diff --git a/msg/fence.msg b/msg/fence.msg
new file mode 100644
index 0000000000..4109a0c8fe
--- /dev/null
+++ b/msg/fence.msg
@@ -0,0 +1,4 @@
+uint8 GEOFENCE_MAX_VERTICES = 16
+
+uint32 count    			# number of actual vertices
+fence_vertex[16] vertices		# geofence positions
diff --git a/msg/fence_vertex.msg b/msg/fence_vertex.msg
new file mode 100644
index 0000000000..2e524f9697
--- /dev/null
+++ b/msg/fence_vertex.msg
@@ -0,0 +1,2 @@
+float32 lat	# latitude in degrees, worst case float precision gives us 2 meter resolution at the equator
+float32 lon	# longitude in degrees, worst case float precision gives us 2 meter resolution at the equator
diff --git a/src/modules/uORB/topics/fence.h b/src/modules/uORB/topics/fence.h
deleted file mode 100644
index 43cee89fe8..0000000000
--- a/src/modules/uORB/topics/fence.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Jean Cyr <jean.m.cyr@gmail.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 fence.h
- * Definition of geofence.
- */
-
-#ifndef TOPIC_FENCE_H_
-#define TOPIC_FENCE_H_
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <platforms/px4_defines.h>
-
-/**
- * @addtogroup topics
- * @{
- */
-
-#define GEOFENCE_MAX_VERTICES 16
-
-/**
- * This is the position of a geofence vertex
- *
- */
-struct fence_vertex_s {
-	// Worst case float precision gives us 2 meter resolution at the equator
-	float lat;			/**< latitude in degrees */
-	float lon;			/**< longitude in degrees */
-};
-
-/**
- * This is the position of a geofence
- *
- */
-struct fence_s {
-	unsigned count;     /**< number of actual vertices */
-	struct fence_vertex_s vertices[GEOFENCE_MAX_VERTICES];
-};
-
-/**
- * @}
- */
-
-/* register this as object request broker structure */
-ORB_DECLARE(fence);
-
-#endif