diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp
index d43e3aef9e..5d1f58b854 100644
--- a/src/drivers/md25/md25.cpp
+++ b/src/drivers/md25/md25.cpp
@@ -52,7 +52,7 @@
 #include <arch/board/board.h>
 #include <mavlink/mavlink_log.h>
 
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 
@@ -587,7 +587,7 @@ int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitu
 	float prev_revolution = md25.getRevolutions1();
 
 	// debug publication
-	control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
+	uORB::Publication<debug_key_value_s> debug_msg(NULL,
 			ORB_ID(debug_key_value));
 
 	// sine wave for motor 1
diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp
index 1661f67f9a..962c6b881d 100644
--- a/src/drivers/md25/md25.hpp
+++ b/src/drivers/md25/md25.hpp
@@ -46,7 +46,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -270,7 +270,7 @@ private:
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	control::UOrbSubscription<actuator_controls_s> _actuators;
+	uORB::Subscription<actuator_controls_s> _actuators;
 
 	// local copy of data from i2c device
 	uint8_t _version;
diff --git a/src/drivers/roboclaw/RoboClaw.cpp b/src/drivers/roboclaw/RoboClaw.cpp
index d65a9be361..dd5e4d3e0c 100644
--- a/src/drivers/roboclaw/RoboClaw.cpp
+++ b/src/drivers/roboclaw/RoboClaw.cpp
@@ -53,7 +53,7 @@
 #include <arch/board/board.h>
 #include <mavlink/mavlink_log.h>
 
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_hrt.h>
 
diff --git a/src/drivers/roboclaw/RoboClaw.hpp b/src/drivers/roboclaw/RoboClaw.hpp
index e9f35cf956..58994d6fa6 100644
--- a/src/drivers/roboclaw/RoboClaw.hpp
+++ b/src/drivers/roboclaw/RoboClaw.hpp
@@ -45,7 +45,7 @@
 
 #include <poll.h>
 #include <stdio.h>
-#include <controllib/uorb/UOrbSubscription.hpp>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <drivers/device/i2c.h>
 
@@ -169,7 +169,7 @@ private:
 	struct pollfd _controlPoll;
 
 	/** actuator controls subscription */
-	control::UOrbSubscription<actuator_controls_s> _actuators;
+	uORB::Subscription<actuator_controls_s> _actuators;
 
 	// private data
 	float _motor1Position;
diff --git a/src/modules/controllib/block/List.hpp b/src/include/containers/List.hpp
similarity index 96%
rename from src/modules/controllib/block/List.hpp
rename to src/include/containers/List.hpp
index 96b0b94d10..13cbda9382 100644
--- a/src/modules/controllib/block/List.hpp
+++ b/src/include/containers/List.hpp
@@ -32,9 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file Node.h
+ * @file List.hpp
  *
- * A node of a linked list.
+ * A linked list.
  */
 
 #pragma once
@@ -43,7 +43,7 @@ template<class T>
 class __EXPORT ListNode
 {
 public:
-	ListNode() : _sibling(NULL) {
+	ListNode() : _sibling(nullptr) {
 	}
 	void setSibling(T sibling) { _sibling = sibling; }
 	T getSibling() { return _sibling; }
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
index 46ee4b6c8e..caf93bc787 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp
@@ -47,8 +47,8 @@
 #include <mathlib/mathlib.h>
 #include <controllib/blocks.hpp>
 #include <controllib/block/BlockParam.hpp>
-#include <controllib/uorb/UOrbSubscription.hpp>
-#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
 
