diff --git a/proto b/proto
index fe04cb6445..fa204080ed 160000
--- a/proto
+++ b/proto
@@ -1 +1 @@
-Subproject commit fe04cb64453477d8d9479f7ac3c56c2f58e0bbd5
+Subproject commit fa204080ed60fd28127f2e30513dc02c604e90f9
diff --git a/src/backend/src/generated/telemetry/telemetry.pb.cc b/src/backend/src/generated/telemetry/telemetry.pb.cc
index 30cdcfb8c3..8bd3a83a88 100644
--- a/src/backend/src/generated/telemetry/telemetry.pb.cc
+++ b/src/backend/src/generated/telemetry/telemetry.pb.cc
@@ -2979,7 +2979,7 @@ const ::PROTOBUF_NAMESPACE_ID::uint32 TableStruct_telemetry_2ftelemetry_2eproto:
   ~0u,  // no _oneof_case_
   ~0u,  // no _weak_field_map_
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::DistanceSensor, minimum_distance_m_),
-  PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::DistanceSensor, maximum_distance_),
+  PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::DistanceSensor, maximum_distance_m_),
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::DistanceSensor, current_distance_m_),
   ~0u,  // no _has_bits_
   PROTOBUF_FIELD_OFFSET(::mavsdk::rpc::telemetry::PositionNed, _internal_metadata_),
@@ -3514,214 +3514,214 @@ const char descriptor_table_protodef_telemetry_2ftelemetry_2eproto[] PROTOBUF_SE
   "k.rpc.telemetry.Covariance\"j\n\010MavFrame\022\023"
   "\n\017MAV_FRAME_UNDEF\020\000\022\026\n\022MAV_FRAME_BODY_NE"
   "D\020\010\022\030\n\024MAV_FRAME_VISION_NED\020\020\022\027\n\023MAV_FRA"
-  "ME_ESTIM_NED\020\022\"}\n\016DistanceSensor\022#\n\022mini"
-  "mum_distance_m\030\001 \001(\002B\007\202\265\030\003NaN\022!\n\020maximum"
-  "_distance\030\002 \001(\002B\007\202\265\030\003NaN\022#\n\022current_dist"
-  "ance_m\030\003 \001(\002B\007\202\265\030\003NaN\"Y\n\013PositionNed\022\030\n\007"
-  "north_m\030\001 \001(\002B\007\202\265\030\003NaN\022\027\n\006east_m\030\002 \001(\002B\007"
-  "\202\265\030\003NaN\022\027\n\006down_m\030\003 \001(\002B\007\202\265\030\003NaN\"D\n\013Velo"
-  "cityNed\022\021\n\tnorth_m_s\030\001 \001(\002\022\020\n\010east_m_s\030\002"
-  " \001(\002\022\020\n\010down_m_s\030\003 \001(\002\"\177\n\023PositionVeloci"
-  "tyNed\0223\n\010position\030\001 \001(\0132!.mavsdk.rpc.tel"
-  "emetry.PositionNed\0223\n\010velocity\030\002 \001(\0132!.m"
-  "avsdk.rpc.telemetry.VelocityNed\"r\n\013Groun"
-  "dTruth\022\035\n\014latitude_deg\030\001 \001(\001B\007\202\265\030\003NaN\022\036\n"
-  "\rlongitude_deg\030\002 \001(\001B\007\202\265\030\003NaN\022$\n\023absolut"
-  "e_altitude_m\030\003 \001(\002B\007\202\265\030\003NaN\"x\n\020Fixedwing"
-  "Metrics\022\035\n\014airspeed_m_s\030\001 \001(\002B\007\202\265\030\003NaN\022$"
-  "\n\023throttle_percentage\030\002 \001(\002B\007\202\265\030\003NaN\022\037\n\016"
-  "climb_rate_m_s\030\003 \001(\002B\007\202\265\030\003NaN\"i\n\017Acceler"
-  "ationFrd\022\035\n\014forward_m_s2\030\001 \001(\002B\007\202\265\030\003NaN\022"
-  "\033\n\nright_m_s2\030\002 \001(\002B\007\202\265\030\003NaN\022\032\n\tdown_m_s"
-  "2\030\003 \001(\002B\007\202\265\030\003NaN\"o\n\022AngularVelocityFrd\022\036"
-  "\n\rforward_rad_s\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013right_"
-  "rad_s\030\002 \001(\002B\007\202\265\030\003NaN\022\033\n\ndown_rad_s\030\003 \001(\002"
-  "B\007\202\265\030\003NaN\"m\n\020MagneticFieldFrd\022\036\n\rforward"
-  "_gauss\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013right_gauss\030\002 \001"
-  "(\002B\007\202\265\030\003NaN\022\033\n\ndown_gauss\030\003 \001(\002B\007\202\265\030\003NaN"
-  "\"\365\001\n\003Imu\022\?\n\020acceleration_frd\030\001 \001(\0132%.mav"
-  "sdk.rpc.telemetry.AccelerationFrd\022F\n\024ang"
-  "ular_velocity_frd\030\002 \001(\0132(.mavsdk.rpc.tel"
-  "emetry.AngularVelocityFrd\022B\n\022magnetic_fi"
-  "eld_frd\030\003 \001(\0132&.mavsdk.rpc.telemetry.Mag"
-  "neticFieldFrd\022!\n\020temperature_degc\030\004 \001(\002B"
-  "\007\202\265\030\003NaN\"\211\002\n\017TelemetryResult\022<\n\006result\030\001"
-  " \001(\0162,.mavsdk.rpc.telemetry.TelemetryRes"
-  "ult.Result\022\022\n\nresult_str\030\002 \001(\t\"\243\001\n\006Resul"
-  "t\022\022\n\016RESULT_UNKNOWN\020\000\022\022\n\016RESULT_SUCCESS\020"
-  "\001\022\024\n\020RESULT_NO_SYSTEM\020\002\022\033\n\027RESULT_CONNEC"
-  "TION_ERROR\020\003\022\017\n\013RESULT_BUSY\020\004\022\031\n\025RESULT_"
-  "COMMAND_DENIED\020\005\022\022\n\016RESULT_TIMEOUT\020\006*\244\001\n"
-  "\007FixType\022\023\n\017FIX_TYPE_NO_GPS\020\000\022\023\n\017FIX_TYP"
-  "E_NO_FIX\020\001\022\023\n\017FIX_TYPE_FIX_2D\020\002\022\023\n\017FIX_T"
-  "YPE_FIX_3D\020\003\022\025\n\021FIX_TYPE_FIX_DGPS\020\004\022\026\n\022F"
-  "IX_TYPE_RTK_FLOAT\020\005\022\026\n\022FIX_TYPE_RTK_FIXE"
-  "D\020\006*\206\003\n\nFlightMode\022\027\n\023FLIGHT_MODE_UNKNOW"
-  "N\020\000\022\025\n\021FLIGHT_MODE_READY\020\001\022\027\n\023FLIGHT_MOD"
-  "E_TAKEOFF\020\002\022\024\n\020FLIGHT_MODE_HOLD\020\003\022\027\n\023FLI"
-  "GHT_MODE_MISSION\020\004\022 \n\034FLIGHT_MODE_RETURN"
-  "_TO_LAUNCH\020\005\022\024\n\020FLIGHT_MODE_LAND\020\006\022\030\n\024FL"
-  "IGHT_MODE_OFFBOARD\020\007\022\031\n\025FLIGHT_MODE_FOLL"
-  "OW_ME\020\010\022\026\n\022FLIGHT_MODE_MANUAL\020\t\022\026\n\022FLIGH"
-  "T_MODE_ALTCTL\020\n\022\026\n\022FLIGHT_MODE_POSCTL\020\013\022"
-  "\024\n\020FLIGHT_MODE_ACRO\020\014\022\032\n\026FLIGHT_MODE_STA"
-  "BILIZED\020\r\022\031\n\025FLIGHT_MODE_RATTITUDE\020\016*\371\001\n"
-  "\016StatusTextType\022\032\n\026STATUS_TEXT_TYPE_DEBU"
-  "G\020\000\022\031\n\025STATUS_TEXT_TYPE_INFO\020\001\022\033\n\027STATUS"
-  "_TEXT_TYPE_NOTICE\020\002\022\034\n\030STATUS_TEXT_TYPE_"
-  "WARNING\020\003\022\032\n\026STATUS_TEXT_TYPE_ERROR\020\004\022\035\n"
-  "\031STATUS_TEXT_TYPE_CRITICAL\020\005\022\032\n\026STATUS_T"
-  "EXT_TYPE_ALERT\020\006\022\036\n\032STATUS_TEXT_TYPE_EME"
-  "RGENCY\020\007*\223\001\n\013LandedState\022\030\n\024LANDED_STATE"
-  "_UNKNOWN\020\000\022\032\n\026LANDED_STATE_ON_GROUND\020\001\022\027"
-  "\n\023LANDED_STATE_IN_AIR\020\002\022\033\n\027LANDED_STATE_"
-  "TAKING_OFF\020\003\022\030\n\024LANDED_STATE_LANDING\020\0042\375"
-  ",\n\020TelemetryService\022o\n\021SubscribePosition"
-  "\022..mavsdk.rpc.telemetry.SubscribePositio"
-  "nRequest\032&.mavsdk.rpc.telemetry.Position"
-  "Response\"\0000\001\022c\n\rSubscribeHome\022*.mavsdk.r"
-  "pc.telemetry.SubscribeHomeRequest\032\".mavs"
-  "dk.rpc.telemetry.HomeResponse\"\0000\001\022f\n\016Sub"
-  "scribeInAir\022+.mavsdk.rpc.telemetry.Subsc"
-  "ribeInAirRequest\032#.mavsdk.rpc.telemetry."
-  "InAirResponse\"\0000\001\022x\n\024SubscribeLandedStat"
-  "e\0221.mavsdk.rpc.telemetry.SubscribeLanded"
-  "StateRequest\032).mavsdk.rpc.telemetry.Land"
-  "edStateResponse\"\0000\001\022f\n\016SubscribeArmed\022+."
-  "mavsdk.rpc.telemetry.SubscribeArmedReque"
-  "st\032#.mavsdk.rpc.telemetry.ArmedResponse\""
-  "\0000\001\022\215\001\n\033SubscribeAttitudeQuaternion\0228.ma"
-  "vsdk.rpc.telemetry.SubscribeAttitudeQuat"
-  "ernionRequest\0320.mavsdk.rpc.telemetry.Att"
-  "itudeQuaternionResponse\"\0000\001\022~\n\026Subscribe"
-  "AttitudeEuler\0223.mavsdk.rpc.telemetry.Sub"
