uorb autogeneration

msg/actuator_armed.msg

@@ -1,5 +1,4 @@
 
-uint64 timestamp	# Microseconds since system boot
 bool armed		# Set to true if system is armed
 bool prearmed		# Set to true if the actuator safety is disabled but motors are not armed
 bool ready_to_arm	# Set to true if system is ready to be armed

msg/actuator_controls.msg

@@ -10,6 +10,9 @@ uint8 INDEX_AIRBRAKES = 6
 uint8 INDEX_LANDING_GEAR = 7
 uint8 GROUP_INDEX_ATTITUDE = 0
 uint8 GROUP_INDEX_ATTITUDE_ALTERNATE = 1
-uint64 timestamp
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control
+
+# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
+# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
+

msg/actuator_controls_1.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_2.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_3.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_controls_virtual_fw.msg

@@ -1,5 +0,0 @@
-uint8 NUM_ACTUATOR_CONTROLS = 8
-uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
-uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
-float32[8] control

msg/actuator_direct.msg

@@ -1,4 +1,3 @@
 uint8 NUM_ACTUATORS_DIRECT = 16
-uint64 timestamp			# timestamp in us since system boot
 uint32 nvalues				# number of valid values
 float32[16] values			# actuator values, from -1 to 1

msg/actuator_outputs.msg

@@ -1,5 +1,4 @@
 uint8 NUM_ACTUATOR_OUTPUTS		= 16
 uint8 NUM_ACTUATOR_OUTPUT_GROUPS	= 4	# for sanity checking
-uint64 timestamp			# output timestamp in us since system boot
 uint32 noutputs				# valid outputs
 float32[16] output			# output data, in natural output units

msg/airspeed.msg

@@ -1,4 +1,3 @@
-uint64 timestamp			# microseconds since system boot, needed to integrate
 float32 indicated_airspeed_m_s		# indicated airspeed in meters per second, -1 if unknown
 float32 true_airspeed_m_s		# true filtered airspeed in meters per second, -1 if unknown
 float32 true_airspeed_unfiltered_m_s	# true airspeed in meters per second, -1 if unknown

msg/battery_status.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# microseconds since system boot, needed to integrate
 float32 voltage_v		# Battery voltage in volts, 0 if unknown
 float32 voltage_filtered_v	# Battery voltage in volts, filtered, 0 if unknown
 float32 current_a		# Battery current in amperes, -1 if unknown

msg/camera_trigger.msg

@@ -1,4 +1,3 @@
 
-uint64 timestamp	# Timestamp when camera was triggered
 uint32 seq		# Image sequence
 

msg/commander_state.msg

@@ -14,6 +14,5 @@ uint8 MAIN_STATE_AUTO_LAND = 11
 uint8 MAIN_STATE_AUTO_FOLLOW_TARGET = 12
 uint8 MAIN_STATE_MAX = 13
 
-uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
 
 uint8 main_state		    	# main state machine

msg/control_state.msg

@@ -1,5 +1,4 @@
 # This is similar to the mavlink message CONTROL_SYSTEM_STATE, but for onboard use */
-uint64 timestamp		# in microseconds since system start
 float32 x_acc			# X acceleration in body frame
 float32 y_acc			# Y acceleration in body frame
 float32 z_acc			# Z acceleration in body frame

msg/differential_pressure.msg

@@ -1,4 +1,3 @@
-uint64 timestamp				# Microseconds since system boot, needed to integrate
 uint64 error_count				# Number of errors detected by driver
 float32 differential_pressure_raw_pa		# Raw differential pressure reading (may be negative)
 float32 differential_pressure_filtered_pa	# Low pass filtered differential pressure reading

msg/distance_sensor.msg

@@ -1,6 +1,5 @@
 # DISTANCE_SENSOR message data
 
-uint64 timestamp		# Microseconds since system boot
 
 float32 min_distance		# Minimum distance the sensor can measure (in m)
 float32 max_distance		# Maximum distance the sensor can measure (in m)

