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diff --git a/apps/uORB/topics/ardrone_control.h b/apps/uORB/topics/ardrone_control.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           @author Julian Oes <joes@student.ethz.ch>
+ *           @author Lorenz Meier <lm@inf.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 ardrone_control.c
+ * Definition of the ardrone_control uORB topic.
+ */
+
+#ifndef TOPIC_ARDRONE_CONTROL_H_
+#define TOPIC_ARDRONE_CONTROL_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+struct ardrone_control_s
+{
+	uint16_t counter;                    /**< incremented by the publishing thread everytime new data is stored. */
+	uint64_t timestamp;                  /**< in microseconds since system start, is set whenever the writing thread stores new data. */
+
+	float setpoint_rate_cast[3];
+	float setpoint_thrust_cast;          /**< LOGME */
+	float setpoint_attitude_rate[3];
+	float setpoint_attitude[3];          /**< LOGME */
+	float attitude_control_output[3];    /**< roll, pitch, yaw. */
+	float position_control_output[3];    /**< x, y, z.  */
+	float attitude_setpoint_navigationframe_from_positioncontroller[3]; /**< LOGME */
+	float gyro_scaled[3];
+	float gyro_filtered[3];
+	float gyro_filtered_offset[3];
+	float zcompensation;
+	uint16_t motor_front_nw;
+	uint16_t motor_right_ne;
+	uint16_t motor_back_se;
+	uint16_t motor_left_sw;
+
+}; /**< ardrone control status */
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(ardrone_control);
+
+#endif /* TOPIC_ARDRONE_CONTROL_H_ */