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_global_position.h>
@@ -138,13 +138,13 @@ protected:
 	math::Matrix<3,3> C_nb;             /**< direction cosine matrix from body to nav frame */
 	math::Quaternion q;         /**< quaternion from body to nav frame */
 	// subscriptions
-	control::UOrbSubscription<sensor_combined_s> _sensors;          /**< sensors sub. */
-	control::UOrbSubscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
-	control::UOrbSubscription<parameter_update_s> _param_update;    /**< parameter update sub. */
+	uORB::Subscription<sensor_combined_s> _sensors;          /**< sensors sub. */
+	uORB::Subscription<vehicle_gps_position_s> _gps;         /**< gps sub. */
+	uORB::Subscription<parameter_update_s> _param_update;    /**< parameter update sub. */
 	// publications
-	control::UOrbPublication<vehicle_global_position_s> _pos;       /**< position pub. */
-	control::UOrbPublication<vehicle_local_position_s> _localPos;   /**< local position pub. */
-	control::UOrbPublication<vehicle_attitude_s> _att;              /**< attitude pub. */
+	uORB::Publication<vehicle_global_position_s> _pos;       /**< position pub. */
+	uORB::Publication<vehicle_local_position_s> _localPos;   /**< local position pub. */
+	uORB::Publication<vehicle_attitude_s> _att;              /**< attitude pub. */
 	// time stamps
 	uint64_t _pubTimeStamp;     /**< output data publication time stamp */
 	uint64_t _predictTimeStamp; /**< prediction time stamp */
diff --git a/src/modules/controllib/block/Block.cpp b/src/modules/controllib/block/Block.cpp
index b964d40a31..6768bfa7ed 100644
--- a/src/modules/controllib/block/Block.cpp
+++ b/src/modules/controllib/block/Block.cpp
@@ -41,10 +41,11 @@
 #include <string.h>
 #include <stdio.h>
 
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
+
 #include "Block.hpp"
 #include "BlockParam.hpp"
-#include "../uorb/UOrbSubscription.hpp"
-#include "../uorb/UOrbPublication.hpp"
 
 namespace control
 {
@@ -100,7 +101,7 @@ void Block::updateParams()
 
 void Block::updateSubscriptions()
 {
-	UOrbSubscriptionBase *sub = getSubscriptions().getHead();
+	uORB::SubscriptionBase *sub = getSubscriptions().getHead();
 	int count = 0;
 
 	while (sub != NULL) {
@@ -118,7 +119,7 @@ void Block::updateSubscriptions()
 
 void Block::updatePublications()
 {
-	UOrbPublicationBase *pub = getPublications().getHead();
+	uORB::PublicationBase *pub = getPublications().getHead();
 	int count = 0;
 
 	while (pub != NULL) {
diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
index 258701f279..736698e213 100644
--- a/src/modules/controllib/block/Block.hpp
+++ b/src/modules/controllib/block/Block.hpp
@@ -42,7 +42,13 @@
 #include <stdint.h>
 #include <inttypes.h>
 
-#include "List.hpp"
+#include <containers/List.hpp>
+
+// forward declaration
+namespace uORB {
+	class SubscriptionBase;
+	class PublicationBase;
+}
 
 namespace control
 {
@@ -55,8 +61,6 @@ static const uint8_t blockNameLengthMax = 80;
 
 // forward declaration
 class BlockParamBase;
-class UOrbSubscriptionBase;
-class UOrbPublicationBase;
 class SuperBlock;
 
 /**
@@ -79,15 +83,15 @@ public:
 protected:
 // accessors
 	SuperBlock *getParent() { return _parent; }
-	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
-	List<UOrbPublicationBase *> & getPublications() { return _publications; }
+	List<uORB::SubscriptionBase *> & getSubscriptions() { return _subscriptions; }
+	List<uORB::PublicationBase *> & getPublications() { return _publications; }
 	List<BlockParamBase *> & getParams() { return _params; }
 // attributes
 	const char *_name;
 	SuperBlock *_parent;
 	float _dt;
-	List<UOrbSubscriptionBase *> _subscriptions;
-	List<UOrbPublicationBase *> _publications;
+	List<uORB::SubscriptionBase *> _subscriptions;
+	List<uORB::PublicationBase *> _publications;
 	List<BlockParamBase *> _params;
 };
 
diff --git a/src/modules/controllib/block/BlockParam.cpp b/src/modules/controllib/block/BlockParam.cpp
index fd12e365dc..8f98da74fa 100644
--- a/src/modules/controllib/block/BlockParam.cpp
+++ b/src/modules/controllib/block/BlockParam.cpp
@@ -76,4 +76,29 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_pref
 		printf("error finding param: %s\n", fullname);
 };
 