msg/ekf2_innovations.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# Timestamp in microseconds since boot
 float32[6] vel_pos_innov  # velocity and position innovations
 float32[3] mag_innov 	# earth magnetic field innovations
 float32 heading_innov 	# heading innovation

msg/encoders.msg

@@ -1,5 +1,4 @@
 uint8 NUM_ENCODERS = 4
 
-uint64 timestamp
 int64[4] counts			# counts of encoder
 float32[4] velocity		# counts of encoder/ second

msg/esc_status.msg

@@ -11,7 +11,6 @@ uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
 uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
 
 uint16 counter  					# incremented by the writing thread everytime new data is stored
-uint64 timestamp 					# in microseconds since system start, is set whenever the writing thread stores new data
 
 uint8 esc_count						# number of connected ESCs
 uint8 esc_connectiontype				# how ESCs connected to the system

msg/estimator_status.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# Timestamp in microseconds since boot
 float32[32] states		# Internal filter states
 float32 n_states		# Number of states effectively used
 float32[3] vibe			# Vibration levels in X, Y and Z

msg/filtered_bottom_flow.msg

@@ -1,5 +1,4 @@
 # Filtered bottom flow in bodyframe.
-uint64 timestamp		# time of this estimate, in microseconds since system start
 
 float32 sumx				# Integrated bodyframe x flow in meters
 float32 sumy				# Integrated bodyframe y flow in meters

msg/follow_target.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# timestamp, UNIX epoch (GPS synced)
 float64 lat			# target position (deg * 1e7)
 float64 lon			# target position (deg * 1e7) 
 float32 alt			# target position 

msg/fw_pos_ctrl_status.msg

@@ -1,5 +1,3 @@
-uint64 timestamp		# timestamp this topic was emitted
-
 float32 nav_roll
 float32 nav_pitch
 float32 nav_bearing

msg/fw_virtual_attitude_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
 float32 roll_body				# body angle in NED frame
 float32 pitch_body				# body angle in NED frame
@@ -35,3 +34,6 @@ bool fw_control_yaw					# control heading with rudder (used for auto takeoff on
 bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
 
 bool apply_flaps
+
+# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
+# TOPICS fw_virtual_attitude_setpoint

msg/fw_virtual_rates_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame

msg/hil_sensor.msg

@@ -17,7 +17,6 @@ int32 MAGNETOMETER_MODE_NEGATIVE_BIAS = 2
 #
 # NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
 
-uint64 timestamp			# Timestamp in microseconds since boot, from gyro
 #
 int16[3] gyro_raw			# Raw sensor values of angular velocity
 float32[3] gyro_rad_s			# Angular velocity in radian per seconds

msg/home_position.msg

@@ -1,5 +1,4 @@
 # GPS home position in WGS84 coordinates.
-uint64 timestamp			# Timestamp (microseconds since system boot)
 
 float64 lat				# Latitude in degrees
 float64 lon				# Longitude in degrees

msg/manual_control_setpoint.msg

@@ -12,8 +12,6 @@ int8 MODE_SLOT_5 = 4			# mode slot 5 selected
 int8 MODE_SLOT_6 = 5			# mode slot 6 selected
 int8 MODE_SLOT_MAX = 6			# number of slots plus one
 
-uint64 timestamp
-
 # Any of the channels may not be available and be set to NaN
 # to indicate that it does not contain valid data.
 # The variable names follow the definition of the

msg/mavlink_log.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# Timestamp in microseconds since boot
 
 uint8[50] text
 uint8 severity

msg/mc_att_ctrl_status.msg

@@ -1,4 +1,3 @@
-uint64 timestamp    # in microseconds since system start
 
 float32 roll_rate_integ	    # roll rate inegrator
 float32 pitch_rate_integ	# pitch rate integrator

msg/mc_virtual_attitude_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
 float32 roll_body				# body angle in NED frame
 float32 pitch_body				# body angle in NED frame
@@ -35,3 +34,6 @@ bool fw_control_yaw					# control heading with rudder (used for auto takeoff on
 bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
 
