diff --git a/drivers/sensors/bmi160_uorb.c b/drivers/sensors/bmi160_uorb.c
index 6acd1e0386a..f5ffe2da801 100644
--- a/drivers/sensors/bmi160_uorb.c
+++ b/drivers/sensors/bmi160_uorb.c
@@ -465,7 +465,7 @@ static int bmi160_accel_activate(FAR struct sensor_lowerhalf_s *lower,
 static void bmi160_accel_worker(FAR void *arg)
 {
   FAR struct bmi160_dev_uorb_s *priv = arg;
-  struct sensor_accel accel;
+  struct sensor_accel_uncal accel;
   struct accel_t p;
   uint32_t time;
 
@@ -512,7 +512,7 @@ static void bmi160_accel_worker(FAR void *arg)
 static void bmi160_gyro_worker(FAR void *arg)
 {
   FAR struct bmi160_dev_uorb_s *priv = arg;
-  struct sensor_gyro gyro;
+  struct sensor_gyro_uncal gyro;
   struct gyro_t p;
   uint32_t time;
 
diff --git a/drivers/sensors/goldfish_sensor_uorb.c b/drivers/sensors/goldfish_sensor_uorb.c
index 73e5fcfb259..f768204de65 100644
--- a/drivers/sensors/goldfish_sensor_uorb.c
+++ b/drivers/sensors/goldfish_sensor_uorb.c
@@ -608,7 +608,7 @@ static void goldfish_sensor_parse_event(FAR struct goldfish_sensor_s *sensor)
   else if ((value = goldfish_sensor_match(
                     buf, "magnetic-uncalibrated:")) != NULL)
     {
-      struct sensor_mag mag;
+      struct sensor_mag_uncal mag;
       if (sscanf(value, "%f:%f:%f",
                  &mag.x, &mag.y, &mag.z) == 3)
         {
@@ -616,13 +616,13 @@ static void goldfish_sensor_parse_event(FAR struct goldfish_sensor_s *sensor)
           mag.timestamp = now_ns + sensor->time_bias_ns;
           sensor->lower_mag_uncalibrated.lower.push_event(
                   sensor->lower_mag_uncalibrated.lower.priv,
-                  &mag, sizeof(struct sensor_mag));
+                  &mag, sizeof(struct sensor_mag_uncal));
         }
     }
   else if ((value = goldfish_sensor_match(
                     buf, "gyroscope-uncalibrated:")) != NULL)
     {
-      struct sensor_gyro gyro;
+      struct sensor_gyro_uncal gyro;
       if (sscanf(value, "%f:%f:%f",
                  &gyro.x, &gyro.y, &gyro.z) == 3)
         {
@@ -630,7 +630,7 @@ static void goldfish_sensor_parse_event(FAR struct goldfish_sensor_s *sensor)
           gyro.timestamp = now_ns + sensor->time_bias_ns;
           sensor->lower_gyro_uncalibrated.lower.push_event(
                   sensor->lower_gyro_uncalibrated.lower.priv,
-                  &gyro, sizeof(struct sensor_gyro));
+                  &gyro, sizeof(struct sensor_gyro_uncal));
         }
     }
   else if ((value = goldfish_sensor_match(buf, "hinge-angle0")) != NULL)
@@ -691,7 +691,7 @@ static void goldfish_sensor_parse_event(FAR struct goldfish_sensor_s *sensor)
   else if ((value = goldfish_sensor_match(
                     buf, "acceleration-uncalibrated:")) != NULL)
     {
-      struct sensor_accel accel;
+      struct sensor_accel_uncal accel;
       if (sscanf(value, "%f:%f:%f",
                  &accel.x, &accel.y, &accel.z) == 3)
         {
@@ -699,7 +699,7 @@ static void goldfish_sensor_parse_event(FAR struct goldfish_sensor_s *sensor)
           accel.timestamp = now_ns + sensor->time_bias_ns;
           sensor->lower_accel_uncalibrated.lower.push_event(
                   sensor->lower_accel_uncalibrated.lower.priv,
-                  &accel, sizeof(struct sensor_accel));
+                  &accel, sizeof(struct sensor_accel_uncal));
         }
     }
   else if ((value = goldfish_sensor_match(buf, "guest-sync:")) != NULL)
diff --git a/drivers/sensors/l3gd20_uorb.c b/drivers/sensors/l3gd20_uorb.c
index db7bb0cfdbb..5d4f1b1c107 100644
--- a/drivers/sensors/l3gd20_uorb.c
+++ b/drivers/sensors/l3gd20_uorb.c
@@ -80,7 +80,7 @@ static void l3gd20_write_register(FAR struct l3gd20_dev_s *dev,
                                   uint8_t const reg_data);
 static void l3gd20_reset(FAR struct l3gd20_dev_s *dev);
 static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev,
-                                         FAR struct sensor_gyro *data);
+                                         FAR struct sensor_gyro_uncal *data);
 static void l3gd20_read_gyroscope_data(FAR struct l3gd20_dev_s *dev,
                                        uint16_t *x_gyr, uint16_t *y_gyr,
                                        uint16_t *z_gyr);
@@ -216,7 +216,7 @@ static void l3gd20_reset(FAR struct l3gd20_dev_s *dev)
  ****************************************************************************/
 
