diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index c88372dad364..ba1405722ffc 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -165,7 +165,10 @@ add_custom_command(OUTPUT ${uorb_headers}
 		-e templates/uorb
 		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
 		-q
-	DEPENDS ${msg_files}
+	DEPENDS
+		${msg_files}
+		templates/uorb/msg.h.template
+		tools/px_generate_uorb_topic_files.py
 	COMMENT "Generating uORB topic headers"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
@@ -182,7 +185,10 @@ add_custom_command(OUTPUT ${uorb_sources}
 		-e templates/uorb
 		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
 		-q
-	DEPENDS ${msg_files}
+	DEPENDS
+		${msg_files}
+		templates/uorb/msg.cpp.template
+		tools/px_generate_uorb_topic_files.py
 	COMMENT "Generating uORB topic sources"
 	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
 	VERBATIM
diff --git a/msg/templates/uorb/msg.cpp.template b/msg/templates/uorb/msg.cpp.template
index 3437e5c109cd..11764637a4bd 100644
--- a/msg/templates/uorb/msg.cpp.template
+++ b/msg/templates/uorb/msg.cpp.template
@@ -64,7 +64,11 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 topic_fields = ["uint64_t timestamp"]+["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
 }@
 
+#include <cinttypes>
+#include <cstdio>
+#include <px4_defines.h>
 #include <uORB/topics/@(topic_name).h>
+#include <drivers/drv_hrt.h>
 
 @# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
 @# This is used for the logger
@@ -73,3 +77,17 @@ constexpr char __orb_@(topic_name)_fields[] = "@( ";".join(topic_fields) );";
 @[for multi_topic in topics]@
 ORB_DEFINE(@multi_topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(topic_name)_fields);
 @[end for]
+
+void print_message(const @uorb_struct& message)
+{
+	printf(" @(uorb_struct)\n");
+	printf("\ttimestamp: %" PRIu64, message.timestamp);
+	if (message.timestamp != 0) {
+		printf(" (%.6f seconds ago)\n", hrt_elapsed_time(&message.timestamp) / 1e6);
+	} else {
+		printf("\n");
+	}
+@[for field in sorted_fields]@
+	@( print_field(field) )@
+@[end for]@
+}
\ No newline at end of file
diff --git a/msg/templates/uorb/msg.h.template b/msg/templates/uorb/msg.h.template
index 1d1c74271ed6..1ea312451bf9 100644
--- a/msg/templates/uorb/msg.h.template
+++ b/msg/templates/uorb/msg.h.template
@@ -133,3 +133,7 @@ for constant in spec.constants:
 @[for multi_topic in topics]@
 ORB_DECLARE(@multi_topic);
 @[end for]
+
+#ifdef __cplusplus
+void print_message(const @uorb_struct& message);
+#endif
diff --git a/msg/tools/px_generate_uorb_topic_helper.py b/msg/tools/px_generate_uorb_topic_helper.py
index 7f55b0ee6af0..2c0a4c79961f 100644
--- a/msg/tools/px_generate_uorb_topic_helper.py
+++ b/msg/tools/px_generate_uorb_topic_helper.py
@@ -68,6 +68,20 @@
     'char': 1,
 }
 
+type_printf_map = {
+    'int8': '%d',
+    'int16': '%d',
+    'int32': '%" PRId32 "',
+    'int64': '%" PRId64 "',
+    'uint8': '%u',
+    'uint16': '%u',
+    'uint32': '%" PRIu32 "',
+    'uint64': '%" PRIu64 "',
+    'float32': '%.3f',
+    'float64': '%.3f',
+    'bool': '%u',
+    'char': '%c',
+}
 
 def bare_name(msg_type):
     """
@@ -165,6 +179,70 @@ def convert_type(spec_type):
     return c_type
 
 
+def print_field(field):
+    """
+    Echo printf line
+    """
+
+    # skip padding
+    if field.name.startswith('_padding'):
+        return
+
+    bare_type = field.type
+    if '/' in field.type:
+        # removing prefix
+        bare_type = (bare_type.split('/'))[1]
+
+    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
+
+    field_name = ""
+
+    if is_array:
+        c_type = "["
+
+        if msg_type in type_map:
+            p_type = type_printf_map[msg_type]
+
+        else:
+            for i in range(array_length):
+                print("printf(\"\\t" + field.type + " " + field.name + "[" + str(i) + "]\");")
+                print(" print_message(message." + field.name + "[" + str(i) + "]);")
+            return
+
+        for i in range(array_length):
+
+            if i > 0:
+                c_type += ", "
+                field_name += ", "
+
+            if "float32" in field.type:
+                field_name += "(double)message." + field.name + "[" + str(i) + "]"
+            else:
+                field_name += "message." + field.name + "[" + str(i) + "]"
+
+            c_type += str(p_type)
+
+        c_type += "]"
+
+    else:
+        c_type = msg_type
+        if msg_type in type_map:
+            c_type = type_printf_map[msg_type]
+
+            field_name = "message." + field.name
+
+            # cast double
+            if field.type == "float32":
+                field_name = "(double)" + field_name
+
+        else:
+            print("printf(\"\\n\\t" + field.name + "\");")
+            print("\tprint_message(message."+ field.name + ");")
+            return
+
+    print("printf(\"\\t" + field.name + ": " + c_type + "\\n\", " + field_name + ");" )
+
+
 def print_field_def(field):
     """
     Print the C type from a field
diff --git a/src/drivers/barometer/bmp280/bmp280.cpp b/src/drivers/barometer/bmp280/bmp280.cpp
index c5150260209a..a5752cb21d6b 100644
--- a/src/drivers/barometer/bmp280/bmp280.cpp
+++ b/src/drivers/barometer/bmp280/bmp280.cpp
@@ -595,11 +595,10 @@ BMP280::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u us \n", _report_ticks * USEC_PER_TICK);
-	_reports->print_info("report queue");
-	printf("P Pa:              %.3f\n", (double)_P);
-	printf("T:              %.3f\n", (double)_T);
-	printf("MSL pressure Pa:   %u\n", _msl_pressure);
 