 bool apply_flaps
+
+# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
+# TOPICS mc_virtual_attitude_setpoint

msg/mc_virtual_rates_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame

msg/mission.msg

@@ -1,3 +1,7 @@
 int32 dataman_id	# default 0, there are two offboard storage places in the dataman: 0 or 1
 uint32 count		# count of the missions stored in the dataman
 int32 current_seq	# default -1, start at the one changed latest
+
+# fixme: there is no mission definition in objects_common.cpp
+# but it's required for systemcmds/topic_listener/topic_listener
+# TOPICS mission offboard_mission onboard_mission

msg/offboard_control_mode.msg

@@ -1,5 +1,4 @@
 # Off-board control mode
-uint64 timestamp
 
 bool ignore_thrust
 bool ignore_attitude

msg/optical_flow.msg

@@ -1,7 +1,6 @@
 # Optical flow in NED body frame in SI units.
 # @see http://en.wikipedia.org/wiki/International_System_of_Units
  
-uint64 timestamp		# in microseconds since system start
 uint8 sensor_id			# id of the sensor emitting the flow value
 float32 pixel_flow_x_integral	# accumulated optical flow in radians around x axis
 float32 pixel_flow_y_integral	# accumulated optical flow in radians around y axis

msg/parameter_update.msg

@@ -1,2 +1 @@
-uint64 timestamp	# time at which the latest parameter was updated
 bool saved		# wether the change has already been saved to disk

msg/pwm_input.msg

@@ -1,5 +1,4 @@
 
-uint64 timestamp	# Microseconds since system boot
 uint64 error_count
 uint32 pulse_width	# Pulse width, timer counts 
 uint32 period		# Period, timer counts

msg/qshell_req.msg

@@ -1,4 +1,3 @@
-uint64 timestamp	# Microseconds since system boot
 int32[100] string
 uint64 MAX_STRLEN = 100
 uint64 strlen

msg/rc_channels.msg

@@ -20,7 +20,7 @@ uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
 uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
 uint8 RC_CHANNELS_FUNCTION_RATTITUDE=19
 uint8 RC_CHANNELS_FUNCTION_KILLSWITCH=20
-uint64 timestamp						# Timestamp in microseconds since boot time
+
 uint64 timestamp_last_valid					# Timestamp of last valid RC signal
 float32[18] channels						# Scaled to -1..1 (throttle: 0..1)
 uint8 channel_count						# Number of valid channels

msg/rc_parameter_map.msg

@@ -1,7 +1,6 @@
 uint8 RC_PARAM_MAP_NCHAN = 3 # This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
 uint8 PARAM_ID_LEN = 16 # corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN
 
-uint64 timestamp	# time at which the map was updated
 bool[3] valid		#true for RC-Param channels which are mapped to a param
 int32[3] param_index	# corresponding param index, this field is ignored if set to -1, in this case param_id will be used
 char[51] param_id	# MAP_NCHAN * (ID_LEN + 1) chars, corresponding param id, null terminated

msg/ros/actuator_controls_0.msg

@@ -1,5 +1,4 @@
 uint8 NUM_ACTUATOR_CONTROLS = 8
 uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control

msg/ros/actuator_controls_virtual_mc.msg

@@ -1,5 +1,4 @@
 uint8 NUM_ACTUATOR_CONTROLS = 8
 uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
-uint64 timestamp
 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control

msg/safety.msg

@@ -1,3 +1,2 @@
-uint64 timestamp
 bool safety_switch_available		# Set to true if a safety switch is connected
 bool safety_off			# Set to true if safety is off

msg/satellite_info.msg

@@ -1,6 +1,5 @@
 uint8 SAT_INFO_MAX_SATELLITES = 20
 
-uint64 timestamp		# Timestamp of satellite info
 uint8 count			# Number of satellites in satellite info
 uint8[20] svid	 		# Space vehicle ID [1..255], see scheme below
 uint8[20] used			# 0: Satellite not used, 1: used for navigation

msg/sensor_accel.msg

@@ -1,4 +1,3 @@
-uint64 timestamp
 uint64 integral_dt	# integration time
 uint64 error_count
 float32 x		# acceleration in the NED X board axis in m/s^2

msg/sensor_baro.msg

@@ -1,5 +1,4 @@
 float32 pressure
 float32 altitude
 float32 temperature
-uint64 timestamp
 uint64 error_count

msg/sensor_combined.msg

@@ -25,7 +25,6 @@ uint32 SENSOR_PRIO_MAX = 255
 #
 # NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only
 
