diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg
new file mode 100644
index 0000000000..92e5303a6a
--- /dev/null
+++ b/msg/estimator_status.msg
@@ -0,0 +1,6 @@
+uint64 timestamp		# Timestamp in microseconds since boot
+float32[32] states		# Internal filter states
+float32 n_states		# Number of states effectively used
+uint8 nan_flags			# Bitmask to indicate NaN states
+uint8 health_flags		# Bitmask to indicate sensor health states (vel, pos, hgt)
+uint8 timeout_flags		# Bitmask to indicate timeout flags (vel, pos, hgt)
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index e0b4cb2a0d..f3fe048e78 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -395,7 +395,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
 		}
 	}
 
-	struct estimator_status_report rep;
+	struct estimator_status_s rep;
 
 	memset(&rep, 0, sizeof(rep));
 
diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h
deleted file mode 100644
index 7f26b505b7..0000000000
--- a/src/modules/uORB/topics/estimator_status.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2014 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 estimator_status.h
- * Definition of the estimator_status_report uORB topic.
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#ifndef ESTIMATOR_STATUS_H_
-#define ESTIMATOR_STATUS_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-/**
- * Estimator status report.
- *
- * This is a generic status report struct which allows any of the onboard estimators
- * to write the internal state to the system log.
- *
- */
-struct estimator_status_report {
-
-	/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only   */
-
-	uint64_t timestamp;			/**< Timestamp in microseconds since boot */
-	float states[32];			/**< Internal filter states */
-	float n_states;				/**< Number of states effectively used */
-	uint8_t nan_flags;			/**< Bitmask to indicate NaN states */
-	uint8_t health_flags;			/**< Bitmask to indicate sensor health states (vel, pos, hgt) */
-	uint8_t timeout_flags;			/**< Bitmask to indicate timeout flags (vel, pos, hgt) */
-
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(estimator_status);
-
-#endif