diff --git a/msg/sensor_gyro.msg b/msg/sensor_gyro.msg
new file mode 100644
index 0000000000..4a252269e8
--- /dev/null
+++ b/msg/sensor_gyro.msg
@@ -0,0 +1,13 @@
+uint64 timestamp
+uint64 error_count
+float32 x		# angular velocity in the NED X board axis in rad/s
+float32 y		# angular velocity in the NED Y board axis in rad/s
+float32 z		# angular velocity in the NED Z board axis in rad/s
+float32 temperature	# temperature in degrees celcius
+float32 range_rad_s
+float32 scaling
+
+int16 x_raw
+int16 y_raw
+int16 z_raw
+int16 temperature_raw
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 8e80413ac9..feaa38881f 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -51,25 +51,8 @@
 #define GYRO1_DEVICE_PATH	"/dev/gyro1"
 #define GYRO2_DEVICE_PATH	"/dev/gyro2"
 
-/**
- * gyro report structure.  Reads from the device must be in multiples of this
- * structure.
- */
-struct gyro_report {
-	uint64_t timestamp;
-	uint64_t error_count;
-	float x;		/**< angular velocity in the NED X board axis in rad/s */
-	float y;		/**< angular velocity in the NED Y board axis in rad/s */
-	float z;		/**< angular velocity in the NED Z board axis in rad/s */
-	float temperature;	/**< temperature in degrees celcius */
-	float range_rad_s;
-	float scaling;
-
-	int16_t x_raw;
-	int16_t y_raw;
-	int16_t z_raw;
-	int16_t temperature_raw;
-};
+#include <uOrb/topics/sensor_gyro.h>
+#define gyro_report sensor_gyro_s
 
 /** gyro scaling factors; Vout = (Vin * Vscale) + Voffset */
 struct gyro_scale {
@@ -81,11 +64,6 @@ struct gyro_scale {
 	float	z_scale;
 };
 
-/*
- * ObjDev tag for raw gyro data.
- */
-ORB_DECLARE(sensor_gyro);
-
 /*
  * ioctl() definitions
  */