-uint64 timestamp			# Timestamp in microseconds since boot, from gyro
 uint64[3] gyro_timestamp			# Gyro timestamps
 int16[9] gyro_raw			# Raw sensor values of angular velocity
 float32[9] gyro_rad_s			# Angular velocity in radian per seconds

msg/sensor_gyro.msg

@@ -1,4 +1,3 @@
-uint64 timestamp
 uint64 integral_dt	# integration time
 uint64 error_count
 float32 x		# angular velocity in the NED X board axis in rad/s

msg/sensor_mag.msg

@@ -1,4 +1,3 @@
-uint64 timestamp
 uint64 error_count
 float32 x
 float32 y

msg/servorail_status.msg

@@ -1,3 +1,2 @@
-uint64 timestamp		# microseconds since system boot
 float32 voltage_v		# Servo rail voltage in volts
 float32 rssi_v			# RSSI pin voltage in volts

msg/system_power.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# microseconds since system boot
 float32 voltage5V_v		# peripheral 5V rail voltage
 uint8 usb_connected		# USB is connected when 1
 uint8 brick_valid		# brick power is good when 1

msg/tecs_status.msg

@@ -6,7 +6,6 @@ uint8 TECS_MODE_LAND_THROTTLELIM = 4
 uint8 TECS_MODE_BAD_DESCENT = 5
 uint8 TECS_MODE_CLIMBOUT = 6
 
-uint64 timestamp		# timestamp, in microseconds since system start */
 
 float32 altitudeSp
 float32 altitude_filtered

msg/telemetry_status.msg

@@ -4,7 +4,6 @@ uint8 TELEMETRY_STATUS_RADIO_TYPE_UBIQUITY_BULLET = 2
 uint8 TELEMETRY_STATUS_RADIO_TYPE_WIRE = 3
 uint8 TELEMETRY_STATUS_RADIO_TYPE_USB = 4
 
-uint64 timestamp
 uint64 heartbeat_time			# Time of last received heartbeat from remote system
 uint64 telem_time			# Time of last received telemetry status packet, 0 for none
 uint8 type				# type of the radio hardware

msg/templates/px4/uorb/msg.h.template

@@ -55,7 +55,6 @@
 import genmsg.msgs
 import gencpp
 
-cpp_class = 'px4_%s'%spec.short_name
 native_type = '%s_s'%spec.short_name
 topic_name = spec.short_name
 }@
@@ -74,6 +73,11 @@ topic_name = spec.short_name
 
 namespace px4
 {
+@[for multi_topic in topics]@
+@{
+cpp_class = 'px4_%s'%multi_topic
+}@
+
 
 class __EXPORT @(cpp_class) :
 	public PX4Message<@(native_type)>
@@ -89,7 +93,8 @@ public:
 
 	~@(cpp_class)() {}
 
-	static PX4TopicHandle handle() {return ORB_ID(@(topic_name));}
+	static PX4TopicHandle handle() {return ORB_ID(@(multi_topic));}
 };
+@[end for]
 
