diff --git a/msg/px4_msgs/actuator_armed.msg b/msg/actuator_armed.msg
similarity index 100%
rename from msg/px4_msgs/actuator_armed.msg
rename to msg/actuator_armed.msg
diff --git a/msg/px4_msgs/actuator_controls.msg b/msg/actuator_controls.msg
similarity index 100%
rename from msg/px4_msgs/actuator_controls.msg
rename to msg/actuator_controls.msg
diff --git a/msg/actuator_controls_0.msg b/msg/actuator_controls_0.msg
new file mode 100644
index 0000000000..743f20cdff
--- /dev/null
+++ b/msg/actuator_controls_0.msg
@@ -0,0 +1,4 @@
+uint8 NUM_ACTUATOR_CONTROLS = 8
+uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
+uint64 timestamp
+float32[8] control
diff --git a/msg/px4_msgs/manual_control_setpoint.msg b/msg/manual_control_setpoint.msg
similarity index 100%
rename from msg/px4_msgs/manual_control_setpoint.msg
rename to msg/manual_control_setpoint.msg
diff --git a/msg/px4_msgs/parameter_update.msg b/msg/parameter_update.msg
similarity index 100%
rename from msg/px4_msgs/parameter_update.msg
rename to msg/parameter_update.msg
diff --git a/msg/px4_msgs/rc_channels.msg b/msg/rc_channels.msg
similarity index 100%
rename from msg/px4_msgs/rc_channels.msg
rename to msg/rc_channels.msg
diff --git a/msg/templates/msg.h.template b/msg/templates/msg.h.template
index 5fce506b6b..19068a3a1e 100644
--- a/msg/templates/msg.h.template
+++ b/msg/templates/msg.h.template
@@ -104,7 +104,8 @@ type_map = {'int8': 'int8_t',
   'uint32': 'uint32_t',
   'uint64': 'uint64_t',
   'float32': 'float',
-  'bool': 'bool'}
+  'bool': 'bool',
+  'fence_vertex': 'fence_vertex'}
 
 # Function to print a standard ros type
 def print_field_def(field):
diff --git a/msg/px4_msgs/vehicle_attitude.msg b/msg/vehicle_attitude.msg
similarity index 100%
rename from msg/px4_msgs/vehicle_attitude.msg
rename to msg/vehicle_attitude.msg
diff --git a/msg/px4_msgs/vehicle_attitude_setpoint.msg b/msg/vehicle_attitude_setpoint.msg
similarity index 100%
rename from msg/px4_msgs/vehicle_attitude_setpoint.msg
rename to msg/vehicle_attitude_setpoint.msg
diff --git a/msg/px4_msgs/vehicle_control_mode.msg b/msg/vehicle_control_mode.msg
similarity index 100%
rename from msg/px4_msgs/vehicle_control_mode.msg
rename to msg/vehicle_control_mode.msg
diff --git a/msg/px4_msgs/vehicle_rates_setpoint.msg b/msg/vehicle_rates_setpoint.msg
similarity index 100%
rename from msg/px4_msgs/vehicle_rates_setpoint.msg
rename to msg/vehicle_rates_setpoint.msg