diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp
index c59b97a97296..f672ae99581b 100644
--- a/src/drivers/md25/md25.hpp
+++ b/src/drivers/md25/md25.hpp
@@ -270,7 +270,7 @@ class MD25 : public device::I2C
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	uORB::Subscription<actuator_controls_s> _actuators;
+	uORB::SubscriptionData<actuator_controls_s> _actuators;
 
 	// local copy of data from i2c device
 	uint8_t _version;
diff --git a/src/examples/segway/blocks.hpp b/src/examples/segway/blocks.hpp
index ed58677f2220..42c073cbb538 100644
--- a/src/examples/segway/blocks.hpp
+++ b/src/examples/segway/blocks.hpp
@@ -94,13 +94,13 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 	// subscriptions
 	uORB::SubscriptionPolled<vehicle_attitude_s> _att;
 
-	uORB::Subscription<manual_control_setpoint_s> _manual;
-	uORB::Subscription<parameter_update_s> _param_update;
-	uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
-	uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
-	uORB::Subscription<vehicle_global_position_s> _pos;
-	uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
-	uORB::Subscription<vehicle_status_s> _status;
+	uORB::SubscriptionData<manual_control_setpoint_s> _manual;
+	uORB::SubscriptionData<parameter_update_s> _param_update;
+	uORB::SubscriptionData<position_setpoint_triplet_s> _missionCmd;
+	uORB::SubscriptionData<vehicle_attitude_setpoint_s> _attCmd;
+	uORB::SubscriptionData<vehicle_global_position_s> _pos;
+	uORB::SubscriptionData<vehicle_rates_setpoint_s> _ratesCmd;
+	uORB::SubscriptionData<vehicle_status_s> _status;
 
 	// publications
 	uORB::Publication<actuator_controls_s> _actuators;
diff --git a/src/lib/CollisionPrevention/CollisionPrevention.hpp b/src/lib/CollisionPrevention/CollisionPrevention.hpp
index 7689fdd845b4..6eb62f9a23de 100644
--- a/src/lib/CollisionPrevention/CollisionPrevention.hpp
+++ b/src/lib/CollisionPrevention/CollisionPrevention.hpp
@@ -77,7 +77,7 @@ class CollisionPrevention : public ModuleParams
 	orb_advert_t _constraints_pub{nullptr};		/**< constraints publication */
 	orb_advert_t _mavlink_log_pub{nullptr};	 	/**< Mavlink log uORB handle */
 
-	uORB::Subscription<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */
+	uORB::SubscriptionData<obstacle_distance_s> *_sub_obstacle_distance{nullptr}; /**< obstacle distances received form a range sensor */
 
 	static constexpr uint64_t RANGE_STREAM_TIMEOUT_US = 500000;
 	static constexpr uint64_t MESSAGE_THROTTLE_US = 5000000;
diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
index 104cdb2a55ee..b25ef08ee596 100644
--- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
@@ -97,7 +97,7 @@ class FlightTaskAuto : public FlightTask
 	matrix::Vector3f _next_wp{}; /**< The next waypoint after target (local frame). If no next setpoint is available, next is set to target. */
 	float _mc_cruise_speed{0.0f}; /**< Requested cruise speed. If not valid, default cruise speed is used. */
 	WaypointType _type{WaypointType::idle}; /**< Type of current target triplet. */
-	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+	uORB::SubscriptionData<home_position_s> *_sub_home_position{nullptr};
 
 	State _current_state{State::none};
 	float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
@@ -117,8 +117,8 @@ class FlightTaskAuto : public FlightTask
 private:
 	matrix::Vector2f _lock_position_xy{NAN, NAN}; /**< if no valid triplet is received, lock positition to current position */
 	bool _yaw_lock = false; /**< if within acceptance radius, lock yaw to current yaw */
-	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
-	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr};
+	uORB::SubscriptionData<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	uORB::SubscriptionData<vehicle_status_s> *_sub_vehicle_status{nullptr};
 
 	matrix::Vector3f
 	_triplet_target; /**< current triplet from navigator which may differ from the intenal one (_target) depending on the vehicle state. */
diff --git a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
index 7e15cd9d3275..19efa61bf1f5 100644
--- a/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask/FlightTask.hpp
@@ -173,8 +173,8 @@ class FlightTask : public ModuleParams
 
 protected:
 