-  "scribeAttitudeEulerRequest\032+.mavsdk.rpc."
-  "telemetry.AttitudeEulerResponse\"\0000\001\022\250\001\n$"
-  "SubscribeAttitudeAngularVelocityBody\022A.m"
-  "avsdk.rpc.telemetry.SubscribeAttitudeAng"
-  "ularVelocityBodyRequest\0329.mavsdk.rpc.tel"
-  "emetry.AttitudeAngularVelocityBodyRespon"
-  "se\"\0000\001\022\237\001\n!SubscribeCameraAttitudeQuater"
-  "nion\022>.mavsdk.rpc.telemetry.SubscribeCam"
-  "eraAttitudeQuaternionRequest\0326.mavsdk.rp"
-  "c.telemetry.CameraAttitudeQuaternionResp"
-  "onse\"\0000\001\022\220\001\n\034SubscribeCameraAttitudeEule"
-  "r\0229.mavsdk.rpc.telemetry.SubscribeCamera"
-  "AttitudeEulerRequest\0321.mavsdk.rpc.teleme"
-  "try.CameraAttitudeEulerResponse\"\0000\001\022x\n\024S"
-  "ubscribeVelocityNed\0221.mavsdk.rpc.telemet"
-  "ry.SubscribeVelocityNedRequest\032).mavsdk."
-  "rpc.telemetry.VelocityNedResponse\"\0000\001\022l\n"
-  "\020SubscribeGpsInfo\022-.mavsdk.rpc.telemetry"
-  ".SubscribeGpsInfoRequest\032%.mavsdk.rpc.te"
-  "lemetry.GpsInfoResponse\"\0000\001\022l\n\020Subscribe"
-  "Battery\022-.mavsdk.rpc.telemetry.Subscribe"
-  "BatteryRequest\032%.mavsdk.rpc.telemetry.Ba"
-  "tteryResponse\"\0000\001\022u\n\023SubscribeFlightMode"
-  "\0220.mavsdk.rpc.telemetry.SubscribeFlightM"
-  "odeRequest\032(.mavsdk.rpc.telemetry.Flight"
-  "ModeResponse\"\0000\001\022i\n\017SubscribeHealth\022,.ma"
-  "vsdk.rpc.telemetry.SubscribeHealthReques"
-  "t\032$.mavsdk.rpc.telemetry.HealthResponse\""
-  "\0000\001\022o\n\021SubscribeRcStatus\022..mavsdk.rpc.te"
-  "lemetry.SubscribeRcStatusRequest\032&.mavsd"
-  "k.rpc.telemetry.RcStatusResponse\"\0000\001\022u\n\023"
-  "SubscribeStatusText\0220.mavsdk.rpc.telemet"
-  "ry.SubscribeStatusTextRequest\032(.mavsdk.r"
-  "pc.telemetry.StatusTextResponse\"\0000\001\022\226\001\n\036"
-  "SubscribeActuatorControlTarget\022;.mavsdk."
-  "rpc.telemetry.SubscribeActuatorControlTa"
-  "rgetRequest\0323.mavsdk.rpc.telemetry.Actua"
-  "torControlTargetResponse\"\0000\001\022\223\001\n\035Subscri"
-  "beActuatorOutputStatus\022:.mavsdk.rpc.tele"
-  "metry.SubscribeActuatorOutputStatusReque"
-  "st\0322.mavsdk.rpc.telemetry.ActuatorOutput"
-  "StatusResponse\"\0000\001\022o\n\021SubscribeOdometry\022"
-  "..mavsdk.rpc.telemetry.SubscribeOdometry"
-  "Request\032&.mavsdk.rpc.telemetry.OdometryR"
-  "esponse\"\0000\001\022\220\001\n\034SubscribePositionVelocit"
-  "yNed\0229.mavsdk.rpc.telemetry.SubscribePos"
-  "itionVelocityNedRequest\0321.mavsdk.rpc.tel"
-  "emetry.PositionVelocityNedResponse\"\0000\001\022x"
-  "\n\024SubscribeGroundTruth\0221.mavsdk.rpc.tele"
-  "metry.SubscribeGroundTruthRequest\032).mavs"
-  "dk.rpc.telemetry.GroundTruthResponse\"\0000\001"
-  "\022\207\001\n\031SubscribeFixedwingMetrics\0226.mavsdk."
-  "rpc.telemetry.SubscribeFixedwingMetricsR"
-  "equest\032..mavsdk.rpc.telemetry.FixedwingM"
-  "etricsResponse\"\0000\001\022`\n\014SubscribeImu\022).mav"
-  "sdk.rpc.telemetry.SubscribeImuRequest\032!."
-  "mavsdk.rpc.telemetry.ImuResponse\"\0000\001\022x\n\024"
-  "SubscribeHealthAllOk\0221.mavsdk.rpc.teleme"
-  "try.SubscribeHealthAllOkRequest\032).mavsdk"
-  ".rpc.telemetry.HealthAllOkResponse\"\0000\001\022~"
-  "\n\026SubscribeUnixEpochTime\0223.mavsdk.rpc.te"
-  "lemetry.SubscribeUnixEpochTimeRequest\032+."
-  "mavsdk.rpc.telemetry.UnixEpochTimeRespon"
-  "se\"\0000\001\022\201\001\n\027SubscribeDistanceSensor\0224.mav"
-  "sdk.rpc.telemetry.SubscribeDistanceSenso"
-  "rRequest\032,.mavsdk.rpc.telemetry.Distance"
-  "SensorResponse\"\0000\001\022p\n\017SetRatePosition\022,."
-  "mavsdk.rpc.telemetry.SetRatePositionRequ"
-  "est\032-.mavsdk.rpc.telemetry.SetRatePositi"
-  "onResponse\"\000\022d\n\013SetRateHome\022(.mavsdk.rpc"
-  ".telemetry.SetRateHomeRequest\032).mavsdk.r"
-  "pc.telemetry.SetRateHomeResponse\"\000\022g\n\014Se"
-  "tRateInAir\022).mavsdk.rpc.telemetry.SetRat"
-  "eInAirRequest\032*.mavsdk.rpc.telemetry.Set"
-  "RateInAirResponse\"\000\022y\n\022SetRateLandedStat"
-  "e\022/.mavsdk.rpc.telemetry.SetRateLandedSt"
-  "ateRequest\0320.mavsdk.rpc.telemetry.SetRat"
-  "eLandedStateResponse\"\000\022p\n\017SetRateAttitud"
-  "e\022,.mavsdk.rpc.telemetry.SetRateAttitude"
-  "Request\032-.mavsdk.rpc.telemetry.SetRateAt"
-  "titudeResponse\"\000\022\202\001\n\025SetRateCameraAttitu"
-  "de\0222.mavsdk.rpc.telemetry.SetRateCameraA"
-  "ttitudeRequest\0323.mavsdk.rpc.telemetry.Se"
-  "tRateCameraAttitudeResponse\"\000\022y\n\022SetRate"
-  "VelocityNed\022/.mavsdk.rpc.telemetry.SetRa"
-  "teVelocityNedRequest\0320.mavsdk.rpc.teleme"
-  "try.SetRateVelocityNedResponse\"\000\022m\n\016SetR"
-  "ateGpsInfo\022+.mavsdk.rpc.telemetry.SetRat"
-  "eGpsInfoRequest\032,.mavsdk.rpc.telemetry.S"
-  "etRateGpsInfoResponse\"\000\022m\n\016SetRateBatter"
-  "y\022+.mavsdk.rpc.telemetry.SetRateBatteryR"
-  "equest\032,.mavsdk.rpc.telemetry.SetRateBat"
-  "teryResponse\"\000\022p\n\017SetRateRcStatus\022,.mavs"
-  "dk.rpc.telemetry.SetRateRcStatusRequest\032"
-  "-.mavsdk.rpc.telemetry.SetRateRcStatusRe"
-  "sponse\"\000\022\227\001\n\034SetRateActuatorControlTarge"
-  "t\0229.mavsdk.rpc.telemetry.SetRateActuator"
-  "ControlTargetRequest\032:.mavsdk.rpc.teleme"
-  "try.SetRateActuatorControlTargetResponse"
-  "\"\000\022\224\001\n\033SetRateActuatorOutputStatus\0228.mav"
-  "sdk.rpc.telemetry.SetRateActuatorOutputS"
-  "tatusRequest\0329.mavsdk.rpc.telemetry.SetR"
-  "ateActuatorOutputStatusResponse\"\000\022p\n\017Set"
-  "RateOdometry\022,.mavsdk.rpc.telemetry.SetR"
-  "ateOdometryRequest\032-.mavsdk.rpc.telemetr"
-  "y.SetRateOdometryResponse\"\000\022\221\001\n\032SetRateP"
-  "ositionVelocityNed\0227.mavsdk.rpc.telemetr"
-  "y.SetRatePositionVelocityNedRequest\0328.ma"
-  "vsdk.rpc.telemetry.SetRatePositionVeloci"
-  "tyNedResponse\"\000\022y\n\022SetRateGroundTruth\022/."
-  "mavsdk.rpc.telemetry.SetRateGroundTruthR"
-  "equest\0320.mavsdk.rpc.telemetry.SetRateGro"
-  "undTruthResponse\"\000\022\210\001\n\027SetRateFixedwingM"
-  "etrics\0224.mavsdk.rpc.telemetry.SetRateFix"
-  "edwingMetricsRequest\0325.mavsdk.rpc.teleme"
-  "try.SetRateFixedwingMetricsResponse\"\000\022a\n"
-  "\nSetRateImu\022\'.mavsdk.rpc.telemetry.SetRa"
-  "teImuRequest\032(.mavsdk.rpc.telemetry.SetR"
-  "ateImuResponse\"\000\022\177\n\024SetRateUnixEpochTime"
-  "\0221.mavsdk.rpc.telemetry.SetRateUnixEpoch"
-  "TimeRequest\0322.mavsdk.rpc.telemetry.SetRa"
-  "teUnixEpochTimeResponse\"\000\022\202\001\n\025SetRateDis"
-  "tanceSensor\0222.mavsdk.rpc.telemetry.SetRa"
-  "teDistanceSensorRequest\0323.mavsdk.rpc.tel"
-  "emetry.SetRateDistanceSensorResponse\"\000B%"
-  "\n\023io.mavsdk.telemetryB\016TelemetryProtob\006p"
-  "roto3"
+  "ME_ESTIM_NED\020\022\"\177\n\016DistanceSensor\022#\n\022mini"
+  "mum_distance_m\030\001 \001(\002B\007\202\265\030\003NaN\022#\n\022maximum"
+  "_distance_m\030\002 \001(\002B\007\202\265\030\003NaN\022#\n\022current_di"
+  "stance_m\030\003 \001(\002B\007\202\265\030\003NaN\"Y\n\013PositionNed\022\030"
+  "\n\007north_m\030\001 \001(\002B\007\202\265\030\003NaN\022\027\n\006east_m\030\002 \001(\002"
