-	PX4_WARN("single read");
-	PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -423,9 +422,7 @@ test()
 			PX4_WARN("periodic read failed");
 		}
 
-		PX4_WARN("periodic read %u", i);
-		PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
-		PX4_WARN("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to its default rate */
diff --git a/src/platforms/posix/drivers/gpssim/gpssim.cpp b/src/platforms/posix/drivers/gpssim/gpssim.cpp
index 4e4176316d..78e4149bf0 100644
--- a/src/platforms/posix/drivers/gpssim/gpssim.cpp
+++ b/src/platforms/posix/drivers/gpssim/gpssim.cpp
@@ -380,16 +380,7 @@ GPSSIM::print_info()
 		 _report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
 
 	if (_report_gps_pos.timestamp != 0) {
-		PX4_INFO("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
-			 _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp) / 1000.0);
-		PX4_INFO("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
-		PX4_INFO("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
-			 (double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
-		PX4_INFO("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
-		//PX4_INFO("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
-		//PX4_INFO("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
-		PX4_INFO("rate publication:\t%6.2f Hz", (double)_rate);
-
+		print_message(_report_gps_pos);
 	}
 
 	usleep(100000);