 };

msg/templates/uorb/msg.cpp.template

@@ -0,0 +1,132 @@
+@###############################################
+@#
+@# PX4 ROS compatible message source code
+@# generation for C++
+@#
+@# EmPy template for generating <msg>.h files
+@# Based on the original template for ROS
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - file_name_in (String) Source file
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
+@#  - md5sum (String) MD5Sum of the .msg specification
+@###############################################
+/****************************************************************************
+ *
+ *   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
+ * 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.
+ *
+ ****************************************************************************/
+
+/* Auto-generated by genmsg_cpp from file @file_name_in */
+
+@{
+import genmsg.msgs
+import gencpp
+
+uorb_struct = '%s_s'%spec.short_name
+uorb_pack_func = 'pack_%s'%spec.short_name
+topic_name = spec.short_name
+
+type_map = {
+  'int8': 'int8_t',
+  'int16': 'int16_t',
+  'int32': 'int32_t',
+  'int64': 'int64_t',
+  'uint8': 'uint8_t',
+  'uint16': 'uint16_t',
+  'uint32': 'uint32_t',
+  'uint64': 'uint64_t',
+  'float32': 'float',
+  'float64': 'double',
+  'bool': 'bool',
+  'char': 'char',
+  'fence_vertex': 'fence_vertex',
+  'position_setpoint': 'position_setpoint',
+  'esc_report': 'esc_report'
+}
+
+msgtype_size_map = {
+  'int8': 8,
+  'int16': 16,
+  'int32': 32,
+  'int64': 64,
+  'uint8': 8,
+  'uint16': 16,
+  'uint32': 32,
+  'uint64': 64,
+  'float32': 32,
+  'float64': 64,
+  'bool': 1,
+  'char': 1,
+  'fence_vertex': 8,
+  'position_setpoint': 104,
+  'esc_report': 36
+}
+
+def convert_type(spec_type):
+    bare_type = spec_type
+    if '/' in spec_type:
+        # removing prefix
+        bare_type = (spec_type.split('/'))[1]
+
+    msg_type, is_array, array_length = genmsg.msgs.parse_type(bare_type)
+    c_type = type_map[msg_type]
+    if is_array:
+        return c_type + "[" + str(array_length) + "]"
+    return c_type
+
+def bare_name(msg_type):
+    bare = msg_type
+    if '/' in msg_type:
+        # removing prefix
+        bare = (msg_type.split('/'))[1]
+    # removing suffix
+    return bare.split('[')[0]
+
+def sizeof_field_type(field):
+    return msgtype_size_map[bare_name(field.type)]
+
+sorted_fields = sorted(spec.parsed_fields(), key = sizeof_field_type, reverse=True)
+topic_fields = ["%s %s" % (convert_type(field.type), field.name) for field in sorted_fields]
+}@
+
+#include <px4_config.h>
+#include <drivers/drv_orb_dev.h>
+#include <uORB/topics/@(topic_name).h>
+
+@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
+const char *__orb_@(topic_name)_fields = "@( topic_name.upper() ):@( ";".join(topic_fields) );";
+
+@[for multi_topic in topics]@
+ORB_DEFINE(@multi_topic, struct @uorb_struct, __orb_@(topic_name)_fields);
+@[end for]

msg/templates/uorb/msg.h.template

@@ -75,7 +75,6 @@ for field in spec.parsed_fields():
       (package, name) = genmsg.names.package_resource_name(field.base_type)
       package = package or spec.package # convert '' to package
       print('#include <uORB/topics/%s.h>'%(name))
-
 }@
 
 @# Constants c style
@@ -85,17 +84,12 @@ for field in spec.parsed_fields():
 @[end for]
 #endif
 
-/**
- * @@addtogroup topics
- * @@{
- */
-
 @##############################
 @# Main struct of message
 @##############################
 @{
-
-type_map = {'int8': 'int8_t',
+type_map = {
+  'int8': 'int8_t',
   'int16': 'int16_t',
   'int32': 'int32_t',
   'int64': 'int64_t',
@@ -109,37 +103,77 @@ type_map = {'int8': 'int8_t',
   'char': 'char',
   'fence_vertex': 'fence_vertex',
   'position_setpoint': 'position_setpoint',
-  'esc_report': 'esc_report'}
+  'esc_report': 'esc_report'
+}
+
+msgtype_size_map = {
+  'int8': 8,
+  'int16': 16,
+  'int32': 32,
+  'int64': 64,
+  'uint8': 8,
+  'uint16': 16,
+  'uint32': 32,
+  'uint64': 64,
+  'float32': 32,
+  'float64': 64,
+  'bool': 1,
+  'char': 1,
+  'fence_vertex': 8,
+  'position_setpoint': 104,
+  'esc_report': 36
+}
+
+def bare_name(msg_type):
+    bare = msg_type
+    if '/' in msg_type:
+        # removing prefix
+        bare = (msg_type.split('/'))[1]
+    # removing suffix
+    return bare.split('[')[0]
+
+def sizeof_field_type(field):
+    return msgtype_size_map[bare_name(field.type)]
 