 static void l3gd20_read_measurement_data(FAR struct l3gd20_dev_s *dev,
-                                         FAR struct sensor_gyro *data)
+                                         FAR struct sensor_gyro_uncal *data)
 {
   uint16_t x_gyr = 0;
   uint16_t y_gyr = 0;
@@ -380,7 +380,7 @@ static int l3gd20_interrupt_handler(int irq, FAR void *context,
 
 static void l3gd20_worker(FAR void *arg)
 {
-  struct sensor_gyro temp;
+  struct sensor_gyro_uncal temp;
 
   FAR struct l3gd20_dev_s *priv = (FAR struct l3gd20_dev_s *)(arg);
   DEBUGASSERT(priv != NULL);
@@ -392,7 +392,7 @@ static void l3gd20_worker(FAR void *arg)
   /* push data to upper half driver */
 
   priv->lower.push_event(priv->lower.priv, &temp,
-                         sizeof(struct sensor_gyro));
+                         sizeof(struct sensor_gyro_uncal));
 }
 
 #else
@@ -409,16 +409,16 @@ static int l3gd20_fetch(FAR struct sensor_lowerhalf_s *lower,
                                                FAR struct l3gd20_dev_s,
                                                lower);
 
-  if (buflen != sizeof(struct sensor_gyro))
+  if (buflen != sizeof(struct sensor_gyro_uncal))
       return 0;
 
   DEBUGASSERT(priv != NULL);
 
   /* Read out the latest sensor data */
 
-  l3gd20_read_measurement_data(priv, (FAR struct sensor_gyro *)buffer);
+  l3gd20_read_measurement_data(priv, (FAR struct sensor_gyro_uncal *)buffer);
 
-  return sizeof(struct sensor_gyro);
+  return sizeof(struct sensor_gyro_uncal);
 }
 #endif
 
@@ -432,7 +432,7 @@ static int l3gd20_activate(FAR struct sensor_lowerhalf_s *lower,
   FAR struct l3gd20_dev_s *priv = container_of(lower,
                                                FAR struct l3gd20_dev_s,
                                                lower);
-  struct sensor_gyro temp;
+  struct sensor_gyro_uncal temp;
 
 #ifdef CONFIG_DEBUG_SENSORS_INFO
   uint8_t reg_content;
diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index 9c54f12095c..b5c9683a05a 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -174,9 +174,9 @@ static const struct sensor_meta_s g_sensor_meta[] =
   {sizeof(struct sensor_rotation),            "rotation"},
   {sizeof(struct sensor_humi),                "humi"},
   {sizeof(struct sensor_temp),                "ambient_temp"},
-  {sizeof(struct sensor_mag),                 "mag_uncal"},
+  {sizeof(struct sensor_mag_uncal),           "mag_uncal"},
   {sizeof(struct sensor_pm1p0),               "pm1p0"},
-  {sizeof(struct sensor_gyro),                "gyro_uncal"},
+  {sizeof(struct sensor_gyro_uncal),          "gyro_uncal"},
   {sizeof(struct sensor_event),               "motion_detect"},
   {sizeof(struct sensor_event),               "step_detector"},
   {sizeof(struct sensor_step_counter),        "step_counter"},
@@ -195,7 +195,7 @@ static const struct sensor_meta_s g_sensor_meta[] =
   {sizeof(struct sensor_force),               "force"},
   {sizeof(struct sensor_hall),                "hall"},
   {sizeof(struct sensor_event),               "offbody_detector"},
-  {sizeof(struct sensor_accel),               "accel_uncal"},
+  {sizeof(struct sensor_accel_uncal),         "accel_uncal"},
   {sizeof(struct sensor_angle),               "hinge_angle"},
   {sizeof(struct sensor_ir),                  "ir"},
   {sizeof(struct sensor_hcho),                "hcho"},