+	sensor_baro_s brp = {};
+	_reports->get(&brp);
+	print_message(brp);
 }
 
 /**
@@ -778,11 +777,7 @@ test(enum BMP280_BUS busid)
 		exit(1);
 	}
 
-	PX4_WARN("single read");
-	PX4_WARN("pressure:    %10.4f", (double)report.pressure);
-	PX4_WARN("altitude:    %11.4f", (double)report.altitude);
-	PX4_WARN("temperature: %8.4f", (double)report.temperature);
-	PX4_WARN("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -818,11 +813,7 @@ test(enum BMP280_BUS busid)
 			exit(1);
 		}
 
-		PX4_WARN("periodic read %u", i);
-		PX4_WARN("pressure:    %10.4f", (double)report.pressure);
-		PX4_WARN("altitude:    %11.4f", (double)report.altitude);
-		PX4_WARN("temperature K: %8.4f", (double)report.temperature);
-		PX4_WARN("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/barometer/lps25h/lps25h.cpp b/src/drivers/barometer/lps25h/lps25h.cpp
index d32535b8895a..0849a6b83427 100644
--- a/src/drivers/barometer/lps25h/lps25h.cpp
+++ b/src/drivers/barometer/lps25h/lps25h.cpp
@@ -799,9 +799,7 @@ LPS25H::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("pressure    %.2f\n", (double)_last_report.pressure);
-	printf("altitude:    %.2f\n", (double)_last_report.altitude);
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 
 	_reports->print_info("report queue");
 }
@@ -959,11 +957,7 @@ test(enum LPS25H_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -995,11 +989,7 @@ test(enum LPS25H_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature K: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp b/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp
index 7b40d00a0301..3d169d7ad299 100644
--- a/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp
+++ b/src/drivers/barometer/mpl3115a2/mpl3115a2.cpp
@@ -732,10 +732,10 @@ MPL3115A2::print_info()
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
 	_reports->print_info("report queue");
-	printf("device:         mpl3115a2\n");
-	printf("P:              %.3f\n", (double)_P);
-	printf("T:              %.3f\n", (double)_T);
-	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
+
+	sensor_baro_s brp = {};
+	_reports->get(&brp);
+	print_message(brp);
 }
 
 /**
@@ -899,11 +899,7 @@ test(enum MPL3115A2_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -935,11 +931,7 @@ test(enum MPL3115A2_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/barometer/ms5611/ms5611.cpp b/src/drivers/barometer/ms5611/ms5611.cpp
index 83bb1aa371b7..2082a5a5919c 100644
--- a/src/drivers/barometer/ms5611/ms5611.cpp
+++ b/src/drivers/barometer/ms5611/ms5611.cpp
@@ -895,9 +895,6 @@ MS5611::print_info()
 	printf("TEMP:           %d\n", _TEMP);
 	printf("SENS:           %lld\n", _SENS);
 	printf("OFF:            %lld\n", _OFF);
-	printf("P:              %.3f\n", (double)_P);
-	printf("T:              %.3f\n", (double)_T);
-	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
 	printf("factory_setup             %u\n", _prom.factory_setup);
 	printf("c1_pressure_sens          %u\n", _prom.c1_pressure_sens);
@@ -907,6 +904,10 @@ MS5611::print_info()
 	printf("c5_reference_temp         %u\n", _prom.c5_reference_temp);
 	printf("c6_temp_coeff_temp        %u\n", _prom.c6_temp_coeff_temp);
 	printf("serial_and_crc            %u\n", _prom.serial_and_crc);
+
+	sensor_baro_s brp = {};
+	_reports->get(&brp);
+	print_message(brp);
 }
 
 /**
@@ -1118,11 +1119,7 @@ test(enum MS5611_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pressure:    %10.4f", (double)report.pressure);
-	warnx("altitude:    %11.4f", (double)report.altitude);
-	warnx("temperature: %8.4f", (double)report.temperature);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* set the queue depth to 10 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
@@ -1154,11 +1151,7 @@ test(enum MS5611_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("pressure:    %10.4f", (double)report.pressure);
-		warnx("altitude:    %11.4f", (double)report.altitude);
-		warnx("temperature: %8.4f", (double)report.temperature);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	close(fd);
diff --git a/src/drivers/batt_smbus/batt_smbus.cpp b/src/drivers/batt_smbus/batt_smbus.cpp
index 6716b666e8b0..cf3748d21d5e 100644
--- a/src/drivers/batt_smbus/batt_smbus.cpp
+++ b/src/drivers/batt_smbus/batt_smbus.cpp
@@ -317,10 +317,7 @@ BATT_SMBUS::test()
 
 		if (updated) {
 			if (orb_copy(ORB_ID(battery_status), sub, &status) == OK) {
-				PX4_INFO("V=%4.2f C=%4.2f AveC=%4.2f DismAh=%f Cap:%hu TempC:%4.2f Remaining:%3.2f\n RunTimeToEmpty:%hu AveTimeToEmpty:%hu CycleCount:%hu SerialNum:%04x",
-					 (double)status.voltage_v, (double)status.current_a, (double)status.average_current_a, (double)status.discharged_mah,
-					 (uint16_t)status.capacity, (double)status.temperature, (double)status.remaining, (uint16_t)status.run_time_to_empty,
-					 (uint16_t)status.average_time_to_empty, (uint16_t)status.cycle_count, (uint16_t)status.serial_number);
+				print_message(status);
 			}
 		}
 
diff --git a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp b/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
index 9676a1a717da..2bc716c2c680 100644
--- a/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
+++ b/src/drivers/distance_sensor/hc_sr04/hc_sr04.cpp
@@ -801,10 +801,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f of sonar %d,id=%d", (double)report.distance_vector[report.just_updated], report.just_updated,
-	      report.id[report.just_updated]);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -831,14 +828,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-
-		/* Print the sonar rangefinder report sonar distance vector */
-		for (uint8_t count = 0; count < SRF02_MAX_RANGEFINDERS; count++) {
-			warnx("measurement: %0.3f of sonar %u, id=%d", (double)report.distance_vector[count], count + 1, report.id[count]);
-		}
-
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
index 395fca19d9e7..d1c4e4424d41 100644
--- a/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
+++ b/src/drivers/distance_sensor/leddar_one/leddar_one.cpp
@@ -231,16 +231,7 @@ int leddar_one_main(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		bool valid = false;
-
-		if (report.current_distance > report.min_distance
-		    && report.current_distance < report.max_distance) {
-			valid = true;
-		}
-
-		warnx("valid: %u\n", valid);
-		warnx("distance: %0.3fm\n", (double)report.current_distance);
-		warnx("time: %llu\n", report.timestamp);
+		print_message(report);
 