+template <class T>
+BlockParam<T>::BlockParam(Block *block, const char *name,
+		bool parent_prefix) :
+	BlockParamBase(block, name, parent_prefix),
+	_val() {
+	update();
+}
+
+template <class T>
+T BlockParam<T>::get() { return _val; }
+
+template <class T>
+void BlockParam<T>::set(T val) { _val = val; }
+
+template <class T>
+void BlockParam<T>::update() {
+	if (_handle != PARAM_INVALID) param_get(_handle, &_val);
+}
+
+template <class T>
+BlockParam<T>::~BlockParam() {};
+
+template class __EXPORT BlockParam<float>;
+template class __EXPORT BlockParam<int>;
+
 } // namespace control
diff --git a/src/modules/controllib/block/BlockParam.hpp b/src/modules/controllib/block/BlockParam.hpp
index 36bc8c24ba..a64d0139e3 100644
--- a/src/modules/controllib/block/BlockParam.hpp
+++ b/src/modules/controllib/block/BlockParam.hpp
@@ -42,7 +42,7 @@
 #include <systemlib/param/param.h>
 
 #include "Block.hpp"
-#include "List.hpp"
+#include <containers/List.hpp>
 
 namespace control
 {
@@ -70,38 +70,21 @@ protected:
  * Parameters that are tied to blocks for updating and nameing.
  */
 
-class __EXPORT BlockParamFloat : public BlockParamBase
+template <class T>
+class BlockParam : public BlockParamBase
 {
 public:
-	BlockParamFloat(Block *block, const char *name, bool parent_prefix=true) :
-		BlockParamBase(block, name, parent_prefix),
-		_val() {
-		update();
-	}
-	float get() { return _val; }
-	void set(float val) { _val = val; }
-	void update() {
-		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
-	}
+	BlockParam(Block *block, const char *name,
+			bool parent_prefix=true);
+	T get();
+	void set(T val);
+	void update();
+	virtual ~BlockParam();
 protected:
-	float _val;
+	T _val;
 };
 
-class __EXPORT BlockParamInt : public BlockParamBase
-{
-public:
-	BlockParamInt(Block *block, const char *name, bool parent_prefix=true) :
-		BlockParamBase(block, name, parent_prefix),
-		_val() {
-		update();
-	}
-	int get() { return _val; }
-	void set(int val) { _val = val; }
-	void update() {
-		if (_handle != PARAM_INVALID) param_get(_handle, &_val);
-	}
-protected:
-	int _val;
-};
+typedef BlockParam<float> BlockParamFloat;
+typedef BlockParam<int> BlockParamInt;
 
 } // namespace control
diff --git a/src/modules/controllib/module.mk b/src/modules/controllib/module.mk
index d815a8feb5..f0139a4b70 100644
--- a/src/modules/controllib/module.mk
+++ b/src/modules/controllib/module.mk
@@ -37,7 +37,5 @@
 SRCS		 = test_params.c \
 		   block/Block.cpp \
 		   block/BlockParam.cpp \
-		   uorb/UOrbPublication.cpp \
-		   uorb/UOrbSubscription.cpp \
 		   uorb/blocks.cpp \
 		   blocks.cpp
diff --git a/src/modules/controllib/uorb/blocks.hpp b/src/modules/controllib/uorb/blocks.hpp
index 7c80c4b2ba..a8a70507e9 100644
--- a/src/modules/controllib/uorb/blocks.hpp
+++ b/src/modules/controllib/uorb/blocks.hpp
@@ -62,8 +62,8 @@ extern "C" {
 }
 
