diff --git a/src/modules/uORB/topics/distance_sensor.h b/src/modules/uORB/topics/distance_sensor.h
new file mode 100644
index 0000000000..ea123c7faf
--- /dev/null
+++ b/src/modules/uORB/topics/distance_sensor.h
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: @author Nuno Marques <n.marques21@hotmail.com>
+ *
+ * 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 distance_sensor.h
+ * Definition of the distance sensor uORB topic.
+ */
+
+#ifndef TOPIC_DISTANCE_SENSOR_H_
+#define TOPIC_DISTANCE_SENSOR_H_
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "../uORB.h"
+
+/**
+ * @addtogroup topics
+ */
+
+/**
+ * Distance sensor data, with range in centimeters (not in SI).
+ *
+ * @see http://en.wikipedia.org/wiki/International_System_of_Units
+ */
+struct distance_sensor_s {
+
+	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 */
+
+};
+
+/**
+ * @}
+ */
+
+/* register this as object request broker structure */
+ORB_DECLARE(distance_sensor);
+
+#endif
\ No newline at end of file