diff --git a/CMakeLists.txt b/CMakeLists.txt
index 457a0bfa74..bfd7b662b1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,6 +80,7 @@ add_message_files(
   vehicle_global_velocity_setpoint.msg
   offboard_control_mode.msg
   vehicle_force_setpoint.msg
+  distance_sensor.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/distance_sensor.msg b/msg/distance_sensor.msg
new file mode 100644
index 0000000000..ef11c586fc
--- /dev/null
+++ b/msg/distance_sensor.msg
@@ -0,0 +1,17 @@
+# DISTANCE_SENSOR message data
+
+uint32 time_boot_ms
+
+uint16 min_distance
+uint16 max_distance
+uint16 current_distance
+
+uint8 type
+uint8 MAV_DISTANCE_SENSOR_LASER = 0
+uint8 MAV_DISTANCE_SENSOR_ULTRASOUND = 1
+uint8 MAV_DISTANCE_SENSOR_INFRARED = 2
+
+uint8 id
+
+uint8 orientation
+uint8 covariance
\ No newline at end of file
diff --git a/src/modules/uORB/topics/distance_sensor.h b/src/modules/uORB/topics/distance_sensor.h
index ea123c7faf..b3eb9e4f0f 100644
--- a/src/modules/uORB/topics/distance_sensor.h
+++ b/src/modules/uORB/topics/distance_sensor.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
- *   Author: @author Nuno Marques <n.marques21@hotmail.com>
+ *   Copyright (C) 2013-2015 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
@@ -32,38 +31,47 @@
  *
  ****************************************************************************/
 
-/**
- * @file distance_sensor.h
- * Definition of the distance sensor uORB topic.
- */
+/* Auto-generated by genmsg_cpp from file /home/nuno/px4/Firmware/msg/distance_sensor.msg */
 
-#ifndef TOPIC_DISTANCE_SENSOR_H_
-#define TOPIC_DISTANCE_SENSOR_H_
+
+#pragma once
 
 #include <stdint.h>
-#include <stdbool.h>
-#include "../uORB.h"
+#include <uORB/uORB.h>
+
+
+#ifndef __cplusplus
+#define MAV_DISTANCE_SENSOR_LASER 0
+#define MAV_DISTANCE_SENSOR_ULTRASOUND 1
+#define MAV_DISTANCE_SENSOR_INFRARED 2
+
+#endif
 
 /**
  * @addtogroup topics
+ * @{
  */
 
-/**
- * Distance sensor data, with range in centimeters (not in SI).
- *
- * @see http://en.wikipedia.org/wiki/International_System_of_Units
- */
+
+#ifdef __cplusplus
+struct __EXPORT distance_sensor_s {
+#else
 struct distance_sensor_s {
+#endif
+	uint32_t time_boot_ms;
+	uint16_t min_distance;
+	uint16_t max_distance;
+	uint16_t current_distance;
+	uint8_t type;
+	uint8_t id;
+	uint8_t orientation;
+	uint8_t covariance;
+#ifdef __cplusplus
+	static const uint8_t MAV_DISTANCE_SENSOR_LASER = 0;
+	static const uint8_t MAV_DISTANCE_SENSOR_ULTRASOUND = 1;
+	static const uint8_t MAV_DISTANCE_SENSOR_INFRARED = 2;
 
-	uint32_t time_boot_ms; /**< Time since system boot */
-	uint16_t min_distance; /**< Minimum distance the sensor can measure in centimeters */
-	uint16_t max_distance; /**< Maximum distance the sensor can measure in centimeters */
-	uint16_t current_distance; /**< Current distance reading */
-	uint8_t type; /**< Type from MAV_DISTANCE_SENSOR enum */
-	uint8_t id; /**< Onboard ID of the sensor */
-	uint8_t orientation; /**< Direction the sensor faces from MAV_SENSOR_ORIENTATION enum */
-	uint8_t covariance; /**< Measurement covariance in centimeters, 0 for unknown / invalid readings */
-
+#endif
 };
 
 /**
@@ -72,5 +80,3 @@ struct distance_sensor_s {
 
 /* register this as object request broker structure */
 ORB_DECLARE(distance_sensor);
-
-#endif
\ No newline at end of file