diff --git a/apps/estimator/sensors/data_validator/SConscript b/apps/estimator/sensors/data_validator/SConscript
index c916b0ba62..f8be687c68 100644
--- a/apps/estimator/sensors/data_validator/SConscript
+++ b/apps/estimator/sensors/data_validator/SConscript
@@ -7,6 +7,6 @@ cwd = GetCurrentDir()
 inc = []
 src = Glob("*.cpp", exclude="*_test.cpp")
 
-objs = DefineGroup("ins/sensors", src, depend=["INS_USING_SENSOR"])
+objs = DefineGroup("ins/sensors", src, depend=["INS_USING_SENSORS"])
 
 Return("objs")
diff --git a/apps/estimator/sensors/sensors.cpp b/apps/estimator/sensors/sensors.cpp
index f48de2f22c..f6fe372589 100644
--- a/apps/estimator/sensors/sensors.cpp
+++ b/apps/estimator/sensors/sensors.cpp
@@ -18,6 +18,8 @@
  * @author Beat Küng <beat-kueng@gmx.net>
  */
 
+#define LOG_TAG "sensors"
+
 #include "sensors.hpp"
 
 Sensors::Sensors(bool hil_enabled) :
@@ -28,11 +30,11 @@ Sensors::Sensors(bool hil_enabled) :
     _voted_sensors_update(hil_enabled, _vehicle_imu_sub) {
     _sensor_pub.advertise();
 
-#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+#if defined(SENSORS_VEHICLE_ACCELERATION)
     _vehicle_acceleration.Start();
-#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+#endif // SENSORS_VEHICLE_ACCELERATION
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#if defined(SENSORS_VEHICLE_AIRSPEED)
     /* Differential pressure offset */
     _parameter_handles.diff_pres_offset_pa = param_find("SENS_DPRES_OFF");
 #   ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
@@ -45,11 +47,11 @@ Sensors::Sensors(bool hil_enabled) :
 
     _airspeed_validator.set_timeout(300000);
     _airspeed_validator.set_equal_value_threshold(100);
-#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
+#endif // SENSORS_VEHICLE_AIRSPEED
 
-#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+#if defined(SENSORS_VEHICLE_ANGULAR_VELOCITY)
     _vehicle_angular_velocity.Start();
-#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
+#endif // SENSORS_VEHICLE_ANGULAR_VELOCITY
 
     param_find("SYS_FAC_CAL_MODE");
 
@@ -71,49 +73,49 @@ Sensors::~Sensors() {
         sub.unregisterCallback();
     }
 
-#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+#if defined(SENSORS_VEHICLE_ACCELERATION)
     _vehicle_acceleration.Stop();
-#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+#endif // SENSORS_VEHICLE_ACCELERATION
 
-#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+#if defined(SENSORS_VEHICLE_ANGULAR_VELOCITY)
     _vehicle_angular_velocity.Stop();
-#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
+#endif // SENSORS_VEHICLE_ANGULAR_VELOCITY
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
 
     if (_vehicle_air_data) {
         _vehicle_air_data->Stop();
         delete _vehicle_air_data;
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#endif // SENSORS_VEHICLE_AIR_DATA
 
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
 
     if (_vehicle_gps_position) {
         _vehicle_gps_position->Stop();
         delete _vehicle_gps_position;
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#endif // SENSORS_VEHICLE_GPS_POSITION
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
 
     if (_vehicle_magnetometer) {
         _vehicle_magnetometer->Stop();
         delete _vehicle_magnetometer;
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
 
-#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
+#if defined(SENSORS_VEHICLE_OPTICAL_FLOW)
 
     if (_vehicle_optical_flow) {
         _vehicle_optical_flow->Stop();
         delete _vehicle_optical_flow;
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
+#endif // SENSORS_VEHICLE_OPTICAL_FLOW
 
     for (auto &vehicle_imu : _vehicle_imu_list) {
         if (vehicle_imu) {
@@ -136,7 +138,7 @@ int Sensors::parameters_update() {
         return 0;
     }
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#if defined(SENSORS_VEHICLE_AIRSPEED)
     /* Airspeed offset */
     param_get(_parameter_handles.diff_pres_offset_pa, &(_parameters.diff_pres_offset_pa));
 #   ifdef ADC_AIRSPEED_VOLTAGE_CHANNEL
@@ -146,7 +148,7 @@ int Sensors::parameters_update() {
     param_get(_parameter_handles.air_cmodel, &_parameters.air_cmodel);
     param_get(_parameter_handles.air_tube_length, &_parameters.air_tube_length);
     param_get(_parameter_handles.air_tube_diameter_mm, &_parameters.air_tube_diameter_mm);
-#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
+#endif // SENSORS_VEHICLE_AIRSPEED
 
