diff --git a/msg/ekf2_replay.msg b/msg/ekf2_replay.msg
index 77eec78d46..37e91361c9 100644
--- a/msg/ekf2_replay.msg
+++ b/msg/ekf2_replay.msg
@@ -1,6 +1,6 @@
 
-uint64 gyro_integral_dt		# gyro integration period in s
-uint64 accelerometer_integral_dt 	# accelerometer integration period in s
+uint64 gyro_integral_dt		# gyro integration period in us
+uint64 accelerometer_integral_dt 	# accelerometer integration period in us
 uint64 magnetometer_timestamp 		# timestamp of magnetometer measurement in us
 uint64 baro_timestamp			# timestamp of barometer measurement in us
 uint64 rng_timestamp			# timestamp of range finder measurement in us
diff --git a/msg/sensor_combined.msg b/msg/sensor_combined.msg
index e5a4508941..5122370011 100644
--- a/msg/sensor_combined.msg
+++ b/msg/sensor_combined.msg
@@ -10,11 +10,11 @@ int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relat
 
 # gyro timstamp is equal to the timestamp of the message
 float32[3] gyro_rad			# average angular rate measured in the XYZ body frame in rad/s over the last gyro sampling period
-uint64 gyro_integral_dt		# gyro measurement sampling period in s
+uint64 gyro_integral_dt		# gyro measurement sampling period in us
 
 int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
 float32[3] accelerometer_m_s2		# average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
-uint64 accelerometer_integral_dt	# accelerometer measurement sampling period in s
+uint64 accelerometer_integral_dt	# accelerometer measurement sampling period in us
 
 int32 magnetometer_timestamp_relative	# timestamp + magnetometer_timestamp_relative = Magnetometer timestamp
 float32[3] magnetometer_ga		# Magnetic field in NED body frame, in Gauss