+  "B\007\202\265\030\003NaN\022\027\n\006down_m\030\003 \001(\002B\007\202\265\030\003NaN\"D\n\013Ve"
+  "locityNed\022\021\n\tnorth_m_s\030\001 \001(\002\022\020\n\010east_m_s"
+  "\030\002 \001(\002\022\020\n\010down_m_s\030\003 \001(\002\"\177\n\023PositionVelo"
+  "cityNed\0223\n\010position\030\001 \001(\0132!.mavsdk.rpc.t"
+  "elemetry.PositionNed\0223\n\010velocity\030\002 \001(\0132!"
+  ".mavsdk.rpc.telemetry.VelocityNed\"r\n\013Gro"
+  "undTruth\022\035\n\014latitude_deg\030\001 \001(\001B\007\202\265\030\003NaN\022"
+  "\036\n\rlongitude_deg\030\002 \001(\001B\007\202\265\030\003NaN\022$\n\023absol"
+  "ute_altitude_m\030\003 \001(\002B\007\202\265\030\003NaN\"x\n\020Fixedwi"
+  "ngMetrics\022\035\n\014airspeed_m_s\030\001 \001(\002B\007\202\265\030\003NaN"
+  "\022$\n\023throttle_percentage\030\002 \001(\002B\007\202\265\030\003NaN\022\037"
+  "\n\016climb_rate_m_s\030\003 \001(\002B\007\202\265\030\003NaN\"i\n\017Accel"
+  "erationFrd\022\035\n\014forward_m_s2\030\001 \001(\002B\007\202\265\030\003Na"
+  "N\022\033\n\nright_m_s2\030\002 \001(\002B\007\202\265\030\003NaN\022\032\n\tdown_m"
+  "_s2\030\003 \001(\002B\007\202\265\030\003NaN\"o\n\022AngularVelocityFrd"
+  "\022\036\n\rforward_rad_s\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013righ"
+  "t_rad_s\030\002 \001(\002B\007\202\265\030\003NaN\022\033\n\ndown_rad_s\030\003 \001"
+  "(\002B\007\202\265\030\003NaN\"m\n\020MagneticFieldFrd\022\036\n\rforwa"
+  "rd_gauss\030\001 \001(\002B\007\202\265\030\003NaN\022\034\n\013right_gauss\030\002"
+  " \001(\002B\007\202\265\030\003NaN\022\033\n\ndown_gauss\030\003 \001(\002B\007\202\265\030\003N"
+  "aN\"\365\001\n\003Imu\022\?\n\020acceleration_frd\030\001 \001(\0132%.m"
+  "avsdk.rpc.telemetry.AccelerationFrd\022F\n\024a"
+  "ngular_velocity_frd\030\002 \001(\0132(.mavsdk.rpc.t"
+  "elemetry.AngularVelocityFrd\022B\n\022magnetic_"
+  "field_frd\030\003 \001(\0132&.mavsdk.rpc.telemetry.M"
+  "agneticFieldFrd\022!\n\020temperature_degc\030\004 \001("
+  "\002B\007\202\265\030\003NaN\"\211\002\n\017TelemetryResult\022<\n\006result"
+  "\030\001 \001(\0162,.mavsdk.rpc.telemetry.TelemetryR"
+  "esult.Result\022\022\n\nresult_str\030\002 \001(\t\"\243\001\n\006Res"
+  "ult\022\022\n\016RESULT_UNKNOWN\020\000\022\022\n\016RESULT_SUCCES"
+  "S\020\001\022\024\n\020RESULT_NO_SYSTEM\020\002\022\033\n\027RESULT_CONN"
+  "ECTION_ERROR\020\003\022\017\n\013RESULT_BUSY\020\004\022\031\n\025RESUL"
+  "T_COMMAND_DENIED\020\005\022\022\n\016RESULT_TIMEOUT\020\006*\244"
+  "\001\n\007FixType\022\023\n\017FIX_TYPE_NO_GPS\020\000\022\023\n\017FIX_T"
+  "YPE_NO_FIX\020\001\022\023\n\017FIX_TYPE_FIX_2D\020\002\022\023\n\017FIX"
+  "_TYPE_FIX_3D\020\003\022\025\n\021FIX_TYPE_FIX_DGPS\020\004\022\026\n"
+  "\022FIX_TYPE_RTK_FLOAT\020\005\022\026\n\022FIX_TYPE_RTK_FI"
+  "XED\020\006*\206\003\n\nFlightMode\022\027\n\023FLIGHT_MODE_UNKN"
+  "OWN\020\000\022\025\n\021FLIGHT_MODE_READY\020\001\022\027\n\023FLIGHT_M"
+  "ODE_TAKEOFF\020\002\022\024\n\020FLIGHT_MODE_HOLD\020\003\022\027\n\023F"
+  "LIGHT_MODE_MISSION\020\004\022 \n\034FLIGHT_MODE_RETU"
+  "RN_TO_LAUNCH\020\005\022\024\n\020FLIGHT_MODE_LAND\020\006\022\030\n\024"
+  "FLIGHT_MODE_OFFBOARD\020\007\022\031\n\025FLIGHT_MODE_FO"
+  "LLOW_ME\020\010\022\026\n\022FLIGHT_MODE_MANUAL\020\t\022\026\n\022FLI"
+  "GHT_MODE_ALTCTL\020\n\022\026\n\022FLIGHT_MODE_POSCTL\020"
+  "\013\022\024\n\020FLIGHT_MODE_ACRO\020\014\022\032\n\026FLIGHT_MODE_S"
+  "TABILIZED\020\r\022\031\n\025FLIGHT_MODE_RATTITUDE\020\016*\371"
+  "\001\n\016StatusTextType\022\032\n\026STATUS_TEXT_TYPE_DE"
+  "BUG\020\000\022\031\n\025STATUS_TEXT_TYPE_INFO\020\001\022\033\n\027STAT"
+  "US_TEXT_TYPE_NOTICE\020\002\022\034\n\030STATUS_TEXT_TYP"
+  "E_WARNING\020\003\022\032\n\026STATUS_TEXT_TYPE_ERROR\020\004\022"
+  "\035\n\031STATUS_TEXT_TYPE_CRITICAL\020\005\022\032\n\026STATUS"
+  "_TEXT_TYPE_ALERT\020\006\022\036\n\032STATUS_TEXT_TYPE_E"
+  "MERGENCY\020\007*\223\001\n\013LandedState\022\030\n\024LANDED_STA"
+  "TE_UNKNOWN\020\000\022\032\n\026LANDED_STATE_ON_GROUND\020\001"
+  "\022\027\n\023LANDED_STATE_IN_AIR\020\002\022\033\n\027LANDED_STAT"
+  "E_TAKING_OFF\020\003\022\030\n\024LANDED_STATE_LANDING\020\004"
+  "2\375,\n\020TelemetryService\022o\n\021SubscribePositi"
+  "on\022..mavsdk.rpc.telemetry.SubscribePosit"
+  "ionRequest\032&.mavsdk.rpc.telemetry.Positi"
+  "onResponse\"\0000\001\022c\n\rSubscribeHome\022*.mavsdk"
+  ".rpc.telemetry.SubscribeHomeRequest\032\".ma"
+  "vsdk.rpc.telemetry.HomeResponse\"\0000\001\022f\n\016S"
+  "ubscribeInAir\022+.mavsdk.rpc.telemetry.Sub"
+  "scribeInAirRequest\032#.mavsdk.rpc.telemetr"
+  "y.InAirResponse\"\0000\001\022x\n\024SubscribeLandedSt"
+  "ate\0221.mavsdk.rpc.telemetry.SubscribeLand"
+  "edStateRequest\032).mavsdk.rpc.telemetry.La"
+  "ndedStateResponse\"\0000\001\022f\n\016SubscribeArmed\022"
+  "+.mavsdk.rpc.telemetry.SubscribeArmedReq"
+  "uest\032#.mavsdk.rpc.telemetry.ArmedRespons"
+  "e\"\0000\001\022\215\001\n\033SubscribeAttitudeQuaternion\0228."
+  "mavsdk.rpc.telemetry.SubscribeAttitudeQu"
+  "aternionRequest\0320.mavsdk.rpc.telemetry.A"
+  "ttitudeQuaternionResponse\"\0000\001\022~\n\026Subscri"
+  "beAttitudeEuler\0223.mavsdk.rpc.telemetry.S"
+  "ubscribeAttitudeEulerRequest\032+.mavsdk.rp"
+  "c.telemetry.AttitudeEulerResponse\"\0000\001\022\250\001"
+  "\n$SubscribeAttitudeAngularVelocityBody\022A"
+  ".mavsdk.rpc.telemetry.SubscribeAttitudeA"
+  "ngularVelocityBodyRequest\0329.mavsdk.rpc.t"
+  "elemetry.AttitudeAngularVelocityBodyResp"
+  "onse\"\0000\001\022\237\001\n!SubscribeCameraAttitudeQuat"
+  "ernion\022>.mavsdk.rpc.telemetry.SubscribeC"
+  "ameraAttitudeQuaternionRequest\0326.mavsdk."
+  "rpc.telemetry.CameraAttitudeQuaternionRe"
+  "sponse\"\0000\001\022\220\001\n\034SubscribeCameraAttitudeEu"
+  "ler\0229.mavsdk.rpc.telemetry.SubscribeCame"
+  "raAttitudeEulerRequest\0321.mavsdk.rpc.tele"
+  "metry.CameraAttitudeEulerResponse\"\0000\001\022x\n"
+  "\024SubscribeVelocityNed\0221.mavsdk.rpc.telem"
+  "etry.SubscribeVelocityNedRequest\032).mavsd"
+  "k.rpc.telemetry.VelocityNedResponse\"\0000\001\022"
+  "l\n\020SubscribeGpsInfo\022-.mavsdk.rpc.telemet"
+  "ry.SubscribeGpsInfoRequest\032%.mavsdk.rpc."
+  "telemetry.GpsInfoResponse\"\0000\001\022l\n\020Subscri"
+  "beBattery\022-.mavsdk.rpc.telemetry.Subscri"
+  "beBatteryRequest\032%.mavsdk.rpc.telemetry."
+  "BatteryResponse\"\0000\001\022u\n\023SubscribeFlightMo"
+  "de\0220.mavsdk.rpc.telemetry.SubscribeFligh"
+  "tModeRequest\032(.mavsdk.rpc.telemetry.Flig"
+  "htModeResponse\"\0000\001\022i\n\017SubscribeHealth\022,."
+  "mavsdk.rpc.telemetry.SubscribeHealthRequ"
+  "est\032$.mavsdk.rpc.telemetry.HealthRespons"
+  "e\"\0000\001\022o\n\021SubscribeRcStatus\022..mavsdk.rpc."
+  "telemetry.SubscribeRcStatusRequest\032&.mav"
+  "sdk.rpc.telemetry.RcStatusResponse\"\0000\001\022u"
+  "\n\023SubscribeStatusText\0220.mavsdk.rpc.telem"
+  "etry.SubscribeStatusTextRequest\032(.mavsdk"
+  ".rpc.telemetry.StatusTextResponse\"\0000\001\022\226\001"
+  "\n\036SubscribeActuatorControlTarget\022;.mavsd"