-	uORB::Subscription<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
-	uORB::Subscription<vehicle_attitude_s> *_sub_attitude{nullptr};
+	uORB::SubscriptionData<vehicle_local_position_s> *_sub_vehicle_local_position{nullptr};
+	uORB::SubscriptionData<vehicle_attitude_s> *_sub_attitude{nullptr};
 	uint8_t _heading_reset_counter{0}; /**< estimator heading reset */
 
 	/**
diff --git a/src/lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp b/src/lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp
index c02de4f02b4a..df941c997518 100644
--- a/src/lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTask/SubscriptionArray.hpp
@@ -57,7 +57,7 @@ class SubscriptionArray
 	 * @return true on success, false otherwise (subscription set to nullptr)
 	 */
 	template<class T>
-	bool get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance = 0);
+	bool get(const struct orb_metadata *meta, uORB::SubscriptionData<T> *&subscription, unsigned instance = 0);
 
 	/**
 	 * update all subscriptions (if new data is available)
@@ -81,13 +81,14 @@ class SubscriptionArray
 
 
 template<class T>
-bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::Subscription<T> *&subscription, unsigned instance)
+bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::SubscriptionData<T> *&subscription,
+			    unsigned instance)
 {
 	// does it already exist?
 	for (int i = 0; i < _subscriptions_count; ++i) {
 		if (_subscriptions[i]->get_topic() == meta && _subscriptions[i]->get_instance() == instance) {
 			// we know the type must be correct, so we can use reinterpret_cast (dynamic_cast is not available)
-			subscription = reinterpret_cast<uORB::Subscription<T>*>(_subscriptions[i]);
+			subscription = reinterpret_cast<uORB::SubscriptionData<T>*>(_subscriptions[i]);
 			return true;
 		}
 	}
@@ -100,7 +101,7 @@ bool SubscriptionArray::get(const struct orb_metadata *meta, uORB::Subscription<
 		}
 	}
 
-	subscription = new uORB::Subscription<T>(meta, 0, instance);
+	subscription = new uORB::SubscriptionData<T>(meta, 0, instance);
 
 	if (!subscription) {
 		return false;
diff --git a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp b/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp
index 7fb49a75bbf0..3e77ff034f75 100644
--- a/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp
+++ b/src/lib/FlightTasks/tasks/Manual/FlightTaskManual.hpp
@@ -68,7 +68,7 @@ class FlightTaskManual : public FlightTask
 	bool _evaluateSticks(); /**< checks and sets stick inputs */
 	void _applyGearSwitch(uint8_t gswitch); /**< Sets gears according to switch */
 
-	uORB::Subscription<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
+	uORB::SubscriptionData<manual_control_setpoint_s> *_sub_manual_control_setpoint{nullptr};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
 					(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz, /**< 0-deadzone around the center for the sticks */
diff --git a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
index 2993f4d38f73..e7c9f74a0cd2 100644
--- a/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
+++ b/src/lib/FlightTasks/tasks/ManualAltitude/FlightTaskManualAltitude.hpp
@@ -109,7 +109,7 @@ class FlightTaskManualAltitude : public FlightTaskManual
 	 */
 	void _respectGroundSlowdown();
 
-	uORB::Subscription<home_position_s> *_sub_home_position{nullptr};
+	uORB::SubscriptionData<home_position_s> *_sub_home_position{nullptr};
 
 	uint8_t _reset_counter = 0; /**< counter for estimator resets in z-direction */
 	float _max_speed_up = 10.0f;
diff --git a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp b/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp
index c1a1e8179160..6acaf8c74989 100644
--- a/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp
+++ b/src/lib/FlightTasks/tasks/Offboard/FlightTaskOffboard.hpp
@@ -53,7 +53,7 @@ class FlightTaskOffboard : public FlightTask
 	bool updateInitialize() override;
 
 protected:
-	uORB::Subscription<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
+	uORB::SubscriptionData<position_setpoint_triplet_s> *_sub_triplet_setpoint{nullptr};
 private:
 	matrix::Vector3f _position_lock{};
 
diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
index 8de317c8529a..cceef4486d0a 100644
--- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
@@ -102,8 +102,8 @@ class ObstacleAvoidance : public ModuleParams
 
 private:
 
