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diff --git a/src/modules/uORB/topics/subsystem_info.h b/src/modules/uORB/topics/subsystem_info.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Lorenz Meier <lm@inf.ethz.ch>
+ *           Thomas Gubler <thomasgubler@student.ethz.ch>
+ *           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 subsystem_info.h
+ * Definition of the subsystem info topic.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ * @author Thomas Gubler <thomasgubler@student.ethz.ch>
+ * @author Julian Oes <joes@student.ethz.ch>
+ */
+
+#ifndef TOPIC_SUBSYSTEM_INFO_H_
+#define TOPIC_SUBSYSTEM_INFO_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+enum SUBSYSTEM_TYPE
+{
+	SUBSYSTEM_TYPE_GYRO = 1,
+	SUBSYSTEM_TYPE_ACC = 2,
+	SUBSYSTEM_TYPE_MAG = 4,
+	SUBSYSTEM_TYPE_ABSPRESSURE = 8,
+	SUBSYSTEM_TYPE_DIFFPRESSURE = 16,
+	SUBSYSTEM_TYPE_GPS = 32,
+	SUBSYSTEM_TYPE_OPTICALFLOW = 64,
+	SUBSYSTEM_TYPE_CVPOSITION = 128,
+	SUBSYSTEM_TYPE_LASERPOSITION = 256,
+	SUBSYSTEM_TYPE_EXTERNALGROUNDTRUTH = 512,
+	SUBSYSTEM_TYPE_ANGULARRATECONTROL = 1024,
+	SUBSYSTEM_TYPE_ATTITUDESTABILIZATION = 2048,
+	SUBSYSTEM_TYPE_YAWPOSITION = 4096,
+	SUBSYSTEM_TYPE_ALTITUDECONTROL = 16384,
+	SUBSYSTEM_TYPE_POSITIONCONTROL = 32768,
+	SUBSYSTEM_TYPE_MOTORCONTROL = 65536,
+	SUBSYSTEM_TYPE_RANGEFINDER = 131072
+};
+
+/**
+ * State of individual sub systems
+ */
+struct subsystem_info_s {
+	bool present;
+	bool enabled;
+	bool ok;
+
+	enum SUBSYSTEM_TYPE subsystem_type;
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(subsystem_info);
+
+#endif /* TOPIC_SUBSYSTEM_INFO_H_ */
+