+  "k.rpc.telemetry.SubscribeActuatorControl"
+  "TargetRequest\0323.mavsdk.rpc.telemetry.Act"
+  "uatorControlTargetResponse\"\0000\001\022\223\001\n\035Subsc"
+  "ribeActuatorOutputStatus\022:.mavsdk.rpc.te"
+  "lemetry.SubscribeActuatorOutputStatusReq"
+  "uest\0322.mavsdk.rpc.telemetry.ActuatorOutp"
+  "utStatusResponse\"\0000\001\022o\n\021SubscribeOdometr"
+  "y\022..mavsdk.rpc.telemetry.SubscribeOdomet"
+  "ryRequest\032&.mavsdk.rpc.telemetry.Odometr"
+  "yResponse\"\0000\001\022\220\001\n\034SubscribePositionVeloc"
+  "ityNed\0229.mavsdk.rpc.telemetry.SubscribeP"
+  "ositionVelocityNedRequest\0321.mavsdk.rpc.t"
+  "elemetry.PositionVelocityNedResponse\"\0000\001"
+  "\022x\n\024SubscribeGroundTruth\0221.mavsdk.rpc.te"
+  "lemetry.SubscribeGroundTruthRequest\032).ma"
+  "vsdk.rpc.telemetry.GroundTruthResponse\"\000"
+  "0\001\022\207\001\n\031SubscribeFixedwingMetrics\0226.mavsd"
+  "k.rpc.telemetry.SubscribeFixedwingMetric"
+  "sRequest\032..mavsdk.rpc.telemetry.Fixedwin"
+  "gMetricsResponse\"\0000\001\022`\n\014SubscribeImu\022).m"
+  "avsdk.rpc.telemetry.SubscribeImuRequest\032"
+  "!.mavsdk.rpc.telemetry.ImuResponse\"\0000\001\022x"
+  "\n\024SubscribeHealthAllOk\0221.mavsdk.rpc.tele"
+  "metry.SubscribeHealthAllOkRequest\032).mavs"
+  "dk.rpc.telemetry.HealthAllOkResponse\"\0000\001"
+  "\022~\n\026SubscribeUnixEpochTime\0223.mavsdk.rpc."
+  "telemetry.SubscribeUnixEpochTimeRequest\032"
+  "+.mavsdk.rpc.telemetry.UnixEpochTimeResp"
+  "onse\"\0000\001\022\201\001\n\027SubscribeDistanceSensor\0224.m"
+  "avsdk.rpc.telemetry.SubscribeDistanceSen"
+  "sorRequest\032,.mavsdk.rpc.telemetry.Distan"
+  "ceSensorResponse\"\0000\001\022p\n\017SetRatePosition\022"
+  ",.mavsdk.rpc.telemetry.SetRatePositionRe"
+  "quest\032-.mavsdk.rpc.telemetry.SetRatePosi"
+  "tionResponse\"\000\022d\n\013SetRateHome\022(.mavsdk.r"
+  "pc.telemetry.SetRateHomeRequest\032).mavsdk"
+  ".rpc.telemetry.SetRateHomeResponse\"\000\022g\n\014"
+  "SetRateInAir\022).mavsdk.rpc.telemetry.SetR"
+  "ateInAirRequest\032*.mavsdk.rpc.telemetry.S"
+  "etRateInAirResponse\"\000\022y\n\022SetRateLandedSt"
+  "ate\022/.mavsdk.rpc.telemetry.SetRateLanded"
+  "StateRequest\0320.mavsdk.rpc.telemetry.SetR"
+  "ateLandedStateResponse\"\000\022p\n\017SetRateAttit"
+  "ude\022,.mavsdk.rpc.telemetry.SetRateAttitu"
+  "deRequest\032-.mavsdk.rpc.telemetry.SetRate"
+  "AttitudeResponse\"\000\022\202\001\n\025SetRateCameraAtti"
+  "tude\0222.mavsdk.rpc.telemetry.SetRateCamer"
+  "aAttitudeRequest\0323.mavsdk.rpc.telemetry."
+  "SetRateCameraAttitudeResponse\"\000\022y\n\022SetRa"
+  "teVelocityNed\022/.mavsdk.rpc.telemetry.Set"
+  "RateVelocityNedRequest\0320.mavsdk.rpc.tele"
+  "metry.SetRateVelocityNedResponse\"\000\022m\n\016Se"
+  "tRateGpsInfo\022+.mavsdk.rpc.telemetry.SetR"
+  "ateGpsInfoRequest\032,.mavsdk.rpc.telemetry"
+  ".SetRateGpsInfoResponse\"\000\022m\n\016SetRateBatt"
+  "ery\022+.mavsdk.rpc.telemetry.SetRateBatter"
+  "yRequest\032,.mavsdk.rpc.telemetry.SetRateB"
+  "atteryResponse\"\000\022p\n\017SetRateRcStatus\022,.ma"
+  "vsdk.rpc.telemetry.SetRateRcStatusReques"
+  "t\032-.mavsdk.rpc.telemetry.SetRateRcStatus"
+  "Response\"\000\022\227\001\n\034SetRateActuatorControlTar"
+  "get\0229.mavsdk.rpc.telemetry.SetRateActuat"
+  "orControlTargetRequest\032:.mavsdk.rpc.tele"
+  "metry.SetRateActuatorControlTargetRespon"
+  "se\"\000\022\224\001\n\033SetRateActuatorOutputStatus\0228.m"
+  "avsdk.rpc.telemetry.SetRateActuatorOutpu"
+  "tStatusRequest\0329.mavsdk.rpc.telemetry.Se"
+  "tRateActuatorOutputStatusResponse\"\000\022p\n\017S"
+  "etRateOdometry\022,.mavsdk.rpc.telemetry.Se"
+  "tRateOdometryRequest\032-.mavsdk.rpc.teleme"
+  "try.SetRateOdometryResponse\"\000\022\221\001\n\032SetRat"
+  "ePositionVelocityNed\0227.mavsdk.rpc.teleme"
+  "try.SetRatePositionVelocityNedRequest\0328."
+  "mavsdk.rpc.telemetry.SetRatePositionVelo"
+  "cityNedResponse\"\000\022y\n\022SetRateGroundTruth\022"
+  "/.mavsdk.rpc.telemetry.SetRateGroundTrut"
+  "hRequest\0320.mavsdk.rpc.telemetry.SetRateG"
+  "roundTruthResponse\"\000\022\210\001\n\027SetRateFixedwin"
+  "gMetrics\0224.mavsdk.rpc.telemetry.SetRateF"
+  "ixedwingMetricsRequest\0325.mavsdk.rpc.tele"
+  "metry.SetRateFixedwingMetricsResponse\"\000\022"
+  "a\n\nSetRateImu\022\'.mavsdk.rpc.telemetry.Set"
+  "RateImuRequest\032(.mavsdk.rpc.telemetry.Se"
+  "tRateImuResponse\"\000\022\177\n\024SetRateUnixEpochTi"
+  "me\0221.mavsdk.rpc.telemetry.SetRateUnixEpo"
+  "chTimeRequest\0322.mavsdk.rpc.telemetry.Set"
+  "RateUnixEpochTimeResponse\"\000\022\202\001\n\025SetRateD"
+  "istanceSensor\0222.mavsdk.rpc.telemetry.Set"
+  "RateDistanceSensorRequest\0323.mavsdk.rpc.t"
+  "elemetry.SetRateDistanceSensorResponse\"\000"
+  "B%\n\023io.mavsdk.telemetryB\016TelemetryProtob"
+  "\006proto3"
   ;
 static const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable*const descriptor_table_telemetry_2ftelemetry_2eproto_deps[1] = {
   &::descriptor_table_mavsdk_5foptions_2eproto,
@@ -3853,7 +3853,7 @@ static ::PROTOBUF_NAMESPACE_ID::internal::SCCInfoBase*const descriptor_table_tel
 static ::PROTOBUF_NAMESPACE_ID::internal::once_flag descriptor_table_telemetry_2ftelemetry_2eproto_once;
 static bool descriptor_table_telemetry_2ftelemetry_2eproto_initialized = false;
 const ::PROTOBUF_NAMESPACE_ID::internal::DescriptorTable descriptor_table_telemetry_2ftelemetry_2eproto = {
-  &descriptor_table_telemetry_2ftelemetry_2eproto_initialized, descriptor_table_protodef_telemetry_2ftelemetry_2eproto, "telemetry/telemetry.proto", 16365,
+  &descriptor_table_telemetry_2ftelemetry_2eproto_initialized, descriptor_table_protodef_telemetry_2ftelemetry_2eproto, "telemetry/telemetry.proto", 16367,
   &descriptor_table_telemetry_2ftelemetry_2eproto_once, descriptor_table_telemetry_2ftelemetry_2eproto_sccs, descriptor_table_telemetry_2ftelemetry_2eproto_deps, 122, 1,
   schemas, file_default_instances, TableStruct_telemetry_2ftelemetry_2eproto::offsets,
   file_level_metadata_telemetry_2ftelemetry_2eproto, 122, file_level_enum_descriptors_telemetry_2ftelemetry_2eproto, file_level_service_descriptors_telemetry_2ftelemetry_2eproto,
@@ -25572,10 +25572,10 @@ const char* DistanceSensor::_InternalParse(const char* ptr, ::PROTOBUF_NAMESPACE
           ptr += sizeof(float);
         } else goto handle_unusual;
         continue;
-      // float maximum_distance = 2 [(.mavsdk.options.default_value) = "NaN"];
+      // float maximum_distance_m = 2 [(.mavsdk.options.default_value) = "NaN"];
       case 2:
         if (PROTOBUF_PREDICT_TRUE(static_cast<::PROTOBUF_NAMESPACE_ID::uint8>(tag) == 21)) {
-          maximum_distance_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
+          maximum_distance_m_ = ::PROTOBUF_NAMESPACE_ID::internal::UnalignedLoad<float>(ptr);
           ptr += sizeof(float);
         } else goto handle_unusual;
         continue;
@@ -25618,10 +25618,10 @@ ::PROTOBUF_NAMESPACE_ID::uint8* DistanceSensor::_InternalSerialize(
     target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteFloatToArray(1, this->_internal_minimum_distance_m(), target);
   }
 