 #include "../blocks.hpp"
-#include "UOrbSubscription.hpp"
-#include "UOrbPublication.hpp"
+#include <uORB/Subscription.hpp>
+#include <uORB/Publication.hpp>
 
 namespace control
 {
@@ -94,16 +94,16 @@ class __EXPORT BlockUorbEnabledAutopilot : public SuperBlock
 {
 protected:
 	// subscriptions
-	UOrbSubscription<vehicle_attitude_s> _att;
-	UOrbSubscription<vehicle_attitude_setpoint_s> _attCmd;
-	UOrbSubscription<vehicle_rates_setpoint_s> _ratesCmd;
-	UOrbSubscription<vehicle_global_position_s> _pos;
-	UOrbSubscription<position_setpoint_triplet_s> _missionCmd;
-	UOrbSubscription<manual_control_setpoint_s> _manual;
-	UOrbSubscription<vehicle_status_s> _status;
-	UOrbSubscription<parameter_update_s> _param_update;
+	uORB::Subscription<vehicle_attitude_s> _att;
+	uORB::Subscription<vehicle_attitude_setpoint_s> _attCmd;
+	uORB::Subscription<vehicle_rates_setpoint_s> _ratesCmd;
+	uORB::Subscription<vehicle_global_position_s> _pos;
+	uORB::Subscription<position_setpoint_triplet_s> _missionCmd;
+	uORB::Subscription<manual_control_setpoint_s> _manual;
+	uORB::Subscription<vehicle_status_s> _status;
+	uORB::Subscription<parameter_update_s> _param_update;
 	// publications
-	UOrbPublication<actuator_controls_s> _actuators;
+	uORB::Publication<actuator_controls_s> _actuators;
 public:
 	BlockUorbEnabledAutopilot(SuperBlock *parent, const char *name);
 	virtual ~BlockUorbEnabledAutopilot();
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index f7c0b61488..cfae072752 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -175,14 +175,14 @@ void BlockMultiModeBacksideAutopilot::update()
 		// the min/max velocity
 		float v = _vLimit.update(sqrtf(
 					_pos.vel_n * _pos.vel_n +
-					_pos.vy * _pos.vy +
+					_pos.vel_e * _pos.vel_e +
 					_pos.vel_d * _pos.vel_d));
 
 		// limit velocity command between min/max velocity
 		float vCmd = _vLimit.update(_vCmd.get());
 
 		// altitude hold
-		float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt);
+		float dThrottle = _h2Thr.update(_missionCmd.current.alt - _pos.alt);
 
 		// heading hold
 		float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);
@@ -237,7 +237,7 @@ void BlockMultiModeBacksideAutopilot::update()
 		// the min/max velocity
 		float v = _vLimit.update(sqrtf(
 					_pos.vel_n * _pos.vel_n +
-					_pos.vy * _pos.vy +
+					_pos.vel_e * _pos.vel_e +
 					_pos.vel_d * _pos.vel_d));
 
 		// pitch channel -> rate of climb
diff --git a/src/modules/controllib/uorb/UOrbPublication.cpp b/src/modules/uORB/Publication.cpp
similarity index 55%
rename from src/modules/controllib/uorb/UOrbPublication.cpp
rename to src/modules/uORB/Publication.cpp
index f69b39d90d..5a59816172 100644
--- a/src/modules/controllib/uorb/UOrbPublication.cpp
+++ b/src/modules/uORB/Publication.cpp
@@ -32,8 +32,49 @@
  ****************************************************************************/
 
