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diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *           @author Petri Tanskanen <petri.tanskanen@inf.ethz.ch>
+ *           @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file vehicle_control_mode.h
+ * Definition of the vehicle_control_mode uORB topic.
+ * 
+ * All control apps should depend their actions based on the flags set here.
+ */
+
+#ifndef VEHICLE_CONTROL_MODE
+#define VEHICLE_CONTROL_MODE
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics @{
+ */
+
+
+/**
+ * state machine / state of vehicle.
+ *
+ * Encodes the complete system state and is set by the commander app.
+ */
+struct vehicle_control_mode_s
+{
+	uint64_t timestamp; /**< in microseconds since system start, is set whenever the writing thread stores new data */
+
+	bool flag_armed;
+
+	bool flag_external_manual_override_ok;	/**< external override non-fatal for system. Only true for fixed wing */
+
+	// XXX needs yet to be set by state machine helper
+	bool flag_system_hil_enabled;
+
+	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
+	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
+	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
+	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
+	bool flag_control_velocity_enabled;		/**< true if horizontal velocity (implies direction) is controlled */
+	bool flag_control_position_enabled;		/**< true if position is controlled */
+	bool flag_control_altitude_enabled;		/**< true if altitude is controlled */
+	bool flag_control_climb_rate_enabled;		/**< true if climb rate is controlled */
+
+	bool flag_control_auto_enabled;		// TEMP
+	uint8_t auto_state;	// TEMP navigation state for AUTO modes
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_control_mode);
+
+#endif