diff --git a/msg/templates/uorb/msg.h.template b/msg/templates/uorb/msg.h.template
index 1ea312451bf..e150640f2c6 100644
--- a/msg/templates/uorb/msg.h.template
+++ b/msg/templates/uorb/msg.h.template
@@ -57,6 +57,7 @@ import gencpp
 from px_generate_uorb_topic_helper import * # this is in Tools/
 
 uorb_struct = '%s_s'%spec.short_name
+uorb_struct_upper = spec.short_name.upper()
 topic_name = spec.short_name
 }@
 
@@ -83,7 +84,7 @@ for field in spec.parsed_fields():
 @# Constants c style
 #ifndef __cplusplus
 @[for constant in spec.constants]@
-#define @(constant.name) @(int(constant.val))
+#define @(uorb_struct_upper)_@(constant.name) @(int(constant.val))
 @[end for]
 #endif
 
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index c4d4c4d58c9..0c2a852e5bd 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -304,8 +304,8 @@ void gpio_led_cycle(FAR void *arg)
 	/* select pattern for current vehiclestatus */
 	int pattern = 0;
 
-	if (priv->vehicle_status.arming_state == ARMING_STATE_ARMED) {
-		if (priv->battery_status.warning == BATTERY_WARNING_NONE
+	if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_ARMED) {
+		if (priv->battery_status.warning == BATTERY_STATUS_BATTERY_WARNING_NONE
 		    && !priv->vehicle_status.failsafe) {
 			pattern = 0x3f;	// ****** solid (armed)
 
@@ -313,10 +313,10 @@ void gpio_led_cycle(FAR void *arg)
 			pattern = 0x3e;	// *****_ slow blink (armed, battery low or failsafe)
 		}
 
-	} else if (priv->vehicle_status.arming_state == ARMING_STATE_STANDBY) {
+	} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY) {
 		pattern = 0x38;	// ***___ slow blink (disarmed, ready)
 
-	} else if (priv->vehicle_status.arming_state == ARMING_STATE_STANDBY_ERROR) {
+	} else if (priv->vehicle_status.arming_state == VEHICLE_STATUS_ARMING_STATE_STANDBY_ERROR) {
 		pattern = 0x28;	// *_*___ slow double blink (disarmed, error)
 
 	}
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 096e5eaf26c..aeb4d2a5e00 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -385,7 +385,7 @@ int sdlog2_main(int argc, char *argv[])
 		struct vehicle_command_s cmd;
 
 		memset(&cmd, 0, sizeof(cmd));
-		cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
+		cmd.command = VEHICLE_COMMAND_VEHICLE_CMD_PREFLIGHT_STORAGE;
 		cmd.param1 = -1;
 		cmd.param2 = -1;
 		cmd.param3 = 1;
@@ -398,7 +398,7 @@ int sdlog2_main(int argc, char *argv[])
 		struct vehicle_command_s cmd;
 
 		memset(&cmd, 0, sizeof(cmd));
-		cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
+		cmd.command = VEHICLE_COMMAND_VEHICLE_CMD_PREFLIGHT_STORAGE;
 		cmd.param1 = -1;
 		cmd.param2 = -1;
 		cmd.param3 = 2;
@@ -2223,7 +2223,7 @@ void handle_command(struct vehicle_command_s *cmd)
 	/* request to set different system mode */
 	switch (cmd->command) {
 
-	case VEHICLE_CMD_PREFLIGHT_STORAGE:
+	case VEHICLE_COMMAND_VEHICLE_CMD_PREFLIGHT_STORAGE:
 		param = (int)(cmd->param3 + 0.5f);
 
 		if (param == 1)	{
@@ -2246,7 +2246,7 @@ void handle_command(struct vehicle_command_s *cmd)
 void handle_status(struct vehicle_status_s *status)
 {
 	// TODO use flag from actuator_armed here?
-	bool armed = status->arming_state == ARMING_STATE_ARMED;
+	bool armed = status->arming_state == VEHICLE_STATUS_ARMING_STATE_ARMED;
 
 	if (armed != flag_system_armed) {
 		flag_system_armed = armed;