     _voted_sensors_update.parametersUpdate();
 
@@ -189,7 +191,7 @@ int Sensors::parameters_update() {
             }
         }
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
         // sensor_mag
         {
             uint32_t device_id_mag = calibration::GetCalibrationParamInt32("MAG", "ID", i);
@@ -206,29 +208,29 @@ int Sensors::parameters_update() {
                 cal.ParametersLoad();
             }
         }
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
     }
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
     InitializeVehicleAirData();
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#endif // SENSORS_VEHICLE_AIR_DATA
 
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
     InitializeVehicleGPSPosition();
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#endif // SENSORS_VEHICLE_GPS_POSITION
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
     InitializeVehicleMagnetometer();
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
 
-#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
+#if defined(SENSORS_VEHICLE_OPTICAL_FLOW)
     InitializeVehicleOpticalFlow();
-#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
+#endif // SENSORS_VEHICLE_OPTICAL_FLOW
 
     return PX4_OK;
 }
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#if defined(SENSORS_VEHICLE_AIRSPEED)
 void Sensors::diff_pres_poll() {
     differential_pressure_s diff_pres{};
 
@@ -376,9 +378,9 @@ void Sensors::adc_poll() {
 
 #   endif // ADC_AIRSPEED_VOLTAGE_CHANNEL
 }
-#endif    // CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#endif    // SENSORS_VEHICLE_AIRSPEED)
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
 void Sensors::InitializeVehicleAirData() {
     if (_param_sys_has_baro.get()) {
         if (_vehicle_air_data == nullptr) {
@@ -390,9 +392,9 @@ void Sensors::InitializeVehicleAirData() {
         }
     }
 }
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#endif // SENSORS_VEHICLE_AIR_DATA
 
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
 void Sensors::InitializeVehicleGPSPosition() {
     if (_param_sys_has_gps.get()) {
         if (_vehicle_gps_position == nullptr) {
@@ -404,7 +406,7 @@ void Sensors::InitializeVehicleGPSPosition() {
         }
     }
 }
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#endif // SENSORS_VEHICLE_GPS_POSITION
 
 void Sensors::InitializeVehicleIMU() {
     // create a VehicleIMU instance for each accel/gyro pair
@@ -439,7 +441,7 @@ void Sensors::InitializeVehicleIMU() {
     }
 }
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
 void Sensors::InitializeVehicleMagnetometer() {
     if (_param_sys_has_mag.get()) {
         if (_vehicle_magnetometer == nullptr) {
@@ -451,9 +453,9 @@ void Sensors::InitializeVehicleMagnetometer() {
         }
     }
 }
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
 
-#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
+#if defined(SENSORS_VEHICLE_OPTICAL_FLOW)
 void Sensors::InitializeVehicleOpticalFlow() {
     if (_vehicle_optical_flow == nullptr) {
         uORB::Subscription sensor_optical_flow_sub{ORB_ID(sensor_optical_flow)};
@@ -467,7 +469,7 @@ void Sensors::InitializeVehicleOpticalFlow() {
         }
     }
 }
-#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
+#endif // SENSORS_VEHICLE_OPTICAL_FLOW
 
 void Sensors::Run() {
     if (should_exit()) {
@@ -496,7 +498,7 @@ void Sensors::Run() {
     if ((!_armed && hrt_elapsed_time(&_last_config_update) > 500_ms) || (_last_config_update == 0)) {
         bool updated = false;
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
         const int n_baro = orb_group_count(ORB_ID(sensor_baro));
 
         if (n_baro != _n_baro) {
@@ -504,9 +506,9 @@ void Sensors::Run() {
             updated = true;
         }
 
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#endif // SENSORS_VEHICLE_AIR_DATA
 
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
         const int n_gps = orb_group_count(ORB_ID(sensor_gps));
 
         if (n_gps != _n_gps) {
@@ -514,9 +516,9 @@ void Sensors::Run() {
             updated = true;
         }
 