-	uORB::Subscription<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
-	uORB::Subscription<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
+	uORB::SubscriptionData<vehicle_trajectory_waypoint_s> *_sub_vehicle_trajectory_waypoint{nullptr}; /**< vehicle trajectory waypoint subscription */
+	uORB::SubscriptionData<vehicle_status_s> *_sub_vehicle_status{nullptr}; /**< vehicle status subscription */
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::COM_OBS_AVOID>) COM_OBS_AVOID,             /**< obstacle avoidance enabled */
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 36700da6dcff..fc0f39e65dd8 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -59,8 +59,6 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/telemetry_status.h>
 using math::constrain;
-using uORB::Publication;
-using uORB::Subscription;
 
 using namespace time_literals;
 
@@ -206,12 +204,13 @@ class Commander : public ModuleBase<Commander>, public ModuleParams
 	bool _print_avoidance_msg_once{false};
 
 	// Subscriptions
-	Subscription<estimator_status_s>		_estimator_status_sub{ORB_ID(estimator_status)};
-	Subscription<mission_result_s>			_mission_result_sub{ORB_ID(mission_result)};
-	Subscription<vehicle_global_position_s>		_global_position_sub{ORB_ID(vehicle_global_position)};
-	Subscription<vehicle_local_position_s>		_local_position_sub{ORB_ID(vehicle_local_position)};
+	uORB::SubscriptionData<estimator_status_s>		_estimator_status_sub{ORB_ID(estimator_status)};
+	uORB::SubscriptionData<mission_result_s>		_mission_result_sub{ORB_ID(mission_result)};
+	uORB::SubscriptionData<vehicle_global_position_s>	_global_position_sub{ORB_ID(vehicle_global_position)};
+	uORB::SubscriptionData<vehicle_local_position_s>	_local_position_sub{ORB_ID(vehicle_local_position)};
 
-	Publication<home_position_s>			_home_pub{ORB_ID(home_position)};
+	// Publications
+	uORB::Publication<home_position_s>			_home_pub{ORB_ID(home_position)};
 
 	orb_advert_t					_status_pub{nullptr};
 };
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index 26afdbade127..ada6fcf14a0a 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -109,7 +109,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
 
 	if (exists) {
 
-		uORB::Subscription<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), 0, instance};
+		uORB::SubscriptionData<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), 0, instance};
 
 		mag_valid = (hrt_elapsed_time(&magnetometer.get().timestamp) < 1_s);
 
@@ -245,7 +245,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 
 	if (exists) {
 
-		uORB::Subscription<sensor_accel_s> accel{ORB_ID(sensor_accel), 0, instance};
+		uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), 0, instance};
 
 		accel_valid = (hrt_elapsed_time(&accel.get().timestamp) < 1_s);
 
@@ -309,7 +309,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
 
 	if (exists) {
 
-		uORB::Subscription<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), 0, instance};
+		uORB::SubscriptionData<sensor_gyro_s> gyro{ORB_ID(sensor_gyro), 0, instance};
 
 		gyro_valid = (hrt_elapsed_time(&gyro.get().timestamp) < 1_s);
 
@@ -352,7 +352,7 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, u
 	bool baro_valid = false;
 
 	if (exists) {
-		uORB::Subscription<sensor_baro_s> baro{ORB_ID(sensor_baro), 0, instance};
+		uORB::SubscriptionData<sensor_baro_s> baro{ORB_ID(sensor_baro), 0, instance};
 
 		baro_valid = (hrt_elapsed_time(&baro.get().timestamp) < 1_s);
 
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index c354effde6f9..fb5a9eb68272 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -60,7 +60,7 @@ typedef enum {
 	FAILURE_ALT = vehicle_status_s::FAILURE_ALT,
 } failure_detector_bitmak;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 class FailureDetector : public ModuleParams
 {
@@ -79,8 +79,8 @@ class FailureDetector : public ModuleParams
 	)
 
 	// Subscriptions
-	Subscription<vehicle_attitude_s> _sub_vehicle_attitude_setpoint;
-	Subscription<vehicle_attitude_s> _sub_vehicule_attitude;
+	SubscriptionData<vehicle_attitude_s> _sub_vehicle_attitude_setpoint;
+	SubscriptionData<vehicle_attitude_s> _sub_vehicule_attitude;
 
 	uint8_t _status{FAILURE_NONE};
 
diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
index 0867b6390036..8c8ccbad7f90 100644
--- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
+++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp
@@ -65,7 +65,7 @@
 using matrix::Eulerf;
 using matrix::Quatf;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>
 {
@@ -123,7 +123,7 @@ class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeContro
 	vehicle_rates_setpoint_s		_rates_sp {};		/* attitude rates setpoint */
 	vehicle_status_s			_vehicle_status {};	/**< vehicle status */
 