 /**
- * @file UOrbPublication.cpp
+ * @file Publication.cpp
  *
  */
 
-#include "UOrbPublication.hpp"
+#include "Publication.hpp"
+#include "topics/vehicle_attitude.h"
+#include "topics/vehicle_local_position.h"
+#include "topics/vehicle_global_position.h"
+#include "topics/debug_key_value.h"
+#include "topics/actuator_controls.h"
+#include "topics/vehicle_global_velocity_setpoint.h"
+#include "topics/vehicle_attitude_setpoint.h"
+#include "topics/vehicle_rates_setpoint.h"
+#include "topics/actuator_outputs.h"
+#include "topics/encoders.h"
+
+namespace uORB {
+
+template<class T>
+Publication<T>::Publication(
+	List<PublicationBase *> * list,
+	const struct orb_metadata *meta) :
+	T(), // initialize data structure to zero
+	PublicationBase(list, meta) {
+}
+
+template<class T>
+Publication<T>::~Publication() {}
+
+template<class T>
+void * Publication<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template class __EXPORT Publication<vehicle_attitude_s>;
+template class __EXPORT Publication<vehicle_local_position_s>;
+template class __EXPORT Publication<vehicle_global_position_s>;
+template class __EXPORT Publication<debug_key_value_s>;
+template class __EXPORT Publication<actuator_controls_s>;
+template class __EXPORT Publication<vehicle_global_velocity_setpoint_s>;
+template class __EXPORT Publication<vehicle_attitude_setpoint_s>;
+template class __EXPORT Publication<vehicle_rates_setpoint_s>;
+template class __EXPORT Publication<actuator_outputs_s>;
+template class __EXPORT Publication<encoders_s>;
+
+}
diff --git a/src/modules/controllib/uorb/UOrbPublication.hpp b/src/modules/uORB/Publication.hpp
similarity index 81%
rename from src/modules/controllib/uorb/UOrbPublication.hpp
rename to src/modules/uORB/Publication.hpp
index 6f1f3fc1c0..8650b3df89 100644
--- a/src/modules/controllib/uorb/UOrbPublication.hpp
+++ b/src/modules/uORB/Publication.hpp
@@ -32,32 +32,29 @@
  ****************************************************************************/
 
 /**
- * @file UOrbPublication.h
+ * @file Publication.h
  *
  */
 
 #pragma once
 
 #include <uORB/uORB.h>
-#include "../block/Block.hpp"
-#include "../block/List.hpp"
+#include <containers/List.hpp>
 
 
-namespace control
+namespace uORB
 {
 
-class Block;
-
 /**
  * Base publication warapper class, used in list traversal
  * of various publications.
  */
-class __EXPORT UOrbPublicationBase : public ListNode<control::UOrbPublicationBase *>
+class __EXPORT PublicationBase : public ListNode<uORB::PublicationBase *>
 {
 public:
 
-	UOrbPublicationBase(
-		List<UOrbPublicationBase *> * list,
+	PublicationBase(
+		List<PublicationBase *> * list,
 		const struct orb_metadata *meta) :
 		_meta(meta),
 		_handle(-1) {
@@ -71,7 +68,7 @@ public:
 		}
 	}
 	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbPublicationBase() {
+	virtual ~PublicationBase() {
 		orb_unsubscribe(getHandle());
 	}
 	const struct orb_metadata *getMeta() { return _meta; }
@@ -83,12 +80,12 @@ protected:
 };
 
 /**
- * UOrb Publication wrapper class
+ * Publication wrapper class
  */
 template<class T>
-class UOrbPublication :
+class Publication :
 	public T, // this must be first!
-	public UOrbPublicationBase
+	public PublicationBase
 {
 public:
 	/**
@@ -98,13 +95,9 @@ public:
 	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
 	 *			for the topic.
 	 */
-	UOrbPublication(
-		List<UOrbPublicationBase *> * list,
-		const struct orb_metadata *meta) :
-		T(), // initialize data structure to zero
-		UOrbPublicationBase(list, meta) {
-	}
-	virtual ~UOrbPublication() {}
+	Publication(List<PublicationBase *> * list,
+		const struct orb_metadata *meta);
+	virtual ~Publication();
 	/*
 	 * XXX
 	 * This function gets the T struct, assuming
@@ -112,7 +105,7 @@ public:
 	 * should use dynamic cast, but doesn't
 	 * seem to be available
 	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
+	void *getDataVoidPtr();
 };
 