-  // float maximum_distance = 2 [(.mavsdk.options.default_value) = "NaN"];
-  if (!(this->maximum_distance() <= 0 && this->maximum_distance() >= 0)) {
+  // float maximum_distance_m = 2 [(.mavsdk.options.default_value) = "NaN"];
+  if (!(this->maximum_distance_m() <= 0 && this->maximum_distance_m() >= 0)) {
     target = stream->EnsureSpace(target);
-    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteFloatToArray(2, this->_internal_maximum_distance(), target);
+    target = ::PROTOBUF_NAMESPACE_ID::internal::WireFormatLite::WriteFloatToArray(2, this->_internal_maximum_distance_m(), target);
   }
 
   // float current_distance_m = 3 [(.mavsdk.options.default_value) = "NaN"];
@@ -25651,8 +25651,8 @@ size_t DistanceSensor::ByteSizeLong() const {
     total_size += 1 + 4;
   }
 
-  // float maximum_distance = 2 [(.mavsdk.options.default_value) = "NaN"];
-  if (!(this->maximum_distance() <= 0 && this->maximum_distance() >= 0)) {
+  // float maximum_distance_m = 2 [(.mavsdk.options.default_value) = "NaN"];
+  if (!(this->maximum_distance_m() <= 0 && this->maximum_distance_m() >= 0)) {
     total_size += 1 + 4;
   }
 