-	Subscription<airspeed_s>			_airspeed_sub;
+	SubscriptionData<airspeed_s>			_airspeed_sub;
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 	perf_counter_t	_nonfinite_input_perf;		/**< performance counter for non finite input */
diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
index 44a9d537848a..3229e4a67376 100644
--- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
@@ -99,7 +99,7 @@ using matrix::Vector2f;
 using matrix::Vector3f;
 using matrix::wrap_pi;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 using namespace launchdetection;
 using namespace runwaytakeoff;
@@ -181,8 +181,8 @@ class FixedwingPositionControl final : public ModuleBase<FixedwingPositionContro
 	vehicle_land_detected_s		_vehicle_land_detected {};	///< vehicle land detected */
 	vehicle_status_s		_vehicle_status {};		///< vehicle status */
 
-	Subscription<airspeed_s> _sub_airspeed;
-	Subscription<sensor_bias_s> _sub_sensors;
+	SubscriptionData<airspeed_s> _sub_airspeed;
+	SubscriptionData<sensor_bias_s> _sub_sensors;
 
 	perf_counter_t	_loop_perf;				///< loop performance counter */
 
diff --git a/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp b/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
index cd910422a0c9..d1b6b60e9380 100644
--- a/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
+++ b/src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
@@ -67,7 +67,7 @@
 
 using matrix::Dcmf;
 
-using uORB::Subscription;
+using uORB::SubscriptionData;
 
 class GroundRoverPositionControl
 {
@@ -110,8 +110,8 @@ class GroundRoverPositionControl
 	vehicle_control_mode_s			_control_mode{};			/**< control mode */
 	vehicle_global_position_s		_global_pos{};			/**< global vehicle position */
 
-	Subscription<vehicle_attitude_s>	_sub_attitude;
-	Subscription<sensor_bias_s>	_sub_sensors;
+	SubscriptionData<vehicle_attitude_s>	_sub_attitude;
+	SubscriptionData<sensor_bias_s>	_sub_sensors;
 
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index 82e361c2e0c5..fcb888732f68 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -210,7 +210,7 @@ void BlockLocalPositionEstimator::update()
 	if (!armedState && (_sub_lidar == nullptr || _sub_sonar == nullptr)) {
 		// detect distance sensors
 		for (size_t i = 0; i < N_DIST_SUBS; i++) {
-			uORB::Subscription<distance_sensor_s> *s = _dist_subs[i];
+			uORB::SubscriptionData<distance_sensor_s> *s = _dist_subs[i];
 
 			if (s == _sub_lidar || s == _sub_sonar) { continue; }
 
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
index 141470a3f6bc..e57f9474e446 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
@@ -250,21 +250,21 @@ class BlockLocalPositionEstimator : public control::SuperBlock, public ModulePar
 	uORB::SubscriptionPolled<parameter_update_s> _sub_param_update;
 	uORB::SubscriptionPolled<sensor_combined_s> _sub_sensor;
 
-	uORB::Subscription<actuator_armed_s> _sub_armed;
-	uORB::Subscription<vehicle_land_detected_s> _sub_land;
-	uORB::Subscription<vehicle_attitude_s> _sub_att;
-	uORB::Subscription<vehicle_gps_position_s> _sub_gps;
-	uORB::Subscription<vehicle_odometry_s> _sub_visual_odom;
-	uORB::Subscription<vehicle_odometry_s> _sub_mocap_odom;
-	uORB::Subscription<distance_sensor_s> _sub_dist0;
-	uORB::Subscription<distance_sensor_s> _sub_dist1;
-	uORB::Subscription<distance_sensor_s> _sub_dist2;
-	uORB::Subscription<distance_sensor_s> _sub_dist3;
-	uORB::Subscription<distance_sensor_s> *_dist_subs[N_DIST_SUBS];
-	uORB::Subscription<distance_sensor_s> *_sub_lidar;
-	uORB::Subscription<distance_sensor_s> *_sub_sonar;
-	uORB::Subscription<landing_target_pose_s> _sub_landing_target_pose;
-	uORB::Subscription<vehicle_air_data_s> _sub_airdata;
+	uORB::SubscriptionData<actuator_armed_s> _sub_armed;
+	uORB::SubscriptionData<vehicle_land_detected_s> _sub_land;
+	uORB::SubscriptionData<vehicle_attitude_s> _sub_att;
+	uORB::SubscriptionData<vehicle_gps_position_s> _sub_gps;
+	uORB::SubscriptionData<vehicle_odometry_s> _sub_visual_odom;
+	uORB::SubscriptionData<vehicle_odometry_s> _sub_mocap_odom;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist0;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist1;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist2;
+	uORB::SubscriptionData<distance_sensor_s> _sub_dist3;
+	uORB::SubscriptionData<distance_sensor_s> *_dist_subs[N_DIST_SUBS];
+	uORB::SubscriptionData<distance_sensor_s> *_sub_lidar;
+	uORB::SubscriptionData<distance_sensor_s> *_sub_sonar;
+	uORB::SubscriptionData<landing_target_pose_s> _sub_landing_target_pose;
+	uORB::SubscriptionData<vehicle_air_data_s> _sub_airdata;
 
