diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg
index 8a7045f9d7..f474900a34 100644
--- a/msg/sensor_combined.msg
+++ b/msg/sensor_combined.msg
@@ -7,11 +7,11 @@
 
 # gyro timstamp is equal to the timestamp of the message
 float32[3] gyro_integral_rad		# delta angle in the NED body frame in rad in the integration time frame
-uint64 gyro_integral_dt			# delta time for gyro integral in us
+uint32 gyro_integral_dt			# delta time for gyro integral in us
 
 uint64 accelerometer_timestamp	# Accelerometer timestamp
 float32[3] accelerometer_integral_m_s		# velocity in NED body frame, in m/s^2
-uint64 accelerometer_integral_dt		# delta time for accel integral in us
+uint32 accelerometer_integral_dt		# delta time for accel integral in us
 
 uint64 magnetometer_timestamp	# Magnetometer timestamp
 float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss
diff --git a/src/modules/ekf2_replay/ekf2_replay_main.cpp b/src/modules/ekf2_replay/ekf2_replay_main.cpp
index b92014081f..a29a21774d 100644
--- a/src/modules/ekf2_replay/ekf2_replay_main.cpp
+++ b/src/modules/ekf2_replay/ekf2_replay_main.cpp
@@ -378,7 +378,7 @@ void Ekf2Replay::setEstimatorInput(uint8_t *data, uint8_t type)
 		parseMessage(data, dest_ptr, type);
 		_sensors.timestamp = replay_part1.time_ref;
 		_sensors.gyro_integral_dt = replay_part1.gyro_integral_dt;
-		_sensors.accelerometer_integral_dt = replay_part1.accelerometer_integral_dt;
+		_sensors.accelerometer_integral_dt = (uint32_t)replay_part1.accelerometer_integral_dt;
 		_sensors.magnetometer_timestamp = replay_part1.magnetometer_timestamp;
 		_sensors.baro_timestamp = replay_part1.baro_timestamp;
 		_sensors.gyro_integral_rad[0] = replay_part1.gyro_integral_x_rad;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 658998d879..a268d9b24b 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1076,7 +1076,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 				_last_sensor_data[i].accelerometer_integral_m_s[1] = vect_int(1);
 				_last_sensor_data[i].accelerometer_integral_m_s[2] = vect_int(2);
 
-				_last_sensor_data[i].accelerometer_integral_dt = accel_report.integral_dt;
+				_last_sensor_data[i].accelerometer_integral_dt = (uint32_t)accel_report.integral_dt;
 
 				float dt = accel_report.integral_dt / 1.e6f;
 				sensor_value = vect_int / dt;
@@ -1093,7 +1093,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 				}
 
 				_last_sensor_data[i].accelerometer_integral_dt =
-					accel_report.timestamp - _last_sensor_data[i].accelerometer_timestamp;
+					(uint32_t)(accel_report.timestamp - _last_sensor_data[i].accelerometer_timestamp);
 				float dt = _last_sensor_data[i].accelerometer_integral_dt / 1.e6f;
 				_last_sensor_data[i].accelerometer_integral_m_s[0] = vect_val(0) * dt;
 				_last_sensor_data[i].accelerometer_integral_m_s[1] = vect_val(1) * dt;
@@ -1149,7 +1149,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 				_last_sensor_data[i].gyro_integral_rad[1] = vect_int(1);
 				_last_sensor_data[i].gyro_integral_rad[2] = vect_int(2);
 
-				_last_sensor_data[i].gyro_integral_dt = gyro_report.integral_dt;
+				_last_sensor_data[i].gyro_integral_dt = (uint32_t)gyro_report.integral_dt;
 
 				float dt = gyro_report.integral_dt / 1.e6f;
 				sensor_value = vect_int / dt;
@@ -1166,7 +1166,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 				}
 
 				_last_sensor_data[i].gyro_integral_dt =
-					gyro_report.timestamp - _last_sensor_data[i].timestamp;
+					(uint32_t)(gyro_report.timestamp - _last_sensor_data[i].timestamp);
 				float dt = _last_sensor_data[i].gyro_integral_dt / 1.e6f;
 				_last_sensor_data[i].gyro_integral_rad[0] = vect_val(0) * dt;
 				_last_sensor_data[i].gyro_integral_rad[1] = vect_val(1) * dt;