@@ -25695,8 +25695,8 @@ void DistanceSensor::MergeFrom(const DistanceSensor& from) {
   if (!(from.minimum_distance_m() <= 0 && from.minimum_distance_m() >= 0)) {
     _internal_set_minimum_distance_m(from._internal_minimum_distance_m());
   }
-  if (!(from.maximum_distance() <= 0 && from.maximum_distance() >= 0)) {
-    _internal_set_maximum_distance(from._internal_maximum_distance());
+  if (!(from.maximum_distance_m() <= 0 && from.maximum_distance_m() >= 0)) {
+    _internal_set_maximum_distance_m(from._internal_maximum_distance_m());
   }
   if (!(from.current_distance_m() <= 0 && from.current_distance_m() >= 0)) {
     _internal_set_current_distance_m(from._internal_current_distance_m());
@@ -25725,7 +25725,7 @@ void DistanceSensor::InternalSwap(DistanceSensor* other) {
   using std::swap;
   _internal_metadata_.Swap(&other->_internal_metadata_);
   swap(minimum_distance_m_, other->minimum_distance_m_);
-  swap(maximum_distance_, other->maximum_distance_);
+  swap(maximum_distance_m_, other->maximum_distance_m_);
   swap(current_distance_m_, other->current_distance_m_);
 }
 