 	// publications
 	uORB::Publication<vehicle_local_position_s> _pub_lpos;
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 47595723301d..f001d2921671 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -868,7 +868,7 @@ void Logger::run()
 	}
 
 	int vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
-	uORB::Subscription<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
+	uORB::SubscriptionData<parameter_update_s> parameter_update_sub(ORB_ID(parameter_update));
 	int log_message_sub = orb_subscribe(ORB_ID(log_message));
 	orb_set_interval(log_message_sub, 20);
 
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 5f66459a5a24..e35b457b46e3 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -633,7 +633,7 @@ Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_cont
 	/* if this is a config link, stay here and wait for it to open */
 	if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
 
-		uORB::Subscription<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
+		uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
 
 		/* get the system arming state and abort on arming */
 		while (_uart_fd < 0) {
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index cdef98e5b214..28952a5d8f5f 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -125,7 +125,7 @@ class MavlinkMissionManager
 
 	static bool		_transfer_in_progress;			///< Global variable checking for current transmission
 
-	uORB::SubscriptionBase	_mission_result_sub{ORB_ID(mission_result)};
+	uORB::Subscription	_mission_result_sub{ORB_ID(mission_result)};
 
 	orb_advert_t		_offboard_mission_pub{nullptr};
 
diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h
index ef1d83e2aeda..17948f8ccc38 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.h
+++ b/src/modules/mavlink/mavlink_orb_subscription.h
@@ -93,7 +93,7 @@ class MavlinkOrbSubscription : public ListNode<MavlinkOrbSubscription *>
 
 private:
 
-	uORB::SubscriptionBase	_sub;
+	uORB::Subscription	_sub;
 };
 
 
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 97800311bc3c..cd69daa83eaf 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -248,9 +248,9 @@ class MavlinkReceiver
 
 	static constexpr int _gps_inject_data_queue_size{6};
 
-	uORB::SubscriptionBase _actuator_armed_sub{ORB_ID(actuator_armed)};
-	uORB::SubscriptionBase _control_mode_sub{ORB_ID(vehicle_control_mode)};
-	uORB::SubscriptionBase _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
+	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 
 	int _orb_class_instance{-1};
 
diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h
index f9ed6f8ac43c..35d20f9b2d52 100644
--- a/src/modules/navigator/geofence.h
+++ b/src/modules/navigator/geofence.h
@@ -166,7 +166,7 @@ class Geofence : public ModuleParams
 		(ParamFloat<px4::params::GF_MAX_VER_DIST>) _param_gf_max_ver_dist
 	)
 
-	uORB::Subscription<vehicle_air_data_s>	_sub_airdata;
+	uORB::SubscriptionData<vehicle_air_data_s>	_sub_airdata;
 
 	int _outside_counter{0};
 	uint16_t _update_counter{0}; ///< dataman update counter: if it does not match, we polygon data was updated
diff --git a/src/modules/navigator/mission_feasibility_checker.cpp b/src/modules/navigator/mission_feasibility_checker.cpp
index f4f084321cd2..62be756398bd 100644
--- a/src/modules/navigator/mission_feasibility_checker.cpp
+++ b/src/modules/navigator/mission_feasibility_checker.cpp
@@ -450,7 +450,7 @@ MissionFeasibilityChecker::checkFixedWingLanding(const mission_s &mission, bool
 
 				if (MissionBlock::item_contains_position(missionitem_previous)) {
 
-					uORB::Subscription<position_controller_landing_status_s> landing_status{ORB_ID(position_controller_landing_status)};
+					uORB::SubscriptionData<position_controller_landing_status_s> landing_status{ORB_ID(position_controller_landing_status)};
 					landing_status.forcedUpdate();
 
 					const bool landing_status_valid = (landing_status.get().timestamp > 0);
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 1e7afae7c6f8..b0dec7e89ab1 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -320,7 +320,7 @@ class Navigator : public ModuleBase<Navigator>, public ModuleParams
 	vehicle_local_position_s			_local_pos{};		/**< local vehicle position */
 	vehicle_status_s				_vstatus{};		/**< vehicle status */
 