 	} else {
 		help();
diff --git a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
index 12bd237ea9b7..f953fe1820e3 100644
--- a/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
+++ b/src/drivers/distance_sensor/ll40ls/LidarLitePWM.cpp
@@ -123,7 +123,8 @@ void LidarLitePWM::print_info()
 	perf_print_counter(_read_errors);
 	perf_print_counter(_sensor_zero_resets);
 	warnx("poll interval:  %u ticks", getMeasureTicks());
-	warnx("distance: %.3fm", (double)_range.current_distance);
+
+	print_message(_range);
 }
 
 void LidarLitePWM::print_registers()
diff --git a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
index 579d7198a5fe..6d74172f9605 100644
--- a/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
+++ b/src/drivers/distance_sensor/ll40ls/ll40ls.cpp
@@ -217,9 +217,7 @@ test()
 		return;
 	}
 
-	PX4_INFO("single read");
-	PX4_INFO("measurement: %0.2f m", (double)report.current_distance);
-	PX4_INFO("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (PX4_OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -249,11 +247,7 @@ test()
 			return;
 		}
 
-		PX4_INFO("periodic read %u", i);
-		PX4_INFO("valid %u", (float)report.current_distance > report.min_distance
-			 && (float)report.current_distance < report.max_distance ? 1 : 0);
-		PX4_INFO("measurement: %0.3f m", (double)report.current_distance);
-		PX4_INFO("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
index 01ec3b55a176..c2cde11700a0 100644
--- a/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
+++ b/src/drivers/distance_sensor/mb12xx/mb12xx.cpp
@@ -797,9 +797,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -826,11 +824,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/sf0x/sf0x.cpp b/src/drivers/distance_sensor/sf0x/sf0x.cpp
index 8986a0e5bb0e..9f9f300e55c3 100644
--- a/src/drivers/distance_sensor/sf0x/sf0x.cpp
+++ b/src/drivers/distance_sensor/sf0x/sf0x.cpp
@@ -863,9 +863,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement:  %0.2f m", (double)report.current_distance);
-	warnx("time: %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2 Hz rate */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -894,11 +892,7 @@ test()
 			break;
 		}
 
-		warnx("read #%u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement:  %0.3f m", (double)report.current_distance);
-		warnx("time: %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to the default rate */
diff --git a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
index 54aac5b2e90b..6f8b7e0911b0 100644
--- a/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
+++ b/src/drivers/distance_sensor/sf1xx/sf1xx.cpp
@@ -732,9 +732,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -761,11 +759,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/srf02/srf02.cpp b/src/drivers/distance_sensor/srf02/srf02.cpp
index 224281b665a7..2c7d9ac46c94 100644
--- a/src/drivers/distance_sensor/srf02/srf02.cpp
+++ b/src/drivers/distance_sensor/srf02/srf02.cpp
@@ -801,9 +801,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -830,11 +828,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp b/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp
index 49f35b84cda2..cb7b61f949cc 100644
--- a/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp
+++ b/src/drivers/distance_sensor/srf02_i2c/srf02_i2c.cpp
@@ -801,9 +801,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -830,11 +828,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/teraranger/teraranger.cpp b/src/drivers/distance_sensor/teraranger/teraranger.cpp
index 714c8cb4f236..f1c311354d6e 100644
--- a/src/drivers/distance_sensor/teraranger/teraranger.cpp
+++ b/src/drivers/distance_sensor/teraranger/teraranger.cpp
@@ -845,9 +845,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %0.2f m", (double)report.current_distance);
-	warnx("time:        %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -874,9 +872,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("measurement: %0.3f", (double)report.current_distance);
-		warnx("time:        %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to default rate */
diff --git a/src/drivers/distance_sensor/tfmini/tfmini.cpp b/src/drivers/distance_sensor/tfmini/tfmini.cpp
index 306b508b9101..71440b6097e3 100644
--- a/src/drivers/distance_sensor/tfmini/tfmini.cpp
+++ b/src/drivers/distance_sensor/tfmini/tfmini.cpp
@@ -828,9 +828,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement:  %0.2f m", (double)report.current_distance);
-	warnx("time: %llu", report.timestamp);
+	print_message(report);
 
 	/* start the sensor polling at 2 Hz rate */
 	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -859,11 +857,7 @@ test()
 			break;
 		}
 
-		warnx("read #%u", i);
-		warnx("valid %u", (float)report.current_distance > report.min_distance
-		      && (float)report.current_distance < report.max_distance ? 1 : 0);
-		warnx("measurement:  %0.3f m", (double)report.current_distance);
-		warnx("time: %llu", report.timestamp);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to the default rate */
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 845976b51f66..5d927e6937ab 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -873,19 +873,10 @@ GPS::print_status()
 	}
 
 	PX4_INFO("port: %s, baudrate: %d, status: %s", _port, _baudrate, _healthy ? "OK" : "NOT OK");
-	PX4_INFO("sat info: %s, noise: %d, jamming detected: %s",
-		 (_p_report_sat_info != nullptr) ? "enabled" : "disabled",
-		 _report_gps_pos.noise_per_ms,
-		 _report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
+	PX4_INFO("sat info: %s", (_p_report_sat_info != nullptr) ? "enabled" : "disabled");
 
 	if (_report_gps_pos.timestamp != 0) {
-		PX4_INFO("position lock: %d, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
-			 _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp) / 1000.0);
-		PX4_INFO("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
-		PX4_INFO("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
-			 (double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
-		PX4_INFO("hdop: %.2f, vdop: %.2f", (double)_report_gps_pos.hdop, (double)_report_gps_pos.vdop);
-		PX4_INFO("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
+		print_message(_report_gps_pos);
 
 		if (_helper) {
 			PX4_INFO("rate position: \t\t%6.2f Hz", (double)_helper->getPositionUpdateRate());
diff --git a/src/drivers/imu/adis16448/adis16448.cpp b/src/drivers/imu/adis16448/adis16448.cpp
index 4a0a9f35ec2f..660d859e812c 100644
--- a/src/drivers/imu/adis16448/adis16448.cpp
+++ b/src/drivers/imu/adis16448/adis16448.cpp
@@ -1869,16 +1869,7 @@ test()
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / ADIS16448_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -1888,14 +1879,7 @@ test()
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+	print_message(g_report);
 