-} // namespace control
+} // namespace uORB
diff --git a/src/modules/uORB/Subscription.cpp b/src/modules/uORB/Subscription.cpp
new file mode 100644
index 0000000000..c1d1a938f1
--- /dev/null
+++ b/src/modules/uORB/Subscription.cpp
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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
+ * 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 Subscription.cpp
+ *
+ */
+
+#include "Subscription.hpp"
+#include "topics/parameter_update.h"
+#include "topics/actuator_controls.h"
+#include "topics/vehicle_gps_position.h"
+#include "topics/sensor_combined.h"
+#include "topics/vehicle_attitude.h"
+#include "topics/vehicle_global_position.h"
+#include "topics/encoders.h"
+#include "topics/position_setpoint_triplet.h"
+#include "topics/vehicle_status.h"
+#include "topics/manual_control_setpoint.h"
+#include "topics/vehicle_local_position_setpoint.h"
+#include "topics/vehicle_local_position.h"
+#include "topics/vehicle_attitude_setpoint.h"
+#include "topics/vehicle_rates_setpoint.h"
+
+namespace uORB
+{
+
+bool __EXPORT SubscriptionBase::updated()
+{
+	bool isUpdated = false;
+	orb_check(_handle, &isUpdated);
+	return isUpdated;
+}
+
+template<class T>
+Subscription<T>::Subscription(
+	List<SubscriptionBase *> * list,
+	const struct orb_metadata *meta, unsigned interval) :
+	T(), // initialize data structure to zero
+	SubscriptionBase(list, meta) {
+	setHandle(orb_subscribe(getMeta()));
+	orb_set_interval(getHandle(), interval);
+}
+
+template<class T>
+Subscription<T>::~Subscription() {}
+
+template<class T>
+void * Subscription<T>::getDataVoidPtr() {
+	return (void *)(T *)(this);
+}
+
+template<class T>
+T Subscription<T>::getData() {
+	return T(*this);
+}
+
+template class __EXPORT Subscription<parameter_update_s>;
+template class __EXPORT Subscription<actuator_controls_s>;
+template class __EXPORT Subscription<vehicle_gps_position_s>;
+template class __EXPORT Subscription<sensor_combined_s>;
+template class __EXPORT Subscription<vehicle_attitude_s>;
+template class __EXPORT Subscription<vehicle_global_position_s>;
+template class __EXPORT Subscription<encoders_s>;
+template class __EXPORT Subscription<position_setpoint_triplet_s>;
+template class __EXPORT Subscription<vehicle_status_s>;
+template class __EXPORT Subscription<manual_control_setpoint_s>;
+template class __EXPORT Subscription<vehicle_local_position_setpoint_s>;
+template class __EXPORT Subscription<vehicle_local_position_s>;
+template class __EXPORT Subscription<vehicle_attitude_setpoint_s>;
+template class __EXPORT Subscription<vehicle_rates_setpoint_s>;
+
+} // namespace uORB
diff --git a/src/modules/controllib/uorb/UOrbSubscription.hpp b/src/modules/uORB/Subscription.hpp
similarity index 78%
rename from src/modules/controllib/uorb/UOrbSubscription.hpp
rename to src/modules/uORB/Subscription.hpp
index d337d89a88..34e9a83e03 100644
--- a/src/modules/controllib/uorb/UOrbSubscription.hpp
+++ b/src/modules/uORB/Subscription.hpp
@@ -32,28 +32,25 @@
  ****************************************************************************/
 
 /**
- * @file UOrbSubscription.h
+ * @file Subscription.h
  *
  */
 
 #pragma once
 
 #include <uORB/uORB.h>
-#include "../block/Block.hpp"
-#include "../block/List.hpp"
+#include <containers/List.hpp>
 
 
-namespace control
+namespace uORB
 {
 
-class Block;
-
 /**
  * Base subscription warapper class, used in list traversal
  * of various subscriptions.
  */
-class __EXPORT UOrbSubscriptionBase :
-	public ListNode<control::UOrbSubscriptionBase *>
+class __EXPORT SubscriptionBase :
+	public ListNode<SubscriptionBase *>
 {
 public:
 // methods
@@ -64,8 +61,8 @@ public:
 	 * @param meta		The uORB metadata (usually from the ORB_ID() macro)
 	 *			for the topic.
 	 */
-	UOrbSubscriptionBase(
-		List<UOrbSubscriptionBase *> * list,
+	SubscriptionBase(
+		List<SubscriptionBase *> * list,
 		const struct orb_metadata *meta) :
 		_meta(meta),
 		_handle() {
@@ -78,7 +75,7 @@ public:
 		}
 	}
 	virtual void *getDataVoidPtr() = 0;
-	virtual ~UOrbSubscriptionBase() {
+	virtual ~SubscriptionBase() {
 		orb_unsubscribe(_handle);
 	}
 // accessors
@@ -93,12 +90,12 @@ protected:
 };
 
