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diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 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 vehicle_local_position.h
+ * Definition of the local fused NED position uORB topic.
+ */
+
+#ifndef TOPIC_VEHICLE_LOCAL_POSITION_H_
+#define TOPIC_VEHICLE_LOCAL_POSITION_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ * @{
+ */
+
+/**
+ * Fused local position in NED.
+ */
+struct vehicle_local_position_s
+{
+	uint64_t timestamp;			/**< time of this estimate, in microseconds since system start */
+	bool valid;				/**< true if position satisfies validity criteria of estimator */
+
+	float x;				/**< X positin in meters in NED earth-fixed frame */
+	float y;				/**< X positin in meters in NED earth-fixed frame */
+	float z;				/**< Z positin in meters in NED earth-fixed frame (negative altitude) */
+	float absolute_alt;			/**< Altitude as defined by pressure / GPS, 			LOGME */
+	float vx; 				/**< Ground X Speed (Latitude), m/s in NED				LOGME */
+	float vy;				/**< Ground Y Speed (Longitude), m/s in NED				LOGME */
+	float vz;				/**< Ground Z Speed (Altitude), m/s	in NED				LOGME */
+	float hdg; 				/**< Compass heading in radians -PI..+PI.					  */
+
+	// TODO Add covariances here
+
+	/* Reference position in GPS / WGS84 frame */
+	uint64_t home_timestamp;/**< Time when home position was set						  */
+	int32_t home_lat;		/**< Latitude in 1E7 degrees							LOGME */
+	int32_t home_lon;		/**< Longitude in 1E7 degrees							LOGME */
+	float home_alt;			/**< Altitude in meters									LOGME */
+	float home_hdg; 		/**< Compass heading in radians -PI..+PI.					  */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(vehicle_local_position);
+
+#endif