 	/* do a simple mag demand read */
 	sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -1905,16 +1889,7 @@ test()
 		err(1, "immediate mag read failed");
 	}
 
-	warnx("mag x: \t% 9.5f\tgauss", (double)m_report.x);
-	warnx("mag y: \t% 9.5f\tgauss", (double)m_report.y);
-	warnx("mag z: \t% 9.5f\tgauss", (double)m_report.z);
-	warnx("mag x: \t%d\traw", (int)m_report.x_raw);
-	warnx("mag y: \t%d\traw", (int)m_report.y_raw);
-	warnx("mag z: \t%d\traw", (int)m_report.z_raw);
-	warnx("mag range: %8.4f gauss", (double)m_report.range_ga);
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(m_report);
 
 	/* XXX add poll-rate tests here too */
 	close(fd_mag);
diff --git a/src/drivers/imu/bma180/bma180.cpp b/src/drivers/imu/bma180/bma180.cpp
index 537666653268..d33056be459b 100644
--- a/src/drivers/imu/bma180/bma180.cpp
+++ b/src/drivers/imu/bma180/bma180.cpp
@@ -838,18 +838,7 @@ test()
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / 9.81f));
-
-	/* XXX add poll-rate tests here too */
+	print_message(a_report);
 
 	reset();
 	errx(0, "PASS");
diff --git a/src/drivers/imu/bmi055/bmi055_main.cpp b/src/drivers/imu/bmi055/bmi055_main.cpp
index 3332749517e6..b82ed4f2508a 100644
--- a/src/drivers/imu/bmi055/bmi055_main.cpp
+++ b/src/drivers/imu/bmi055/bmi055_main.cpp
@@ -225,19 +225,7 @@ test(bool external_bus, enum sensor_type sensor)
 			err(1, "immediate accel read failed");
 		}
 
-		warnx("single read");
-		warnx("time:     %lld", a_report.timestamp);
-		warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-		warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-		warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-		warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-		warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-		warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-		warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-		      (double)(a_report.range_m_s2 / BMI055_ONE_G));
-		warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-		warnx("temp:  \t%d\traw 0x%0x", (short)g_report.temperature_raw, (unsigned short)a_report.temperature_raw);
-
+		print_message(a_report);
 
 		/* reset to default polling */
 		if (ioctl(fd_acc, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -261,7 +249,6 @@ test(bool external_bus, enum sensor_type sensor)
 			err(1, "gyro reset to manual polling");
 		}
 
-
 		/* do a simple demand read */
 		sz = read(fd_gyr, &g_report, sizeof(g_report));
 
@@ -270,15 +257,7 @@ test(bool external_bus, enum sensor_type sensor)
 			err(1, "immediate gyro read failed");
 		}
 
-		warnx("gyr x: \t% 9.5f\trad/s", (double)g_report.x);
-		warnx("gyr y: \t% 9.5f\trad/s", (double)g_report.y);
-		warnx("gyr z: \t% 9.5f\trad/s", (double)g_report.z);
-		warnx("gyr x: \t%d\traw", (int)g_report.x_raw);
-		warnx("gyr y: \t%d\traw", (int)g_report.y_raw);
-		warnx("gyr z: \t%d\traw", (int)g_report.z_raw);
-		warnx("gyr range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-		      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
+		print_message(g_report);
 
 		/* reset to default polling */
 		if (ioctl(fd_gyr, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
@@ -286,7 +265,6 @@ test(bool external_bus, enum sensor_type sensor)
 		}
 
 		close(fd_gyr);
-
 	}
 
 	if ((sensor == BMI055_ACCEL) || (sensor == BMI055_GYRO)) {
@@ -295,7 +273,6 @@ test(bool external_bus, enum sensor_type sensor)
 	}
 
 	errx(0, "PASS");
-
 }
 
 /**
diff --git a/src/drivers/imu/bmi160/bmi160_main.cpp b/src/drivers/imu/bmi160/bmi160_main.cpp
index 6b2ce4de9243..a8c4f1062b09 100644
--- a/src/drivers/imu/bmi160/bmi160_main.cpp
+++ b/src/drivers/imu/bmi160/bmi160_main.cpp
@@ -151,16 +151,7 @@ test(bool external_bus)
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / BMI160_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -170,17 +161,7 @@ test(bool external_bus)
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(g_report);
 
 	/* reset to default polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/imu/fxas21002c/fxas21002c.cpp b/src/drivers/imu/fxas21002c/fxas21002c.cpp
index 15dc70661cb1..c978bf6cc208 100644
--- a/src/drivers/imu/fxas21002c/fxas21002c.cpp
+++ b/src/drivers/imu/fxas21002c/fxas21002c.cpp
@@ -1273,16 +1273,7 @@ test()
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("temp: \t%d\tC", (int)g_report.temperature);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+	print_message(g_report);
 