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#endif // SENSORS_VEHICLE_GPS_POSITION
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
         const int n_mag = orb_group_count(ORB_ID(sensor_mag));
 
         if (n_mag != _n_mag) {
@@ -524,9 +526,9 @@ void Sensors::Run() {
             updated = true;
         }
 
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
 
-#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
+#if defined(SENSORS_VEHICLE_OPTICAL_FLOW)
         const int n_optical_flow = orb_group_count(ORB_ID(sensor_optical_flow));
 
         if (n_optical_flow != _n_optical_flow) {
@@ -534,7 +536,7 @@ void Sensors::Run() {
             updated         = true;
         }
 
-#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
+#endif // SENSORS_VEHICLE_OPTICAL_FLOW
 
         const int n_accel = orb_group_count(ORB_ID(sensor_accel));
         const int n_gyro  = orb_group_count(ORB_ID(sensor_gyro));
@@ -573,11 +575,11 @@ void Sensors::Run() {
         _sensor_combined_prev_timestamp = _sensor_combined.timestamp;
     }
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#if defined(SENSORS_VEHICLE_AIRSPEED)
     // check analog airspeed
     adc_poll();
     diff_pres_poll();
-#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
+#endif // SENSORS_VEHICLE_AIRSPEED
 
     // backup schedule as a watchdog timeout
     ScheduleDelayed(10_ms);
@@ -639,57 +641,57 @@ Sensors *Sensors::instantiate(int argc, char *argv[]) {
 int Sensors::print_status() {
     _voted_sensors_update.printStatus();
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
 
     if (_vehicle_magnetometer) {
         PX4_INFO_RAW("\n");
         _vehicle_magnetometer->PrintStatus();
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
 
     if (_vehicle_air_data) {
         PX4_INFO_RAW("\n");
         _vehicle_air_data->PrintStatus();
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#endif // SENSORS_VEHICLE_AIR_DATA
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#if defined(SENSORS_VEHICLE_AIRSPEED)
     PX4_INFO_RAW("\n");
     PX4_INFO_RAW("Airspeed status:\n");
     _airspeed_validator.print();
-#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
+#endif // SENSORS_VEHICLE_AIRSPEED
 
-#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
+#if defined(SENSORS_VEHICLE_OPTICAL_FLOW)
 
     if (_vehicle_optical_flow) {
         PX4_INFO_RAW("\n");
         _vehicle_optical_flow->PrintStatus();
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
+#endif // SENSORS_VEHICLE_OPTICAL_FLOW
 
-#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+#if defined(SENSORS_VEHICLE_ACCELERATION)
     PX4_INFO_RAW("\n");
     _vehicle_acceleration.PrintStatus();
-#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+#endif // SENSORS_VEHICLE_ACCELERATION
 
-#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+#if defined(SENSORS_VEHICLE_ANGULAR_VELOCITY)
     PX4_INFO_RAW("\n");
     _vehicle_angular_velocity.PrintStatus();
-#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
+#endif // SENSORS_VEHICLE_ANGULAR_VELOCITY
 
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
 
     if (_vehicle_gps_position) {
         PX4_INFO_RAW("\n");
         _vehicle_gps_position->PrintStatus();
     }
 
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#endif // SENSORS_VEHICLE_GPS_POSITION
 
     PX4_INFO_RAW("\n");
 
@@ -744,3 +746,13 @@ It runs in its own thread and polls on the currently selected gyro topic.
 extern "C" __EXPORT int sensors_main(int argc, char *argv[]) {
     return Sensors::main(argc, argv);
 }
+
+MSH_CMD_EXPORT_ALIAS(sensors_main, sensors, sensors);
+
+int sensors_start() {
+    const char *argv[] = {"sensors", "start"};
+    int         argc   = sizeof(argv) / sizeof(argv[0]);
+    return sensors_main(argc, (char **)argv);
+}
+
+INIT_APP_EXPORT(sensors_start);
diff --git a/apps/estimator/sensors/sensors.hpp b/apps/estimator/sensors/sensors.hpp
index 8e751605f5..ee9b947e4f 100644
--- a/apps/estimator/sensors/sensors.hpp
+++ b/apps/estimator/sensors/sensors.hpp
@@ -27,41 +27,41 @@
 #include "voted_sensors_update.h"
 #include "vehicle_imu/VehicleIMU.hpp"
 
