diff --git a/msg/output_pwm.msg b/msg/output_pwm.msg
new file mode 100644
index 0000000000..1418a43e6e
--- /dev/null
+++ b/msg/output_pwm.msg
@@ -0,0 +1,3 @@
+uint8 PWM_OUTPUT_MAX_CHANNELS = 16
+uint16[16] values
+uint32 channel_count
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index eda113f5e4..fc619866be 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -61,10 +61,17 @@ __BEGIN_DECLS
 #define PWM_OUTPUT_BASE_DEVICE_PATH "/dev/pwm_output"
 #define PWM_OUTPUT0_DEVICE_PATH	"/dev/pwm_output0"
 
+#include <uORB/topics/output_pwm.h>
+#define pwm_output_values output_pwm_s
+
+#ifndef PWM_OUTPUT_MAX_CHANNELS
+ #define PWM_OUTPUT_MAX_CHANNELS output_pwm_s::PWM_OUTPUT_MAX_CHANNELS
+#endif
+
 /**
  * Maximum number of PWM output channels supported by the device.
  */
-#define PWM_OUTPUT_MAX_CHANNELS	16
+//#define PWM_OUTPUT_MAX_CHANNELS	16
 
 /**
  * Lowest minimum PWM in us
@@ -107,19 +114,6 @@ __BEGIN_DECLS
  */
 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 pulse widths for each of the supported channels */
-	servo_position_t	values[PWM_OUTPUT_MAX_CHANNELS];
-	unsigned			channel_count;
-};
-
-
 /**
  * RC config values for a channel
  *
@@ -136,11 +130,6 @@ struct pwm_output_rc_config {
 	bool     rc_reverse;
 };
 
-/*
- * ORB tag for PWM outputs.
- */
-ORB_DECLARE(output_pwm);
-
 /*
  * ioctl() definitions
  *