diff --git a/src/backend/src/generated/telemetry/telemetry.pb.h b/src/backend/src/generated/telemetry/telemetry.pb.h
index 320fdb9333..f6380b9e32 100644
--- a/src/backend/src/generated/telemetry/telemetry.pb.h
+++ b/src/backend/src/generated/telemetry/telemetry.pb.h
@@ -15462,7 +15462,7 @@ class DistanceSensor :
 
   enum : int {
     kMinimumDistanceMFieldNumber = 1,
-    kMaximumDistanceFieldNumber = 2,
+    kMaximumDistanceMFieldNumber = 2,
     kCurrentDistanceMFieldNumber = 3,
   };
   // float minimum_distance_m = 1 [(.mavsdk.options.default_value) = "NaN"];
@@ -15474,13 +15474,13 @@ class DistanceSensor :
   void _internal_set_minimum_distance_m(float value);
   public:
 
-  // float maximum_distance = 2 [(.mavsdk.options.default_value) = "NaN"];
-  void clear_maximum_distance();
-  float maximum_distance() const;
-  void set_maximum_distance(float value);
+  // float maximum_distance_m = 2 [(.mavsdk.options.default_value) = "NaN"];
+  void clear_maximum_distance_m();
+  float maximum_distance_m() const;
+  void set_maximum_distance_m(float value);
   private:
-  float _internal_maximum_distance() const;
-  void _internal_set_maximum_distance(float value);
+  float _internal_maximum_distance_m() const;
+  void _internal_set_maximum_distance_m(float value);
   public:
 
   // float current_distance_m = 3 [(.mavsdk.options.default_value) = "NaN"];
@@ -15498,7 +15498,7 @@ class DistanceSensor :
 
   ::PROTOBUF_NAMESPACE_ID::internal::InternalMetadataWithArena _internal_metadata_;
   float minimum_distance_m_;
-  float maximum_distance_;
+  float maximum_distance_m_;
   float current_distance_m_;
   mutable ::PROTOBUF_NAMESPACE_ID::internal::CachedSize _cached_size_;
   friend struct ::TableStruct_telemetry_2ftelemetry_2eproto;
@@ -21965,24 +21965,24 @@ inline void DistanceSensor::set_minimum_distance_m(float value) {
   // @@protoc_insertion_point(field_set:mavsdk.rpc.telemetry.DistanceSensor.minimum_distance_m)
 }
 