 # Function to print a standard ros type
 def print_field_def(field):
-  type = field.type
+  type_name = field.type
   # detect embedded types
-  sl_pos = type.find('/')
+  sl_pos = type_name.find('/')
   type_appendix = ''
   type_prefix = ''
   if (sl_pos >= 0):
-    type = type[sl_pos + 1:]
+    type_name = type_name[sl_pos + 1:]
     type_prefix = 'struct '
     type_appendix = '_s'
 
   # detect arrays
-  a_pos = type.find('[')
+  a_pos = type_name.find('[')
   array_size = ''
   if (a_pos >= 0):
     # field is array
-    array_size = type[a_pos:]
-    type = type[:a_pos]
+    array_size = type_name[a_pos:]
+    type_name = type_name[:a_pos]
 
-  if type in type_map:
+  if type_name in type_map:
     # need to add _t: int8 --> int8_t
-    type_px4 = type_map[type]
+    type_px4 = type_map[type_name]
   else:
-    raise Exception("Type {0} not supported, add to to template file!".format(type))
+    raise Exception("Type {0} not supported, add to to template file!".format(type_name))
 
   print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size))
 
-}
+def print_parsed_fields():
+  # sort fields
+  sorted_fields = sorted(spec.parsed_fields(), key = sizeof_field_type, reverse=True)
+  # loop over all fields and print the type and name
+  for field in sorted_fields:
+    if (not field.is_header):
+      print_field_def(field)
+
+}@
+
+// #pragma pack(push, 1) badly breaks alignment everywhere!
 #ifdef __cplusplus
 @#class @(uorb_struct) {
 struct __EXPORT @(uorb_struct) {
@@ -147,31 +181,27 @@ struct __EXPORT @(uorb_struct) {
 #else
 struct @(uorb_struct) {
 #endif
-@{
-# loop over all fields and print the type and name
-for field in spec.parsed_fields():
-  if (not field.is_header):
-    print_field_def(field)
-}@
+@# timestamp at the beginning of each topic is required for logger
+	uint64_t timestamp; // required for logger
+@print_parsed_fields()
 #ifdef __cplusplus
 @# Constants again c++-ified
 @{
 for constant in spec.constants:
-  type = constant.type
-  if type in type_map:
+  type_name = constant.type
+  if type_name in type_map:
     # need to add _t: int8 --> int8_t
-    type_px4 = type_map[type]
+    type_px4 = type_map[type_name]
   else:
-    raise Exception("Type {0} not supported, add to to template file!".format(type))
+    raise Exception("Type {0} not supported, add to to template file!".format(type_name))
 
   print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
 }
 #endif
 };
-
-/**
- * @@}
- */
+//#pragma pack(pop)
 
 /* register this as object request broker structure */
-ORB_DECLARE(@(topic_name));
+@[for multi_topic in topics]@
+ORB_DECLARE(@multi_topic);
+@[end for]