 	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "reset to default polling");
diff --git a/src/drivers/imu/l3gd20/l3gd20.cpp b/src/drivers/imu/l3gd20/l3gd20.cpp
index bf988fa7ea71..7a90de6514ea 100644
--- a/src/drivers/imu/l3gd20/l3gd20.cpp
+++ b/src/drivers/imu/l3gd20/l3gd20.cpp
@@ -1251,16 +1251,7 @@ test()
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("temp: \t%d\tC", (int)g_report.temperature);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("temp: \t%d\traw", (int)g_report.temperature_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
+	print_message(g_report);
 
 	if (ioctl(fd_gyro, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
 		err(1, "reset to default polling");
diff --git a/src/drivers/imu/lsm303d/lsm303d.cpp b/src/drivers/imu/lsm303d/lsm303d.cpp
index b425a3331e62..90c3c2aa3b10 100644
--- a/src/drivers/imu/lsm303d/lsm303d.cpp
+++ b/src/drivers/imu/lsm303d/lsm303d.cpp
@@ -1965,15 +1965,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-
-	warnx("accel x: \t% 9.5f\tm/s^2", (double)accel_report.x);
-	warnx("accel y: \t% 9.5f\tm/s^2", (double)accel_report.y);
-	warnx("accel z: \t% 9.5f\tm/s^2", (double)accel_report.z);
-	warnx("accel x: \t%d\traw", (int)accel_report.x_raw);
-	warnx("accel y: \t%d\traw", (int)accel_report.y_raw);
-	warnx("accel z: \t%d\traw", (int)accel_report.z_raw);
-
-	warnx("accel range: %8.4f m/s^2", (double)accel_report.range_m_s2);
+	print_message(accel_report);
 
 	int fd_mag = -1;
 	struct mag_report m_report;
@@ -1999,13 +1991,7 @@ test()
 		err(1, "immediate read failed");
 	}
 
-	warnx("mag x: \t% 9.5f\tga", (double)m_report.x);
-	warnx("mag y: \t% 9.5f\tga", (double)m_report.y);
-	warnx("mag z: \t% 9.5f\tga", (double)m_report.z);
-	warnx("mag x: \t%d\traw", (int)m_report.x_raw);
-	warnx("mag y: \t%d\traw", (int)m_report.y_raw);
-	warnx("mag z: \t%d\traw", (int)m_report.z_raw);
-	warnx("mag range: %8.4f ga", (double)m_report.range_ga);
+	print_message(m_report);
 
 	/* reset to default polling */
 	if (ioctl(fd_accel, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 16939944c026..df0d5a9a467f 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -2456,16 +2456,7 @@ test(enum MPU6000_BUS busid)
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / MPU6000_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -2475,17 +2466,7 @@ test(enum MPU6000_BUS busid)
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(g_report);
 
 	/* reset to default polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/imu/mpu9250/main.cpp b/src/drivers/imu/mpu9250/main.cpp
index 3dd1a4ff3f10..9c2a82367aa1 100644
--- a/src/drivers/imu/mpu9250/main.cpp
+++ b/src/drivers/imu/mpu9250/main.cpp
@@ -331,16 +331,7 @@ test(enum MPU9250_BUS busid)
 		err(1, "immediate acc read failed");
 	}
 
-	warnx("single read");
-	warnx("time:     %lld", a_report.timestamp);
-	warnx("acc  x:  \t%8.4f\tm/s^2", (double)a_report.x);
-	warnx("acc  y:  \t%8.4f\tm/s^2", (double)a_report.y);
-	warnx("acc  z:  \t%8.4f\tm/s^2", (double)a_report.z);
-	warnx("acc  x:  \t%d\traw 0x%0x", (short)a_report.x_raw, (unsigned short)a_report.x_raw);
-	warnx("acc  y:  \t%d\traw 0x%0x", (short)a_report.y_raw, (unsigned short)a_report.y_raw);
-	warnx("acc  z:  \t%d\traw 0x%0x", (short)a_report.z_raw, (unsigned short)a_report.z_raw);
-	warnx("acc range: %8.4f m/s^2 (%8.4f g)", (double)a_report.range_m_s2,
-	      (double)(a_report.range_m_s2 / MPU9250_ONE_G));
+	print_message(a_report);
 
 	/* do a simple demand read */
 	sz = read(fd_gyro, &g_report, sizeof(g_report));
@@ -350,17 +341,7 @@ test(enum MPU9250_BUS busid)
 		err(1, "immediate gyro read failed");
 	}
 
-	warnx("gyro x: \t% 9.5f\trad/s", (double)g_report.x);
-	warnx("gyro y: \t% 9.5f\trad/s", (double)g_report.y);
-	warnx("gyro z: \t% 9.5f\trad/s", (double)g_report.z);
-	warnx("gyro x: \t%d\traw", (int)g_report.x_raw);
-	warnx("gyro y: \t%d\traw", (int)g_report.y_raw);
-	warnx("gyro z: \t%d\traw", (int)g_report.z_raw);
-	warnx("gyro range: %8.4f rad/s (%d deg/s)", (double)g_report.range_rad_s,
-	      (int)((g_report.range_rad_s / M_PI_F) * 180.0f + 0.5f));
-
-	warnx("temp:  \t%8.4f\tdeg celsius", (double)a_report.temperature);
-	warnx("temp:  \t%d\traw 0x%0x", (short)a_report.temperature_raw, (unsigned short)a_report.temperature_raw);
+	print_message(g_report);
 
 	/* do a simple demand read */
 	sz = read(fd_mag, &m_report, sizeof(m_report));
@@ -370,14 +351,7 @@ test(enum MPU9250_BUS busid)
 		err(1, "immediate mag read failed");
 	}
 
-	warnx("mag x: \t% 9.5f\tGa", (double)m_report.x);
-	warnx("mag y: \t% 9.5f\tGa", (double)m_report.y);
-	warnx("mag z: \t% 9.5f\tGa", (double)m_report.z);
-	warnx("mag x: \t%d\traw", (int)m_report.x_raw);
-	warnx("mag y: \t%d\traw", (int)m_report.y_raw);
-	warnx("mag z: \t%d\traw", (int)m_report.z_raw);
-	warnx("mag range: %8.4f Ga", (double)m_report.range_ga);
-	warnx("mag temp:  %8.4f\tdeg celsius", (double)m_report.temperature);
+	print_message(m_report);
 
 	/* reset to default polling */
 	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
diff --git a/src/drivers/magnetometer/hmc5883/hmc5883.cpp b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
index 031cbb712987..0bf1a1b83b12 100644
--- a/src/drivers/magnetometer/hmc5883/hmc5883.cpp
+++ b/src/drivers/magnetometer/hmc5883/hmc5883.cpp
@@ -1413,12 +1413,7 @@ HMC5883::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
-	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
-	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
-	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)(1.0f / _range_scale), (double)_range_ga);
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 	_reports->print_info("report queue");
 }
 