-// float maximum_distance = 2 [(.mavsdk.options.default_value) = "NaN"];
-inline void DistanceSensor::clear_maximum_distance() {
-  maximum_distance_ = 0;
+// float maximum_distance_m = 2 [(.mavsdk.options.default_value) = "NaN"];
+inline void DistanceSensor::clear_maximum_distance_m() {
+  maximum_distance_m_ = 0;
 }
-inline float DistanceSensor::_internal_maximum_distance() const {
-  return maximum_distance_;
+inline float DistanceSensor::_internal_maximum_distance_m() const {
+  return maximum_distance_m_;
 }
-inline float DistanceSensor::maximum_distance() const {
-  // @@protoc_insertion_point(field_get:mavsdk.rpc.telemetry.DistanceSensor.maximum_distance)
-  return _internal_maximum_distance();
+inline float DistanceSensor::maximum_distance_m() const {
+  // @@protoc_insertion_point(field_get:mavsdk.rpc.telemetry.DistanceSensor.maximum_distance_m)
+  return _internal_maximum_distance_m();
 }
-inline void DistanceSensor::_internal_set_maximum_distance(float value) {
+inline void DistanceSensor::_internal_set_maximum_distance_m(float value) {
   
-  maximum_distance_ = value;
+  maximum_distance_m_ = value;
 }
-inline void DistanceSensor::set_maximum_distance(float value) {
-  _internal_set_maximum_distance(value);
-  // @@protoc_insertion_point(field_set:mavsdk.rpc.telemetry.DistanceSensor.maximum_distance)
+inline void DistanceSensor::set_maximum_distance_m(float value) {
+  _internal_set_maximum_distance_m(value);
+  // @@protoc_insertion_point(field_set:mavsdk.rpc.telemetry.DistanceSensor.maximum_distance_m)
 }
 
 // float current_distance_m = 3 [(.mavsdk.options.default_value) = "NaN"];
diff --git a/src/backend/src/plugins/telemetry/telemetry_service_impl.h b/src/backend/src/plugins/telemetry/telemetry_service_impl.h
index ed50491ab3..275b223263 100644
--- a/src/backend/src/plugins/telemetry/telemetry_service_impl.h
+++ b/src/backend/src/plugins/telemetry/telemetry_service_impl.h
@@ -762,7 +762,7 @@ class TelemetryServiceImpl final : public rpc::telemetry::TelemetryService::Serv
 
         rpc_obj->set_minimum_distance_m(distance_sensor.minimum_distance_m);
 
-        rpc_obj->set_maximum_distance(distance_sensor.maximum_distance);
+        rpc_obj->set_maximum_distance_m(distance_sensor.maximum_distance_m);
 
         rpc_obj->set_current_distance_m(distance_sensor.current_distance_m);
 
@@ -776,7 +776,7 @@ class TelemetryServiceImpl final : public rpc::telemetry::TelemetryService::Serv
 
         obj.minimum_distance_m = distance_sensor.minimum_distance_m();
 
-        obj.maximum_distance = distance_sensor.maximum_distance();
+        obj.maximum_distance_m = distance_sensor.maximum_distance_m();
 
         obj.current_distance_m = distance_sensor.current_distance_m();
 
diff --git a/src/plugins/telemetry/include/plugins/telemetry/telemetry.h b/src/plugins/telemetry/include/plugins/telemetry/telemetry.h
index 3e39d6234a..32bbc6b1ed 100644
--- a/src/plugins/telemetry/include/plugins/telemetry/telemetry.h
+++ b/src/plugins/telemetry/include/plugins/telemetry/telemetry.h
@@ -554,7 +554,7 @@ class Telemetry : public PluginBase {
     struct DistanceSensor {
         float minimum_distance_m{
             float(NAN)}; /**< @brief Minimum distance the sensor can measure, NaN if unknown. */
-        float maximum_distance{
+        float maximum_distance_m{
             float(NAN)}; /**< @brief Maximum distance the sensor can measure, NaN if unknown. */
         float current_distance_m{
             float(NAN)}; /**< @brief Current distance reading, NaN if unknown. */
diff --git a/src/plugins/telemetry/telemetry.cpp b/src/plugins/telemetry/telemetry.cpp
index cae60a1952..3e4f6c0e6a 100644
--- a/src/plugins/telemetry/telemetry.cpp
+++ b/src/plugins/telemetry/telemetry.cpp
@@ -829,8 +829,8 @@ bool operator==(const Telemetry::DistanceSensor& lhs, const Telemetry::DistanceS
 {
     return ((std::isnan(rhs.minimum_distance_m) && std::isnan(lhs.minimum_distance_m)) ||
             rhs.minimum_distance_m == lhs.minimum_distance_m) &&
-           ((std::isnan(rhs.maximum_distance) && std::isnan(lhs.maximum_distance)) ||
-            rhs.maximum_distance == lhs.maximum_distance) &&
+           ((std::isnan(rhs.maximum_distance_m) && std::isnan(lhs.maximum_distance_m)) ||
+            rhs.maximum_distance_m == lhs.maximum_distance_m) &&
            ((std::isnan(rhs.current_distance_m) && std::isnan(lhs.current_distance_m)) ||
             rhs.current_distance_m == lhs.current_distance_m);
 }
@@ -840,7 +840,7 @@ std::ostream& operator<<(std::ostream& str, Telemetry::DistanceSensor const& dis
     str << std::setprecision(15);
     str << "distance_sensor:" << '\n' << "{\n";
     str << "    minimum_distance_m: " << distance_sensor.minimum_distance_m << '\n';
-    str << "    maximum_distance: " << distance_sensor.maximum_distance << '\n';
+    str << "    maximum_distance_m: " << distance_sensor.maximum_distance_m << '\n';
     str << "    current_distance_m: " << distance_sensor.current_distance_m << '\n';
     str << '}';
     return str;
diff --git a/src/plugins/telemetry/telemetry_impl.cpp b/src/plugins/telemetry/telemetry_impl.cpp
index d6f7d99668..0c0b9bf826 100644
--- a/src/plugins/telemetry/telemetry_impl.cpp
+++ b/src/plugins/telemetry/telemetry_impl.cpp
@@ -1108,9 +1108,9 @@ void TelemetryImpl::process_distance_sensor(const mavlink_message_t& message)
 
     Telemetry::DistanceSensor distance_sensor_struct{};
 
-    distance_sensor_struct.min_distance = distance_sensor_msg.min_distance;
-    distance_sensor_struct.max_distance = distance_sensor_msg.max_distance;
-    distance_sensor_struct.current_distance = distance_sensor_msg.current_distance;
+    distance_sensor_struct.minimum_distance_m = distance_sensor_msg.minimum_distance_m;
+    distance_sensor_struct.maximum_distance_m = distance_sensor_msg.maximum_distance_m;
+    distance_sensor_struct.current_distance_m = distance_sensor_msg.current_distance_m;
 
     set_distance_sensor(distance_sensor_struct);