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diff --git a/apps/drivers/drv_pwm_output.h b/apps/drivers/drv_pwm_output.h
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+++ b/apps/drivers/drv_pwm_output.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * 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 PWM servo output interface.
+ *
+ * Servo values can be set with the PWM_SERVO_SET ioctl, by writing a
+ * pwm_output_values structure to the device, or by publishing to the
+ * output_pwm ObjDev.
+ * Writing a value of 0 to a channel suppresses any output for that
+ * channel.
+ */
+
+#ifndef _DRV_PWM_OUTPUT_H
+#define _DRV_PWM_OUTPUT_H
+
+#include <stdint.h>
+#include <sys/ioctl.h>
+
+#include "drv_orb_dev.h"
+
+/**
+ * Path for the default PWM output device.
+ *
+ * Note that on systems with more than one PWM output path (e.g.
+ * PX4FMU with PX4IO connected) there may be other devices that
+ * respond to this protocol.
+ */
+#define PWM_OUTPUT_DEVICE_PATH	"/dev/pwm_output"
+
+/**
+ * Maximum number of PWM output channels in the system.
+ */
+#define PWM_OUTPUT_MAX_CHANNELS	16
+
+/**
+ * Servo output signal type, value is actual servo output pulse
+ * width in microseconds.
+ */
+typedef uint16_t	servo_position_t;
+
+/**
+ * Servo output status structure.
+ *
+ * May be published to output_pwm, or written to a PWM output
+ * device.
+ */
+struct pwm_output_values {
+	/** desired servo update rate in Hz */
+	uint32_t		update_rate;
+
+	/** desired pulse widths for each of the supported channels */
+	servo_position_t	values[PWM_OUTPUT_MAX_CHANNELS];
+};
+
+/*
+ * ObjDev tag for PWM outputs.
+ */
+ORB_DECLARE(output_pwm);
+
+/*
+ * ioctl() definitions
+ *
+ * Note that ioctls and ObjDev updates should not be mixed, as the
+ * behaviour of the system in this case is not defined.
+ */
+#define _PWM_SERVO_BASE		0x7500
+
+/** arm all servo outputs handle by this driver */
+#define PWM_SERVO_ARM		_IOC(_PWM_SERVO_BASE, 0)
+
+/** disarm all servo outputs (stop generating pulses) */
+#define PWM_SERVO_DISARM	_IOC(_PWM_SERVO_BASE, 1)
+
+/** set a single servo to a specific value */
+#define PWM_SERVO_SET(_servo)	_IOC(_PWM_SERVO_BASE, 0x20 + _servo)
+
+/** get a single specific servo value */
+#define PWM_SERVO_GET(_servo)	_IOC(_PWM_SERVO_BASE, 0x40 + _servo)
+
+
+#endif /* _DRV_PWM_OUTPUT_H */