-	uORB::Subscription<position_controller_status_s>	_position_controller_status_sub{ORB_ID(position_controller_status)};
+	uORB::SubscriptionData<position_controller_status_s>	_position_controller_status_sub{ORB_ID(position_controller_status)};
 
 	uint8_t						_previous_nav_state{}; /**< nav_state of the previous iteration*/
 
diff --git a/src/modules/sensors/voted_sensors_update.cpp b/src/modules/sensors/voted_sensors_update.cpp
index 597313ebbab4..612c88c67d3a 100644
--- a/src/modules/sensors/voted_sensors_update.cpp
+++ b/src/modules/sensors/voted_sensors_update.cpp
@@ -152,9 +152,9 @@ void VotedSensorsUpdate::parameters_update()
 	_temperature_compensation.parameters_update(_hil_enabled);
 
 	/* gyro */
-	for (int topic_instance = 0; topic_instance < _gyro.subscription_count; ++topic_instance) {
+	for (uint8_t topic_instance = 0; topic_instance < _gyro.subscription_count; ++topic_instance) {
 
-		uORB::Subscription<sensor_gyro_s> report{ORB_ID(sensor_gyro), 0, (unsigned)topic_instance};
+		uORB::SubscriptionData<sensor_gyro_s> report{ORB_ID(sensor_gyro), 0, topic_instance};
 
 		int temp = _temperature_compensation.set_sensor_id_gyro(report.get().device_id, topic_instance);
 
@@ -172,9 +172,9 @@ void VotedSensorsUpdate::parameters_update()
 
 
 	/* accel */
-	for (int topic_instance = 0; topic_instance < _accel.subscription_count; ++topic_instance) {
+	for (uint8_t topic_instance = 0; topic_instance < _accel.subscription_count; ++topic_instance) {
 
-		uORB::Subscription<sensor_accel_s> report{ORB_ID(sensor_accel), 0, (unsigned)topic_instance};
+		uORB::SubscriptionData<sensor_accel_s> report{ORB_ID(sensor_accel), 0, topic_instance};
 
 		int temp = _temperature_compensation.set_sensor_id_accel(report.get().device_id, topic_instance);
 
@@ -192,9 +192,9 @@ void VotedSensorsUpdate::parameters_update()
 
 
 	/* baro */
-	for (int topic_instance = 0; topic_instance < _baro.subscription_count; ++topic_instance) {
+	for (uint8_t topic_instance = 0; topic_instance < _baro.subscription_count; ++topic_instance) {
 
-		uORB::Subscription<sensor_baro_s> report{ORB_ID(sensor_baro), 0, (unsigned)topic_instance};
+		uORB::SubscriptionData<sensor_baro_s> report{ORB_ID(sensor_baro), 0, topic_instance};
 
 		int temp = _temperature_compensation.set_sensor_id_baro(report.get().device_id, topic_instance);
 
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
index 669b3b1a55c0..edd82b7326e0 100644
--- a/src/modules/uORB/Subscription.cpp
+++ b/src/modules/uORB/Subscription.cpp
@@ -42,19 +42,19 @@
 namespace uORB
 {
 
-SubscriptionBase::SubscriptionBase(const orb_metadata *meta, uint8_t instance) :
+Subscription::Subscription(const orb_metadata *meta, uint8_t instance) :
 	_meta(meta),
 	_instance(instance)
 {
 	init();
 }
 
-SubscriptionBase::~SubscriptionBase()
+Subscription::~Subscription()
 {
 	unsubscribe();
 }
 
-bool SubscriptionBase::subscribe()
+bool Subscription::subscribe()
 {
 	DeviceMaster *device_master = uORB::Manager::get_instance()->get_device_master();
 	_node = device_master->getDeviceNode(_meta, _instance);
@@ -74,7 +74,7 @@ bool SubscriptionBase::subscribe()
 	return false;
 }
 
-void SubscriptionBase::unsubscribe()
+void Subscription::unsubscribe()
 {
 	if (_node != nullptr) {
 		_node->remove_internal_subscriber();
@@ -83,7 +83,7 @@ void SubscriptionBase::unsubscribe()
 	_last_generation = 0;
 }
 