 /**
- * UOrb Subscription wrapper class
+ * Subscription wrapper class
  */
 template<class T>
-class __EXPORT UOrbSubscription :
+class __EXPORT Subscription :
 	public T, // this must be first!
-	public UOrbSubscriptionBase
+	public SubscriptionBase
 {
 public:
 	/**
@@ -109,19 +106,13 @@ public:
 	 *			for the topic.
 	 * @param interval  The minimum interval in milliseconds between updates
 	 */
-	UOrbSubscription(
-		List<UOrbSubscriptionBase *> * list,
-		const struct orb_metadata *meta, unsigned interval) :
-		T(), // initialize data structure to zero
-		UOrbSubscriptionBase(list, meta) {
-		setHandle(orb_subscribe(getMeta()));
-		orb_set_interval(getHandle(), interval);
-	}
-
+	Subscription(
+		List<SubscriptionBase *> * list,
+		const struct orb_metadata *meta, unsigned interval);
 	/**
 	 * Deconstructor
 	 */
-	virtual ~UOrbSubscription() {}
+	virtual ~Subscription();
 
 	/*
 	 * XXX
@@ -130,8 +121,8 @@ public:
 	 * should use dynamic cast, but doesn't
 	 * seem to be available
 	 */
-	void *getDataVoidPtr() { return (void *)(T *)(this); }
-	T getData() { return T(*this); }
+	void *getDataVoidPtr();
+	T getData();
 };
 
-} // namespace control
+} // namespace uORB
diff --git a/src/modules/uORB/module.mk b/src/modules/uORB/module.mk
index 5ec31ab010..0c29101fec 100644
--- a/src/modules/uORB/module.mk
+++ b/src/modules/uORB/module.mk
@@ -41,4 +41,6 @@ MODULE_COMMAND		= uorb
 MODULE_STACKSIZE	= 4096
 
 SRCS			= uORB.cpp \
-			  objects_common.cpp
+			  objects_common.cpp \
+			  Publication.cpp \
+			  Subscription.cpp
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index 4c84c1f25e..fb24de8d16 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -190,3 +190,6 @@ ORB_DEFINE(navigation_capabilities, struct navigation_capabilities_s);
 
 #include "topics/esc_status.h"
 ORB_DEFINE(esc_status, struct esc_status_s);
+
+#include "topics/encoders.h"
+ORB_DEFINE(encoders, struct encoders_s);
diff --git a/src/modules/controllib/uorb/UOrbSubscription.cpp b/src/modules/uORB/topics/encoders.h
similarity index 81%
rename from src/modules/controllib/uorb/UOrbSubscription.cpp
rename to src/modules/uORB/topics/encoders.h
index 022cadd245..588c0ddb13 100644
--- a/src/modules/controllib/uorb/UOrbSubscription.cpp
+++ b/src/modules/uORB/topics/encoders.h
@@ -32,20 +32,35 @@
  ****************************************************************************/
 
 /**
- * @file UOrbSubscription.cpp
+ * @file encoders.h
+ *
+ * Encoders topic.
  *
  */
 
-#include "UOrbSubscription.hpp"
+#ifndef TOPIC_ENCODERS_H
+#define TOPIC_ENCODERS_H
 
-namespace control
-{
+#include <stdint.h>
+#include "../uORB.h"
 
-bool __EXPORT UOrbSubscriptionBase::updated()
-{
-	bool isUpdated = false;
-	orb_check(_handle, &isUpdated);
-	return isUpdated;
-}
+/**
+ * @addtogroup topics
+ * @{
+ */
 
-} // namespace control
+#define NUM_ENCODERS 4
+
+struct encoders_s {
+	uint64_t timestamp;
+	int64_t counts[NUM_ENCODERS]; // counts of encoder
+	float velocity[NUM_ENCODERS]; // counts of encoder/ second
+};
+
+/**
+ * @}
+ */
+
+ORB_DECLARE(encoders);
+
+#endif