diff --git a/include/nuttx/uorb.h b/include/nuttx/uorb.h
index 0b04e08b324..4db10dce601 100644
--- a/include/nuttx/uorb.h
+++ b/include/nuttx/uorb.h
@@ -654,6 +654,18 @@ struct sensor_accel         /* Type: Accerometer */
   float temperature;        /* Temperature in degrees celsius */
 };
 
+struct sensor_accel_uncal   /* Type: Accerometer Uncalibrated */
+{
+  uint64_t timestamp;       /* Units is microseconds */
+  float x;                  /* Axis X in m/s^2 */
+  float y;                  /* Axis Y in m/s^2 */
+  float z;                  /* Axis Z in m/s^2 */
+  float x_bias;             /* Axis X bias in m/s^2 */
+  float y_bias;             /* Axis Y bias in m/s^2 */
+  float z_bias;             /* Axis Z bias in m/s^2 */
+  float temperature;        /* Temperature in degrees celsius */
+};
+
 struct sensor_mag           /* Type: Magnetic Field */
 {
   uint64_t timestamp;       /* Units is microseconds */
@@ -664,6 +676,19 @@ struct sensor_mag           /* Type: Magnetic Field */
   int32_t status;           /* Status of calibration */
 };
 
+struct sensor_mag_uncal     /* Type: Magnetic Field Uncalibrated */
+{
+  uint64_t timestamp;       /* Units is microseconds */
+  float x;                  /* Axis X in Gauss or micro Tesla (uT) */
+  float y;                  /* Axis Y in Gauss or micro Tesla (uT) */
+  float z;                  /* Axis Z in Gauss or micro Tesla (uT) */
+  float x_bias;             /* Axis X bias in Gauss or micro Tesla (uT) */
+  float y_bias;             /* Axis Y bias in Gauss or micro Tesla (uT) */
+  float z_bias;             /* Axis Z bias in Gauss or micro Tesla (uT) */
+  float temperature;        /* Temperature in degrees celsius */
+  int32_t status;           /* Status of calibration */
+};
+
 struct sensor_orientation   /* Type: Orientation */
 {
   uint64_t timestamp;       /* Units is microseconds */
@@ -681,6 +706,18 @@ struct sensor_gyro          /* Type: Gyroscope */
   float temperature;        /* Temperature in degrees celsius */
 };
 
+struct sensor_gyro_uncal    /* Type: Gyroscope Uncalibrated */
+{
+  uint64_t timestamp;       /* Units is microseconds */
+  float x;                  /* Axis X in rad/s */
+  float y;                  /* Axis Y in rad/s */
+  float z;                  /* Axis Z in rad/s */
+  float x_bias;             /* Axis X bias in rad/s */
+  float y_bias;             /* Axis Y bias in rad/s */
+  float z_bias;             /* Axis Z bias in rad/s */
+  float temperature;        /* Temperature in degrees celsius */
+};
+
 struct sensor_light         /* Type: Light */
 {
   uint64_t timestamp;       /* Units is microseconds */