diff --git a/msg/actuator_direct.msg b/msg/actuator_direct.msg
new file mode 100644
index 0000000000..c798f5101f
--- /dev/null
+++ b/msg/actuator_direct.msg
@@ -0,0 +1,4 @@
+uint8 NUM_ACTUATORS_DIRECT = 16
+uint64 timestamp			# timestamp in us since system boot
+uint32 nvalues				# number of valid values
+float32[16] values			# actuator values, from -1 to 1
diff --git a/src/modules/uORB/topics/actuator_direct.h b/src/modules/uORB/topics/actuator_direct.h
deleted file mode 100644
index 5f9d0f56dd..0000000000
--- a/src/modules/uORB/topics/actuator_direct.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * 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 actuator_direct.h
- *
- * Actuator direct values.
- *
- * Values published to this topic are the direct actuator values which
- * should be passed to actuators, bypassing mixing
- */
-
-#ifndef TOPIC_ACTUATOR_DIRECT_H
-#define TOPIC_ACTUATOR_DIRECT_H
-
-#include <stdint.h>
-#include "../uORB.h"
-
-#define NUM_ACTUATORS_DIRECT		16
-
-/**
- * @addtogroup topics
- * @{
- */
-
-struct actuator_direct_s {
-	uint64_t timestamp;				/**< timestamp in us since system boot */
-	float values[NUM_ACTUATORS_DIRECT];		/**< actuator values, from -1 to 1 */
-	unsigned nvalues;				/**< number of valid values */
-};
-
-/**
- * @}
- */
-
-/* actuator direct ORB */
-ORB_DECLARE(actuator_direct);
-
-#endif // TOPIC_ACTUATOR_DIRECT_H