@@ -1598,9 +1593,7 @@ test(enum HMC5883_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* check if mag is onboard or external */
 	if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
@@ -1639,9 +1632,7 @@ test(enum HMC5883_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	errx(0, "PASS");
diff --git a/src/drivers/magnetometer/ist8310/ist8310.cpp b/src/drivers/magnetometer/ist8310/ist8310.cpp
index 689db00532a8..faec184d53c1 100644
--- a/src/drivers/magnetometer/ist8310/ist8310.cpp
+++ b/src/drivers/magnetometer/ist8310/ist8310.cpp
@@ -1253,12 +1253,7 @@ IST8310::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
-	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
-	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f\n",
-	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)(1.0f / _range_scale));
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 	_reports->print_info("report queue");
 }
 
@@ -1412,17 +1407,13 @@ test(enum IST8310_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	PX4_INFO("single read");
-	PX4_INFO("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-	PX4_INFO("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* check if mag is onboard or external */
 	if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
 		errx(1, "failed to get if mag is onboard or external");
 	}
 
-	PX4_INFO("device active: %s", ret ? "external" : "onboard");
-
 	/* set the queue depth to 5 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
 		errx(1, "failed to set queue depth");
@@ -1453,9 +1444,7 @@ test(enum IST8310_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		PX4_INFO("periodic read %u", i);
-		PX4_INFO("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-		PX4_INFO("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	PX4_INFO("PASS");
diff --git a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
index 5c25f2ace766..b1daa82b0c6a 100644
--- a/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
+++ b/src/drivers/magnetometer/lis3mdl/lis3mdl.cpp
@@ -1297,12 +1297,7 @@ LIS3MDL::print_info()
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_comms_errors);
 	printf("poll interval:  %u ticks\n", _measure_ticks);
-	printf("output  (%.2f %.2f %.2f)\n", (double)_last_report.x, (double)_last_report.y, (double)_last_report.z);
-	printf("offsets (%.2f %.2f %.2f)\n", (double)_scale.x_offset, (double)_scale.y_offset, (double)_scale.z_offset);
-	printf("scaling (%.2f %.2f %.2f) 1/range_scale %.2f range_ga %.2f\n",
-	       (double)_scale.x_scale, (double)_scale.y_scale, (double)_scale.z_scale,
-	       (double)(1.0f / _range_scale), (double)_range_ga);
-	printf("temperature %.2f\n", (double)_last_report.temperature);
+	print_message(_last_report);
 	_reports->print_info("report queue");
 }
 
@@ -1494,17 +1489,13 @@ test(enum LIS3MDL_BUS busid)
 		err(1, "immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-	warnx("time:        %lld", report.timestamp);
+	print_message(report);
 
 	/* check if mag is onboard or external */
 	if ((ret = ioctl(fd, MAGIOCGEXTERNAL, 0)) < 0) {
 		errx(1, "failed to get if mag is onboard or external");
 	}
 
-	warnx("device active: %s", ret ? "external" : "onboard");
-
 	/* set the queue depth to 5 */
 	if (OK != ioctl(fd, SENSORIOCSQUEUEDEPTH, 10)) {
 		errx(1, "failed to set queue depth");
@@ -1535,9 +1526,7 @@ test(enum LIS3MDL_BUS busid)
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-		warnx("measurement: %.6f  %.6f  %.6f", (double)report.x, (double)report.y, (double)report.z);
-		warnx("time:        %lld", report.timestamp);
+		print_message(report);
 	}
 
 	errx(0, "PASS");
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 90355af6e56e..0fecb67b776e 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -872,11 +872,7 @@ test()
 		warnx("immediate read failed");
 	}
 
-	warnx("single read");
-	warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
-	warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
-	warnx("framecount_integral: %u",
-	      f_integral.frame_count_since_last_readout);
+	print_message(report);
 
 	/* start the sensor polling at 10Hz */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, 10)) {
@@ -903,25 +899,7 @@ test()
 			err(1, "periodic read failed");
 		}
 
-		warnx("periodic read %u", i);
-
-		warnx("framecount_total: %u", f.frame_count);
-		warnx("framecount_integral: %u",
-		      f_integral.frame_count_since_last_readout);
-		warnx("pixel_flow_x_integral: %i", f_integral.pixel_flow_x_integral);
-		warnx("pixel_flow_y_integral: %i", f_integral.pixel_flow_y_integral);
-		warnx("gyro_x_rate_integral: %i", f_integral.gyro_x_rate_integral);
-		warnx("gyro_y_rate_integral: %i", f_integral.gyro_y_rate_integral);
-		warnx("gyro_z_rate_integral: %i", f_integral.gyro_z_rate_integral);
-		warnx("integration_timespan [us]: %u", f_integral.integration_timespan);
-		warnx("ground_distance: %0.2f m",
-		      (double) f_integral.ground_distance / 1000);
-		warnx("time since last sonar update [us]: %i",
-		      f_integral.sonar_timestamp);
-		warnx("quality integration average : %i", f_integral.qual);
-		warnx("quality : %i", f.qual);
-
-
+		print_message(report);
 	}
 
 	errx(0, "PASS");
diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index d9137b41c2c7..f3e8276ceae5 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -1214,7 +1214,7 @@ UavcanNode::print_info()
 	printf("ESC mixer: %s\n", (_mixers == nullptr) ? "NONE" : "OK");
 
 	if (_outputs.noutputs != 0) {
-		printf("ESC output: ");
+		PX4_INFO("ESC output: ");
 
 		for (uint8_t i = 0; i < _outputs.noutputs; i++) {
 			printf("%d ", (int)(_outputs.output[i] * 1000));
@@ -1224,28 +1224,11 @@ UavcanNode::print_info()
 