-#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+#if defined(SENSORS_VEHICLE_ACCELERATION)
 #   include "vehicle_acceleration/VehicleAcceleration.hpp"
-#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+#endif // SENSORS_VEHICLE_ACCELERATION
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#if defined(SENSORS_VEHICLE_AIRSPEED)
 #   include <device/device_id.h>
 #   include <drivers/drv_adc.h>
 #   include <airspeed/airspeed.h>
 #   include <uORB/topics/airspeed.h>
 #   include <uORB/topics/differential_pressure.h>
 #   include <uORB/topics/vehicle_air_data.h>
-#endif // CONFIG_SENSORS_VEHICLE_AIRSPEED
+#endif // SENSORS_VEHICLE_AIRSPEED
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
 #   include <uORB/topics/sensor_baro.h>
 #   include "vehicle_air_data/VehicleAirData.hpp"
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#endif // SENSORS_VEHICLE_AIR_DATA
 
-#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+#if defined(SENSORS_VEHICLE_ANGULAR_VELOCITY)
 #   include "vehicle_angular_velocity/VehicleAngularVelocity.hpp"
-#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
+#endif // SENSORS_VEHICLE_ANGULAR_VELOCITY
 
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
 #   include "vehicle_gps_position/VehicleGPSPosition.hpp"
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#endif // SENSORS_VEHICLE_GPS_POSITION
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
 #   include "vehicle_magnetometer/VehicleMagnetometer.hpp"
 #   include <sensor_calibration/Magnetometer.hpp>
 #   include <uORB/topics/sensor_mag.h>
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
 
-#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
+#if defined(SENSORS_VEHICLE_OPTICAL_FLOW)
 #   include "vehicle_optical_flow/VehicleOpticalFlow.hpp"
-#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
+#endif // SENSORS_VEHICLE_OPTICAL_FLOW
 
 using namespace sensors;
 using namespace time_literals;
@@ -135,7 +135,7 @@ class Sensors : public ModuleCommand<Sensors>, public ModuleParams, public WorkI
 
     uORB::Publication<sensor_combined_s> _sensor_pub{ORB_ID(sensor_combined)};
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIRSPEED)
+#if defined(SENSORS_VEHICLE_AIRSPEED)
     /**
      * Poll the differential pressure sensor for updated data.
      *
@@ -194,45 +194,45 @@ class Sensors : public ModuleCommand<Sensors>, public ModuleParams, public WorkI
         param_t air_tube_length;
         param_t air_tube_diameter_mm;
     } _parameter_handles{}; /**< handles for interesting parameters */
-#endif                      // CONFIG_SENSORS_VEHICLE_AIRSPEED
+#endif                      // SENSORS_VEHICLE_AIRSPEED
 
-#if defined(CONFIG_SENSORS_VEHICLE_ACCELERATION)
+#if defined(SENSORS_VEHICLE_ACCELERATION)
     VehicleAcceleration _vehicle_acceleration;
-#endif // CONFIG_SENSORS_VEHICLE_ACCELERATION
+#endif // SENSORS_VEHICLE_ACCELERATION
 
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
     VehicleAirData *_vehicle_air_data{nullptr};
     uint8_t         _n_baro{0};
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
+#endif // SENSORS_VEHICLE_AIR_DATA
 
-#if defined(CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY)
+#if defined(SENSORS_VEHICLE_ANGULAR_VELOCITY)
     VehicleAngularVelocity _vehicle_angular_velocity;
-#endif // CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY
+#endif // SENSORS_VEHICLE_ANGULAR_VELOCITY
 
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
     VehicleMagnetometer *_vehicle_magnetometer{nullptr};
     uint8_t              _n_mag{0};
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
 
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
     VehicleGPSPosition *_vehicle_gps_position{nullptr};
     uint8_t             _n_gps{0};
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
+#endif // SENSORS_VEHICLE_GPS_POSITION
 
-#if defined(CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW)
+#if defined(SENSORS_VEHICLE_OPTICAL_FLOW)
     VehicleOpticalFlow *_vehicle_optical_flow{nullptr};
     uint8_t             _n_optical_flow{0};
-#endif // CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW
+#endif // SENSORS_VEHICLE_OPTICAL_FLOW
 
