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diff --git a/src/modules/uORB/topics/offboard_control_setpoint.h b/src/modules/uORB/topics/offboard_control_setpoint.h
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+/****************************************************************************
+ *
+ *	 Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ *	 Author: @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 offboard_control_setpoint.h
+ * Definition of the manual_control_setpoint uORB topic.
+ */
+
+#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
+
+#include <stdint.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Off-board control inputs.
+ * 
+ * Typically sent by a ground control station / joystick or by
+ * some off-board controller via C or SIMULINK.
+ */
+enum OFFBOARD_CONTROL_MODE
+{
+	OFFBOARD_CONTROL_MODE_DIRECT = 0,
+	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
+	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
+	OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
+	OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
+	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
+	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
+};
+
+struct offboard_control_setpoint_s {
+	uint64_t timestamp;
+
+	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */
+	bool armed;	/**< Armed flag set, yes / no */
+	float p1;	/**< ailerons roll / roll rate input */
+	float p2;	/**< elevator / pitch / pitch rate */
+	float p3;	/**< rudder / yaw rate / yaw */
+	float p4;	/**< throttle / collective thrust / altitude */
+
+	float override_mode_switch;
+
+	float aux1_cam_pan_flaps;
+	float aux2_cam_tilt;
+	float aux3_cam_zoom;
+	float aux4_cam_roll;
+
+}; /**< offboard control inputs */
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(offboard_control_setpoint);
+
+#endif