 		// ESC status
 		int esc_sub = orb_subscribe(ORB_ID(esc_status));
-		struct esc_status_s esc;
-		memset(&esc, 0, sizeof(esc));
+		esc_status_s esc = {};
 		orb_copy(ORB_ID(esc_status), esc_sub, &esc);
-
-		printf("ESC Status:\n");
-		printf("Addr\tV\tA\tTemp\tSetpt\tRPM\tErr\n");
-
-		for (uint8_t i = 0; i < _outputs.noutputs; i++) {
-			const float temp_celsius = (esc.esc[i].esc_temperature > 0) ?
-						   (esc.esc[i].esc_temperature - 273.15F) : 0.0F;
-
-			printf("%d\t",    esc.esc[i].esc_address);
-			printf("%3.2f\t", (double)esc.esc[i].esc_voltage);
-			printf("%3.2f\t", (double)esc.esc[i].esc_current);
-			printf("%3.2f\t", (double)temp_celsius);
-			printf("%3.2f\t", (double)esc.esc[i].esc_setpoint);
-			printf("%d\t",    esc.esc[i].esc_rpm);
-			printf("%d",      esc.esc[i].esc_errorcount);
-			printf("\n");
-		}
-
 		orb_unsubscribe(esc_sub);
+
+		print_message(esc);
 	}
 
 	// Sensor bridges
diff --git a/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp b/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
index e82ce1807fec..d3f2a15b0355 100644
--- a/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
+++ b/src/platforms/posix/drivers/airspeedsim/meas_airspeed_sim.cpp
@@ -395,8 +395,7 @@ test()
 		return 1;
 	}
 
-	PX4_WARN("single read");
-	PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
+	print_message(report);
 
 	/* start the sensor polling at 2Hz */
 	if (OK != px4_ioctl(fd, SENSORIOCSPOLLRATE, 2)) {
@@ -423,9 +422,7 @@ test()
 			PX4_WARN("periodic read failed");
 		}
 
-		PX4_WARN("periodic read %u", i);
-		PX4_WARN("diff pressure: %d pa", (int)report.differential_pressure_filtered_pa);
-		PX4_WARN("temperature: %d C (0x%02x)", (int)report.temperature, (unsigned) report.temperature);
+		print_message(report);
 	}
 
 	/* reset the sensor polling to its default rate */
diff --git a/src/platforms/posix/drivers/gpssim/gpssim.cpp b/src/platforms/posix/drivers/gpssim/gpssim.cpp
index 4e4176316dd5..78e4149bf09c 100644
--- a/src/platforms/posix/drivers/gpssim/gpssim.cpp
+++ b/src/platforms/posix/drivers/gpssim/gpssim.cpp
@@ -380,16 +380,7 @@ GPSSIM::print_info()
 		 _report_gps_pos.jamming_indicator == 255 ? "YES" : "NO");
 
 	if (_report_gps_pos.timestamp != 0) {
-		PX4_INFO("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
-			 _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp) / 1000.0);
-		PX4_INFO("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
-		PX4_INFO("vel: %.2fm/s, %.2fm/s, %.2fm/s", (double)_report_gps_pos.vel_n_m_s,
-			 (double)_report_gps_pos.vel_e_m_s, (double)_report_gps_pos.vel_d_m_s);
-		PX4_INFO("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
-		//PX4_INFO("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
-		//PX4_INFO("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
-		PX4_INFO("rate publication:\t%6.2f Hz", (double)_rate);
-
+		print_message(_report_gps_pos);
 	}
 
 	usleep(100000);
diff --git a/src/systemcmds/topic_listener/generate_listener.py b/src/systemcmds/topic_listener/generate_listener.py
index 920b7a1eac32..351a322c02e8 100755
--- a/src/systemcmds/topic_listener/generate_listener.py
+++ b/src/systemcmds/topic_listener/generate_listener.py
@@ -18,74 +18,30 @@
 topics = []
 message_elements = []
 
+# large and not worth printing
+raw_messages = [x for x in raw_messages if not any(exception in x for exception in ['qshell_req', 'ulog_stream', 'gps_inject_data', 'gps_dump'])]
 
 for index,m in enumerate(raw_messages):
-	temp_list_floats = []
-	temp_list_uint64 = []
-	temp_list_bool = []
-	if("pwm_input" not in m and "position_setpoint" not in m):
-		temp_list = []
-		topic_list = []
-		f = open(m,'r')
-		for line in f.readlines():
-			items = re.split('\s+', line.strip())
+	topic_list = []
+	f = open(m,'r')
+	for line in f.readlines():
+		items = re.split('\s+', line.strip())
 
-			if ('float32[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("float_array",items[1],num_floats))
-			elif ('float64[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("double_array",items[1],num_floats))
-			elif ('uint64[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("uint64_array",items[1],num_floats))
-			elif ('uint16[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("uint16_array",items[1],num_floats))
-			elif ('int32[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("int32_array",items[1],num_floats))
-			elif ('int16[' in items[0]):
-				num_floats = int(items[0].split("[")[1].split("]")[0])
-				temp_list.append(("int16_array",items[1],num_floats))
-			elif(items[0] == "float32"):
-				temp_list.append(("float",items[1]))
-			elif(items[0] == "float64"):
-				temp_list.append(("double",items[1]))
-			elif(items[0] == "uint64") and len(line.split('=')) == 1:
-				temp_list.append(("uint64",items[1]))
-			elif(items[0] == "uint32") and len(line.split('=')) == 1:
-				temp_list.append(("uint32",items[1]))
-			elif(items[0] == "uint16") and len(line.split('=')) == 1:
-				temp_list.append(("uint16",items[1]))
-			elif(items[0] == "int64") and len(line.split('=')) == 1:
-				temp_list.append(("int64",items[1]))
-			elif(items[0] == "int32") and len(line.split('=')) == 1:
-				temp_list.append(("int32",items[1]))
-			elif(items[0] == "int16") and len(line.split('=')) == 1:
-				temp_list.append(("int16",items[1]))
-			elif (items[0] == "bool") and len(line.split('=')) == 1:
-				temp_list.append(("bool",items[1]))
-			elif (items[0] == "uint8") and len(line.split('=')) == 1:
-				temp_list.append(("uint8",items[1]))
-			elif (items[0] == "int8") and len(line.split('=')) == 1:
-				temp_list.append(("int8",items[1]))
-			elif '# TOPICS' == ' '.join(items[:2]):
-				for topic in items[2:]:
-					topic_list.append(topic)
+		if '# TOPICS' == ' '.join(items[:2]):
+			for topic in items[2:]:
+				topic_list.append(topic)
 