     DEFINE_PARAMETERS(
-#if defined(CONFIG_SENSORS_VEHICLE_AIR_DATA)
+#if defined(SENSORS_VEHICLE_AIR_DATA)
         (ParamBool<params_id::SYS_HAS_BARO>)_param_sys_has_baro,
-#endif // CONFIG_SENSORS_VEHICLE_AIR_DATA
-#if defined(CONFIG_SENSORS_VEHICLE_GPS_POSITION)
+#endif // SENSORS_VEHICLE_AIR_DATA
+#if defined(SENSORS_VEHICLE_GPS_POSITION)
         (ParamBool<params_id::SYS_HAS_GPS>)_param_sys_has_gps,
-#endif // CONFIG_SENSORS_VEHICLE_GPS_POSITION
-#if defined(CONFIG_SENSORS_VEHICLE_MAGNETOMETER)
+#endif // SENSORS_VEHICLE_GPS_POSITION
+#if defined(SENSORS_VEHICLE_MAGNETOMETER)
         (ParamInt<params_id::SYS_HAS_MAG>)_param_sys_has_mag,
-#endif // CONFIG_SENSORS_VEHICLE_MAGNETOMETER
+#endif // SENSORS_VEHICLE_MAGNETOMETER
         (ParamBool<params_id::SENS_IMU_MODE>)_param_sens_imu_mode)
 };
diff --git a/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.cpp
index 4a789011ef..72335ca777 100644
--- a/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.cpp
+++ b/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.cpp
@@ -8,8 +8,9 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
-#include "VehicleAcceleration.hpp"
+#define LOG_TAG "sensors.accel"
 
+#include "VehicleAcceleration.hpp"
 #include <ulog/log.h>
 #include <uORB/topics/vehicle_imu_status.h>
 
@@ -19,7 +20,7 @@ namespace sensors {
 
 VehicleAcceleration::VehicleAcceleration() :
     ModuleParams(nullptr),
-    WorkItemScheduled(MODULE_NAME, wq_configurations::nav_and_controllers) {
+    WorkItemScheduled(LOG_TAG, wq_configurations::nav_and_controllers) {
     _vehicle_acceleration_pub.advertise();
 
     CheckAndUpdateFilters();
diff --git a/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.hpp b/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.hpp
index 3a518c925e..a12ff83da1 100644
--- a/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.hpp
+++ b/apps/estimator/sensors/vehicle_acceleration/VehicleAcceleration.hpp
@@ -27,6 +27,8 @@
 #include <uORB/topics/vehicle_acceleration.h>
 
 using namespace time_literals;
+using namespace nextpilot;
+using namespace nextpilot::global_params;
 
 namespace sensors {
 
diff --git a/apps/estimator/sensors/vehicle_air_data/VehicleAirData.cpp b/apps/estimator/sensors/vehicle_air_data/VehicleAirData.cpp
index f8ce657ad7..260e44f3c8 100644
--- a/apps/estimator/sensors/vehicle_air_data/VehicleAirData.cpp
+++ b/apps/estimator/sensors/vehicle_air_data/VehicleAirData.cpp
@@ -8,8 +8,10 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
-#include "VehicleAirData.hpp"
+#define LOG_TAG     "sensors.baro"
+#define MODULE_NAME LOG_TAG
 
+#include "VehicleAirData.hpp"
 #include <ulog/log.h>
 #include <events/events.h>
 #include <geo/geo.h>
diff --git a/apps/estimator/sensors/vehicle_air_data/VehicleAirData.hpp b/apps/estimator/sensors/vehicle_air_data/VehicleAirData.hpp
index 1afe151f72..70ae225107 100644
--- a/apps/estimator/sensors/vehicle_air_data/VehicleAirData.hpp
+++ b/apps/estimator/sensors/vehicle_air_data/VehicleAirData.hpp
@@ -11,7 +11,6 @@
 #pragma once
 
 #include "data_validator/DataValidatorGroup.hpp"
-
 #include <sensor_calibration/Barometer.hpp>
 #include <mathlib/math/Limits.hpp>
 #include <matrix/matrix/math.hpp>
@@ -29,6 +28,8 @@
 #include <uORB/topics/vehicle_air_data.h>
 
 using namespace time_literals;
+using namespace nextpilot;
+using namespace nextpilot::global_params;
 
 namespace sensors {
 class VehicleAirData : public ModuleParams, public WorkItemScheduled {
diff --git a/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
index ed765f90cc..17b23b4705 100644
--- a/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
+++ b/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
@@ -8,6 +8,9 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
+#define LOG_TAG     "sensors.gyro"
+#define MODULE_NAME LOG_TAG
+
 #include "VehicleAngularVelocity.hpp"
 
