diff --git a/msg/px4_msgs/actuator_armed.msg b/msg/px4_msgs/actuator_armed.msg
new file mode 100644
index 0000000000..b83adb8f24
--- /dev/null
+++ b/msg/px4_msgs/actuator_armed.msg
@@ -0,0 +1,6 @@
+
+uint64 timestamp	# Microseconds since system boot
+bool armed		# Set to true if system is armed
+bool ready_to_arm	# Set to true if system is ready to be armed
+bool lockdown		# Set to true if actuators are forced to being disabled (due to emergency or HIL)
+bool force_failsafe	# Set to true if the actuators are forced to the failsafe position
diff --git a/msg/px4_msgs/unused/actuator_armed.msg b/msg/px4_msgs/unused/actuator_armed.msg
deleted file mode 100644
index f6bf583073..0000000000
--- a/msg/px4_msgs/unused/actuator_armed.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-
-uint64 timestamp	# Microseconds since system boot
-bool armed          # Set to true if system is armed
-bool ready_to_arm	# Set to true if system is ready to be armed
-bool lockdown	    # Set to true if actuators are forced to being disabled (due to emergency or HIL)
-bool force_failsafe # Set to true if the actuators are forced to the failsafe position
diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h
index 036dd4c48f..49c8dad7d3 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -53,7 +53,6 @@
 #include <errno.h>
 #include <math.h>
 
-#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
 #include <systemlib/perf_counter.h>
 #include <lib/mathlib/mathlib.h>
diff --git a/src/modules/uORB/topics/actuator_armed.h b/src/modules/uORB/topics/actuator_armed.h
index 1e10e0ad12..918a305fdd 100644
--- a/src/modules/uORB/topics/actuator_armed.h
+++ b/src/modules/uORB/topics/actuator_armed.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2014 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
@@ -31,32 +31,28 @@
  *
  ****************************************************************************/
 
-/**
- * @file actuator_armed.h
- *
- * Actuator armed topic
- *
- */
+ /* Auto-generated by genmsg_cpp from file /home/thomasgubler/src/catkin_ws/src/Firmware/msg/px4_msgs/actuator_armed.msg */
 
-#ifndef TOPIC_ACTUATOR_ARMED_H
-#define TOPIC_ACTUATOR_ARMED_H
+
+#pragma once
 
 #include <stdint.h>
-#include <platforms/px4_defines.h>
+#include "../uORB.h"
+
+
 
 /**
  * @addtogroup topics
  * @{
  */
 
-/** global 'actuator output is live' control. */
-struct actuator_armed_s {
 
-	uint64_t	timestamp;	/**< Microseconds since system boot */
-	bool		armed;		/**< Set to true if system is armed */
-	bool		ready_to_arm;	/**< Set to true if system is ready to be armed */
-	bool		lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
-	bool		force_failsafe; /**< Set to true if the actuators are forced to the failsafe position */
+struct actuator_armed_s {
+	uint64_t timestamp;
+	bool armed;
+	bool ready_to_arm;
+	bool lockdown;
+	bool force_failsafe;
 };
 
 /**
@@ -65,5 +61,3 @@ struct actuator_armed_s {
 
 /* register this as object request broker structure */
 ORB_DECLARE(actuator_armed);
-
-#endif
diff --git a/src/platforms/px4_includes.h b/src/platforms/px4_includes.h
index a8b94076e6..b7771072ff 100644
--- a/src/platforms/px4_includes.h
+++ b/src/platforms/px4_includes.h
@@ -61,6 +61,7 @@
 #include <uORB/topics/vehicle_rates_setpoint.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_control_mode.h>
+#include <uORB/topics/actuator_armed.h>
 #include <systemlib/err.h>
 #include <systemlib/param/param.h>