-bool SubscriptionBase::init()
+bool Subscription::init()
 {
 	if (_meta != nullptr) {
 		// this throttles the relatively expensive calls to getDeviceNode()
@@ -100,7 +100,7 @@ bool SubscriptionBase::init()
 	return false;
 }
 
-bool SubscriptionBase::forceInit()
+bool Subscription::forceInit()
 {
 	if (_node == nullptr) {
 		// reset generation to force subscription attempt
@@ -111,7 +111,7 @@ bool SubscriptionBase::forceInit()
 	return false;
 }
 
-bool SubscriptionBase::set_topic(orb_metadata *meta)
+bool Subscription::set_topic(orb_metadata *meta)
 {
 	if (meta != _meta) {
 		unsubscribe();
@@ -123,7 +123,7 @@ bool SubscriptionBase::set_topic(orb_metadata *meta)
 	return false;
 }
 
-bool SubscriptionBase::set_instance(uint8_t instance)
+bool Subscription::set_instance(uint8_t instance)
 {
 	if (instance != _instance) {
 		unsubscribe();
@@ -134,7 +134,7 @@ bool SubscriptionBase::set_instance(uint8_t instance)
 	return false;
 }
 
-bool SubscriptionBase::update(uint64_t *time, void *dst)
+bool Subscription::update(uint64_t *time, void *dst)
 {
 	if (published()) {
 		// always copy data
diff --git a/src/modules/uORB/Subscription.hpp b/src/modules/uORB/Subscription.hpp
index b590f9b2c290..48a99ca87f8a 100644
--- a/src/modules/uORB/Subscription.hpp
+++ b/src/modules/uORB/Subscription.hpp
@@ -54,7 +54,7 @@ namespace uORB
  * Base subscription wrapper class, used in list traversal
  * of various subscriptions.
  */
-class SubscriptionBase
+class Subscription
 {
 public:
 
@@ -65,9 +65,9 @@ class SubscriptionBase
 	 * 	macro) for the topic.
 	 * @param instance The instance for multi sub.
 	 */
-	SubscriptionBase() = default;
-	SubscriptionBase(const orb_metadata *meta, uint8_t instance = 0);
-	virtual ~SubscriptionBase();
+	Subscription() = default;
+	Subscription(const orb_metadata *meta, uint8_t instance = 0);
+	virtual ~Subscription();
 
 	bool valid() const { return _node != nullptr; }
 
@@ -113,14 +113,14 @@ class SubscriptionBase
 };
 
 // TODO: finish
-class SubscriptionInterval : public SubscriptionBase
+class SubscriptionInterval : public Subscription
 {
 public:
 
 	SubscriptionInterval() = default;
 
 	SubscriptionInterval(const orb_metadata *meta, unsigned interval = 0, uint8_t instance = 0) :
-		SubscriptionBase(meta, instance),
+		Subscription(meta, instance),
 		_interval(interval)
 	{}
 
@@ -129,7 +129,7 @@ class SubscriptionInterval : public SubscriptionBase
 	bool updated() override
 	{
 		if (hrt_absolute_time() >= (_last_update + (_interval * 1000))) {
-			return SubscriptionBase::updated();
+			return Subscription::updated();
 		}
 
 		return false;
@@ -161,7 +161,7 @@ class SubscriptionInterval : public SubscriptionBase
 /**
  * alias class name so it is clear that the base class
  */
-typedef SubscriptionBase SubscriptionTiny;
+typedef Subscription SubscriptionTiny;
 
 /**
  * The subscription base class as a list node.
@@ -202,7 +202,7 @@ class  SubscriptionNode : public SubscriptionInterval, public ListNode<Subscript
  * Subscription wrapper class
  */
 template<class T>
-class Subscription final : public SubscriptionNode
+class SubscriptionData final : public SubscriptionNode
 {
 public:
 	/**
@@ -215,25 +215,25 @@ class Subscription final : public SubscriptionNode
 	 * @param list A list interface for adding to
 	 * 	list during construction
 	 */
-	Subscription(const orb_metadata *meta, unsigned interval = 0, uint8_t instance = 0,
-		     List<SubscriptionNode *> *list = nullptr):
+	SubscriptionData(const orb_metadata *meta, unsigned interval = 0, uint8_t instance = 0,
+			 List<SubscriptionNode *> *list = nullptr):
 		SubscriptionNode(meta, interval, instance, list)
 	{
 		forcedUpdate();
 	}
 