 #include <ulog/log.h>
@@ -615,7 +618,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchFFT(const hrt_abstime &time_now_u
         sensor_gyro_fft_s sensor_gyro_fft;
 
         if (_sensor_gyro_fft_sub.copy(&sensor_gyro_fft) && (sensor_gyro_fft.device_id == _selected_sensor_device_id) && (time_now_us < sensor_gyro_fft.timestamp + DYNAMIC_NOTCH_FITLER_TIMEOUT) && ((fabsf(sensor_gyro_fft.sensor_sample_rate_hz - _filter_sample_rate_hz) / _filter_sample_rate_hz) < 0.02f)) {
-            static constexpr float peak_freq_min = 10.f; // lower bound TODO: configurable?
+            static constexpr float peak_freq_min = 10.f;                                       // lower bound TODO: configurable?
 
             const float bandwidth = math::constrain(sensor_gyro_fft.resolution_hz, 8.f, 30.f); // TODO: base on numerical limits?
 
@@ -798,8 +801,7 @@ void VehicleAngularVelocity::Run() {
                     _timestamp_sample_last = sensor_data.timestamp_sample - 1e6f / _filter_sample_rate_hz;
                 }
 
-                const float inverse_dt_s = 1.f / math::constrain(((sensor_data.timestamp_sample - _timestamp_sample_last) * 1e-6f),
-                                                                 0.00002f, 0.02f);
+                const float inverse_dt_s = 1.f / math::constrain(((sensor_data.timestamp_sample - _timestamp_sample_last) * 1e-6f), 0.00002f, 0.02f);
                 _timestamp_sample_last   = sensor_data.timestamp_sample;
 
                 Vector3f angular_velocity_uncalibrated;
diff --git a/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp b/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
index 7b583f3dea..5df645be37 100644
--- a/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
+++ b/apps/estimator/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp
@@ -18,6 +18,7 @@
 #include <mathlib/math/filter/LowPassFilter2p.hpp>
 #include <mathlib/math/filter/NotchFilter.hpp>
 #include <ulog/log.h>
+#include <perf/perf_counter.h>
 #include <module/module_params.hpp>
 #include <workq/WorkItemScheduled.hpp>
 #include <uORB/uORBPublication.hpp>
@@ -33,6 +34,8 @@
 #include <uORB/topics/vehicle_angular_velocity.h>
 
 using namespace time_literals;
+using namespace nextpilot;
+using namespace nextpilot::global_params;
 
 namespace sensors {
 
diff --git a/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.cpp b/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
index 01279dc386..1a76ac8366 100644
--- a/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
+++ b/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
@@ -8,8 +8,10 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
-#include "VehicleGPSPosition.hpp"
+#define LOG_TAG "sensors.gps"
+#define MODULE_NAME LOG_TAG
 
+#include "VehicleGPSPosition.hpp"
 #include <ulog/log.h>
 #include <geo/geo.h>
 #include <mathlib/mathlib.h>
diff --git a/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.hpp b/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.hpp
index 1ea4e151a8..4b68649bc3 100644
--- a/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.hpp
+++ b/apps/estimator/sensors/vehicle_gps_position/VehicleGPSPosition.hpp
@@ -24,6 +24,8 @@
 #include "gps_blending.hpp"
 
 using namespace time_literals;
+using namespace nextpilot;
+using namespace nextpilot::global_params;
 
 namespace sensors {
 class VehicleGPSPosition : public ModuleParams, public WorkItemScheduled {
diff --git a/apps/estimator/sensors/vehicle_imu/SConscript b/apps/estimator/sensors/vehicle_imu/SConscript
index c916b0ba62..f8be687c68 100644
--- a/apps/estimator/sensors/vehicle_imu/SConscript
+++ b/apps/estimator/sensors/vehicle_imu/SConscript
@@ -7,6 +7,6 @@ cwd = GetCurrentDir()
 inc = []
 src = Glob("*.cpp", exclude="*_test.cpp")
 
-objs = DefineGroup("ins/sensors", src, depend=["INS_USING_SENSOR"])
+objs = DefineGroup("ins/sensors", src, depend=["INS_USING_SENSORS"])
 