-		f.close()
+	f.close()
 
-		(m_head, m_tail) = os.path.split(m)
-		message = m_tail.split('.')[0]
+	(m_head, m_tail) = os.path.split(m)
+	message = m_tail.split('.')[0]
 
-		if len(topic_list) == 0:		
-			topic_list.append(message)
+	if len(topic_list) == 0:
+		topic_list.append(message)
 
-		for topic in topic_list:
-			messages.append(message)
-			topics.append(topic)
-			message_elements.append(temp_list)
+	for topic in topic_list:
+		messages.append(message)
+		topics.append(topic)
 
 num_messages = len(messages);
 
@@ -194,81 +150,22 @@
 
 for index, (m, t) in enumerate(zip(messages, topics)):
 	print("void listen_%s(unsigned num_msgs, unsigned topic_instance) {" % t)
-	print("\tint sub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % t)
 	print("\torb_id_t ID = ORB_ID(%s);" % t)
-	print("\tstruct %s_s container;" % m)
-	print("\tmemset(&container, 0, sizeof(container));")
-	print("\tbool updated;")
+	print("\tif (orb_exists(ID, topic_instance) != 0) { printf(\"never published\\n\"); return; }")
+	print("\tint sub = orb_subscribe_multi(ORB_ID(%s), topic_instance);" % t)
+	print("\tbool updated = false;")
 	print("\tunsigned i = 0;")
 	print("\thrt_abstime start_time = hrt_absolute_time();")
 	print("\twhile(i < num_msgs) {")
-	print("\t\torb_check(sub,&updated);")
+	print("\t\torb_check(sub, &updated);")
 	print("\t\tif (i == 0) { updated = true; } else { usleep(500); }")
 	print("\t\tif (updated) {")
-	print("\t\tstart_time = hrt_absolute_time();")
-	print("\t\ti++;")
+	print("\t\t\tstart_time = hrt_absolute_time();")
+	print("\t\t\ti++;")
 	print("\t\tprintf(\"\\nTOPIC: %s instance %%d #%%d\\n\", topic_instance, i);" % t)
-	print("\t\torb_copy(ID,sub,&container);")
-	print("\t\tprintf(\"timestamp: %\" PRIu64 \"\\n\", container.timestamp);")
-	for item in message_elements[index]:
-		if item[0] == "float":
-			print("\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
-		elif item[0] == "float_array":
-			print("\t\tprintf(\"%s: \");" % item[1])
-			print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
-			print("\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
-			print("\t\t}")
-			print("\t\tprintf(\"\\n\");")
-		elif item[0] == "double":
-			print("\t\tprintf(\"%s: %%8.4f\\n\",(double)container.%s);" % (item[1], item[1]))
-		elif item[0] == "double_array":
-			print("\t\tprintf(\"%s: \");" % item[1])
-			print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
-			print("\t\t\tprintf(\"%%8.4f \",(double)container.%s[j]);" % item[1])
-			print("\t\t}")
-			print("\t\tprintf(\"\\n\");")
-		elif item[0] == "uint64":
-			print("\t\tprintf(\"%s: %%\" PRIu64 \"\\n\",container.%s);" % (item[1], item[1]))
-		elif item[0] == "uint64_array":
-			print("\t\tprintf(\"%s: \");" % item[1])
-			print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
-			print("\t\t\tprintf(\"%%\" PRIu64 \" \",container.%s[j]);" % item[1])
-			print("\t\t}")
-			print("\t\tprintf(\"\\n\");")
-		elif item[0] == "uint16_array":
-			print("\t\tprintf(\"%s: \");" % item[1])
-			print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
-			print("\t\t\tprintf(\"%%u \",container.%s[j]);" % item[1])
-			print("\t\t}")
-			print("\t\tprintf(\"\\n\");")
-		elif item[0] == "int32_array":
-			print("\t\tprintf(\"%s: \");" % item[1])
-			print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
-			print("\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
-			print("\t\t}")
-			print("\t\tprintf(\"\\n\");")
-		elif item[0] == "int16_array":
-			print("\t\tprintf(\"%s: \");" % item[1])
-			print("\t\tfor (int j = 0; j < %d; j++) {" % item[2])
-			print("\t\t\tprintf(\"%%d \",container.%s[j]);" % item[1])
-			print("\t\t}")
-			print("\t\tprintf(\"\\n\");")
-		elif item[0] == "int64":
-			print("\t\tprintf(\"%s: %%\" PRId64 \"\\n\",container.%s);" % (item[1], item[1]))
-		elif item[0] == "int32":
-			print("\t\tprintf(\"%s: %%d\\n\",container.%s);" % (item[1], item[1]))
-		elif item[0] == "uint32":
-			print("\t\tprintf(\"%s: %%u\\n\",container.%s);" % (item[1], item[1]))
-		elif item[0] == "int16":
-			print("\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
-		elif item[0] == "uint16":
-			print("\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
-		elif item[0] == "int8":
-			print("\t\tprintf(\"%s: %%d\\n\",(int)container.%s);" % (item[1], item[1]))
-		elif item[0] == "uint8":
-			print("\t\tprintf(\"%s: %%u\\n\",(unsigned)container.%s);" % (item[1], item[1]))
-		elif item[0] == "bool":
-			print("\t\tprintf(\"%s: %%s\\n\",container.%s ? \"True\" : \"False\");" % (item[1], item[1]))
+	print("\t\t%s_s container = {};" % m)
+	print("\t\torb_copy(ID, sub, &container);")
+	print("\t\tprint_message(container);")
 	print("\t\t} else {")
 	print("\t\t\tif (check_timeout(start_time)) {")
 	print("\t\t\t\tbreak;")
@@ -276,4 +173,4 @@
 	print("\t\t}")
 	print("\t}")
 	print("\torb_unsubscribe(sub);")
-	print("}\n")
\ No newline at end of file
+	print("}\n")