-	~Subscription() override final = default;
+	~SubscriptionData() override final = default;
 
 	// no copy, assignment, move, move assignment
-	Subscription(const Subscription &) = delete;
-	Subscription &operator=(const Subscription &) = delete;
-	Subscription(Subscription &&) = delete;
-	Subscription &operator=(Subscription &&) = delete;
+	SubscriptionData(const SubscriptionData &) = delete;
+	SubscriptionData &operator=(const SubscriptionData &) = delete;
+	SubscriptionData(SubscriptionData &&) = delete;
+	SubscriptionData &operator=(SubscriptionData &&) = delete;
 
 	/**
 	 * Create an update function that uses the embedded struct.
 	 */
-	bool update() override final { return SubscriptionBase::update((void *)(&_data)); }
+	bool update() override final { return Subscription::update((void *)(&_data)); }
 
 	bool forcedUpdate() override final { return copy(&_data); }
 
@@ -295,10 +295,10 @@ class SubscriptionPolled
 	}
 
 	// no copy, assignment, move, move assignment
-	SubscriptionPolled(const SubscriptionBase &) = delete;
-	SubscriptionPolled &operator=(const SubscriptionBase &) = delete;
-	SubscriptionPolled(SubscriptionBase &&) = delete;
-	SubscriptionPolled &operator=(SubscriptionBase &&) = delete;
+	SubscriptionPolled(const Subscription &) = delete;
+	SubscriptionPolled &operator=(const Subscription &) = delete;
+	SubscriptionPolled(Subscription &&) = delete;
+	SubscriptionPolled &operator=(Subscription &&) = delete;
 
 	/**
 	 * Check if there is a new update.
diff --git a/src/modules/wind_estimator/wind_estimator_main.cpp b/src/modules/wind_estimator/wind_estimator_main.cpp
index 7c0ade08904f..f52698604a3d 100644
--- a/src/modules/wind_estimator/wind_estimator_main.cpp
+++ b/src/modules/wind_estimator/wind_estimator_main.cpp
@@ -327,7 +327,7 @@ int WindEstimatorModule::print_status()
 	perf_print_counter(_perf_interval);
 
 	if (_instance > -1) {
-		uORB::Subscription<wind_estimate_s> est{ORB_ID(wind_estimate), (unsigned)_instance};
+		uORB::SubscriptionData<wind_estimate_s> est{ORB_ID(wind_estimate), (unsigned)_instance};
 		est.update();
 
 		print_message(est.get());
diff --git a/src/systemcmds/tests/test_microbench_uorb.cpp b/src/systemcmds/tests/test_microbench_uorb.cpp
index acf86d7d80c1..967787a514a8 100644
--- a/src/systemcmds/tests/test_microbench_uorb.cpp
+++ b/src/systemcmds/tests/test_microbench_uorb.cpp
@@ -186,21 +186,21 @@ bool MicroBenchORB::time_px4_uorb2()
 	bool updated = false;
 	uint64_t time = 0;
 
-	uORB::SubscriptionBase vstatus{ORB_ID(vehicle_status)};
+	uORB::Subscription vstatus{ORB_ID(vehicle_status)};
 	PERF("orb_check vehicle_status", ret = vstatus.updated(), 1000);
 	PERF("orb_stat vehicle_status", time = vstatus.last_update(), 1000);
 	PERF("orb_copy vehicle_status", ret = vstatus.copy(&status), 1000);
 
 	printf("\n");
 
-	uORB::SubscriptionBase local_pos{ORB_ID(vehicle_local_position)};
+	uORB::Subscription local_pos{ORB_ID(vehicle_local_position)};
 	PERF("orb_check vehicle_local_position", ret = local_pos.updated(), 1000);
 	PERF("orb_stat vehicle_local_position", time = local_pos.last_update(), 1000);
 	PERF("orb_copy vehicle_local_position", ret = local_pos.copy(&lpos), 1000);
 
 	printf("\n");
 
-	uORB::SubscriptionBase sens_gyro{ORB_ID(sensor_gyro)};
+	uORB::Subscription sens_gyro{ORB_ID(sensor_gyro)};
 	PERF("orb_check sensor_gyro", ret = sens_gyro.updated(), 1000);
 	PERF("orb_stat sensor_gyro", time = sens_gyro.last_update(), 1000);
 	PERF("orb_copy sensor_gyro", ret = sens_gyro.copy(&gyro), 1000);