 Return("objs")
diff --git a/apps/estimator/sensors/vehicle_imu/VehicleIMU.cpp b/apps/estimator/sensors/vehicle_imu/VehicleIMU.cpp
index 7566435e39..699d163416 100644
--- a/apps/estimator/sensors/vehicle_imu/VehicleIMU.cpp
+++ b/apps/estimator/sensors/vehicle_imu/VehicleIMU.cpp
@@ -8,8 +8,10 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
-#include "VehicleIMU.hpp"
+#define LOG_TAG     "sensors.imu"
+#define MODULE_NAME LOG_TAG
 
+#include "VehicleIMU.hpp"
 #include <ulog/log.h>
 #include <events/events.h>
 #include <sensor_calibration/Utilities.hpp>
diff --git a/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
index 645030ed06..dd7a0e8594 100644
--- a/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+++ b/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
@@ -8,8 +8,10 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
-#include "VehicleMagnetometer.hpp"
+#define LOG_TAG     "sensors.mag"
+#define MODULE_NAME LOG_TAG
 
+#include "VehicleMagnetometer.hpp"
 #include <ulog/log.h>
 #include <events/events.h>
 #include <geo/geo.h>
diff --git a/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp b/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
index 366db747df..12ac07aadd 100644
--- a/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
+++ b/apps/estimator/sensors/vehicle_magnetometer/VehicleMagnetometer.hpp
@@ -37,6 +37,8 @@
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 
 using namespace time_literals;
+using namespace nextpilot;
+using namespace nextpilot::global_params;
 
 namespace sensors {
 class VehicleMagnetometer : public ModuleParams, public WorkItemScheduled {
diff --git a/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp b/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
index 452568eb20..2e9ea9af08 100644
--- a/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
+++ b/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
@@ -8,9 +8,12 @@
  * Copyright All Reserved © 2015-2024 NextPilot Development Team
  ******************************************************************/
 
-#include "VehicleOpticalFlow.hpp"
+#define LOG_TAG     "sensors.opticalflow"
+#define MODULE_NAME LOG_TAG
 
+#include "VehicleOpticalFlow.hpp"
 #include <ulog/log.h>
+
 namespace sensors {
 
 using namespace matrix;
@@ -93,8 +96,8 @@ void VehicleOpticalFlow::Run() {
         //  - from sensor_optical_flow if available, otherwise use synchronized sensor_gyro if available
         if (sensor_optical_flow.delta_angle_available && Vector3f(sensor_optical_flow.delta_angle).isAllFinite()) {
             // passthrough integrated gyro if available
-            _delta_angle += _flow_rotation * Vector3f{sensor_optical_flow.delta_angle};
-            _delta_angle_available = true;
+            _delta_angle           += _flow_rotation * Vector3f{sensor_optical_flow.delta_angle};
+            _delta_angle_available  = true;
 
         } else {
             _delta_angle_available = false;
@@ -133,7 +136,7 @@ void VehicleOpticalFlow::Run() {
                 _distance_sum_count = 1;
 
             } else {
-                _distance_sum += sensor_optical_flow.distance_m;
+                _distance_sum       += sensor_optical_flow.distance_m;
                 _distance_sum_count += 1;
             }
 
@@ -147,15 +150,15 @@ void VehicleOpticalFlow::Run() {
                     _distance_sum_count = 1;
 
                 } else {
-                    _distance_sum += range_sample.data;
+                    _distance_sum       += range_sample.data;
                     _distance_sum_count += 1;
                 }
             }
         }
 
-        _flow_timestamp_sample_last = sensor_optical_flow.timestamp_sample;
-        _flow_integral(0) += sensor_optical_flow.pixel_flow[0];
-        _flow_integral(1) += sensor_optical_flow.pixel_flow[1];
+        _flow_timestamp_sample_last  = sensor_optical_flow.timestamp_sample;
+        _flow_integral(0)           += sensor_optical_flow.pixel_flow[0];
+        _flow_integral(1)           += sensor_optical_flow.pixel_flow[1];
 
         _integration_timespan_us += sensor_optical_flow.integration_timespan_us;
 
diff --git a/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp b/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp
index a0de238677..3e3c34c5b5 100644
--- a/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp
+++ b/apps/estimator/sensors/vehicle_optical_flow/VehicleOpticalFlow.hpp
@@ -33,6 +33,9 @@
 #include <uORB/topics/vehicle_optical_flow.h>
 #include <uORB/topics/vehicle_optical_flow_vel.h>
 
+using namespace nextpilot;
+using namespace nextpilot::global_params;
+
 namespace sensors {
 
 class VehicleOpticalFlow : public ModuleParams, public WorkItemScheduled {
diff --git a/apps/libraries/peripheral/drivers/drv_adc.h b/apps/libraries/peripheral/drivers/drv_adc.h
index 345c8ed0b9..2ec55c54ba 100644
--- a/apps/libraries/peripheral/drivers/drv_adc.h
+++ b/apps/libraries/peripheral/drivers/drv_adc.h
@@ -19,7 +19,6 @@
 
 #include <stdint.h>
 #include <sys/ioctl.h>
-#include <systemlib/px4_macros.h>
 #include <uORB/topics/adc_report.h>
 
 /* Define the PX4 low level format ADC and the maximum
diff --git a/apps/libraries/peripheral/drivers/drv_neopixel.h b/apps/libraries/peripheral/drivers/drv_neopixel.h
index 596aadb4f3..a7f54b980c 100644
--- a/apps/libraries/peripheral/drivers/drv_neopixel.h
+++ b/apps/libraries/peripheral/drivers/drv_neopixel.h
@@ -19,7 +19,6 @@
 
 #include <stdint.h>
 #include <sys/ioctl.h>
-#include <systemlib/px4_macros.h>
 
 namespace neopixel
 {
diff --git a/apps/telemetry/mavlink/mavlink_receiver.cpp b/apps/telemetry/mavlink/mavlink_receiver.cpp
index 4ddb9c86af..41a808bc2f 100644
--- a/apps/telemetry/mavlink/mavlink_receiver.cpp
+++ b/apps/telemetry/mavlink/mavlink_receiver.cpp
@@ -19,8 +19,6 @@
 
 #include <airspeed/airspeed.h>
 #include <conversion/rotation.h>
-#include <systemlib/px4_macros.h>
-
 #include <math.h>
 #include <poll.h>
 
diff --git a/bsps/sitl/qemu/config/default.config b/bsps/sitl/qemu/config/default.config
index fe949c2599..34422661af 100644
--- a/bsps/sitl/qemu/config/default.config
+++ b/bsps/sitl/qemu/config/default.config
@@ -69,6 +69,13 @@ CONFIG_INS_USING_GYRO_CALIBRATION=y
 CONFIG_INS_USING_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_INS_USING_MAG_BIAS_ESTIMATOR=y
 CONFIG_INS_USING_SENSORS=y
+CONFIG_SENSORS_VEHICLE_AIRSPEED=y
+CONFIG_SENSORS_VEHICLE_AIR_DATA=y
+CONFIG_SENSORS_VEHICLE_ANGULAR_VELOCITY=y
+CONFIG_SENSORS_VEHICLE_ACCELERATION=y
+CONFIG_SENSORS_VEHICLE_GPS_POSITION=y
+CONFIG_SENSORS_VEHICLE_MAGNETOMETER=y
+CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW=y
 CONFIG_INS_USING_TEMPERATURE_COMPENSATION=y
 # end of Nextpilot Estimator Config
 
diff --git a/bsps/sitl/qemu/rtconfig.h b/bsps/sitl/qemu/rtconfig.h
index 4a991d274f..8f39c2473b 100644
--- a/bsps/sitl/qemu/rtconfig.h
+++ b/bsps/sitl/qemu/rtconfig.h
@@ -51,6 +51,13 @@
 #define INS_USING_LOCAL_POSITION_ESTIMATOR
 #define INS_USING_MAG_BIAS_ESTIMATOR
 #define INS_USING_SENSORS
+#define SENSORS_VEHICLE_AIRSPEED
+#define SENSORS_VEHICLE_AIR_DATA
+#define SENSORS_VEHICLE_ANGULAR_VELOCITY
+#define SENSORS_VEHICLE_ACCELERATION
+#define SENSORS_VEHICLE_GPS_POSITION
+#define SENSORS_VEHICLE_MAGNETOMETER
+#define SENSORS_VEHICLE_OPTICAL_FLOW
 #define INS_USING_TEMPERATURE_COMPENSATION
 /* end of Nextpilot Estimator Config */