msg/templates/uorb/uORBTopics.cpp.template

@@ -0,0 +1,70 @@
+@###############################################
+@#
+@# EmPy template for generating uORBTopics.cpp file
+@# for logging purposes
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - msgs (List) list of all msg files
+@###############################################
+/****************************************************************************
+ *
+ *   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
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <uORB/uORBTopics.h>
+#include <uORB/uORB.h>
+@{
+msgs_count = len(msgs)
+msg_names = [mn.replace(".msg", "") for mn in msgs]
+}@
+@[for msg_name in msg_names]@
+#include <uORB/topics/@(msg_name).h>
+@[end for]
+
+const size_t _uorb_topics_count = @(msgs_count);
+const struct orb_metadata* _uorb_topics_list[_uorb_topics_count] = { 
+@[for idx, msg_name in enumerate(msg_names, 1)]@
+    ORB_ID(@(msg_name))@[if idx != msgs_count],@[end if]
+@[end for]
+};
+
+size_t orb_topics_count()
+{
+	return _uorb_topics_count;
+}
+
+const struct orb_metadata **orb_get_topics()
+{
+	return _uorb_topics_list;
+}

msg/test_motor.msg

@@ -1,5 +1,4 @@
 uint8 NUM_MOTOR_OUTPUTS = 8
 
-uint64 timestamp				# output timestamp in us since system boot
 uint32 motor_number				# number of motor to spin
 float32 value					# output power, range [0..1]

msg/transponder_report.msg

@@ -1,4 +1,3 @@
-uint64 timestamp	# Timestamp of this position report
 uint32 ICAO_address 	# ICAO address
 float64 lat 		# Latitude, expressed as degrees
 float64 lon 		# Longitude, expressed as degrees

msg/vehicle_attitude.msg

@@ -1,5 +1,4 @@
 # This is similar to the mavlink message ATTITUDE, but for onboard use */
-uint64 timestamp	# in microseconds since system start
 # @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional
 float32 roll		# Roll angle (rad, Tait-Bryan, NED)
 float32 pitch		# Pitch angle (rad, Tait-Bryan, NED)

msg/vehicle_attitude_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp				# in microseconds since system start, is set whenever the writing thread stores new data
 
 float32 roll_body				# body angle in NED frame
 float32 pitch_body				# body angle in NED frame
@@ -35,3 +34,6 @@ bool fw_control_yaw					# control heading with rudder (used for auto takeoff on
 bool disable_mc_yaw_control			# control yaw for mc (used for vtol weather-vane mode)
 
 bool apply_flaps
+
+# WAS vehicle_attitude_setpoint mc_virtual_attitude_setpoint fw_virtual_attitude_setpoint
+# TOPICS vehicle_attitude_setpoint

msg/vehicle_control_mode.msg

@@ -1,5 +1,4 @@
 
-uint64 timestamp				# in microseconds since system start
 						# is set whenever the writing thread stores new data
 
 bool flag_armed

msg/vehicle_global_position.msg

@@ -4,7 +4,6 @@
 # estimator, which will take more sources of information into account than just GPS,
 # e.g. control inputs of the vehicle in a Kalman-filter implementation.
 #
-uint64 timestamp		# Time of this estimate since system start, (microseconds)
 uint64 time_utc_usec		# GPS UTC timestamp, (microseconds)
 float64 lat			# Latitude, (degrees)
 float64 lon			# Longitude, (degrees)

msg/vehicle_land_detected.msg

@@ -1,3 +1,2 @@
-uint64 timestamp	# timestamp of the setpoint
 bool landed		# true if vehicle is currently landed on the ground
 bool freefall	# true if vehicle is currently in free-fall

msg/vehicle_local_position.msg

@@ -1,6 +1,5 @@
 # Fused local position in NED.
 
-uint64 timestamp			# Time of this estimate since system start, (microseconds)
 bool xy_valid				# true if x and y are valid
 bool z_valid				# true if z is valid
 bool v_xy_valid				# true if vy and vy are valid

msg/vehicle_local_position_setpoint.msg

@@ -1,6 +1,5 @@
 # Local position setpoint in NED frame
 
-uint64 timestamp	# timestamp of the setpoint
 float32 x		# in meters NED
 float32 y		# in meters NED
 float32 z		# in meters NED

msg/vehicle_rates_setpoint.msg

@@ -8,7 +8,6 @@
 #
 ###############################################################################################
 
-uint64 timestamp    # in microseconds since system start
 
 float32 roll	    # body angular rates in NED frame
 float32 pitch	    # body angular rates in NED frame

msg/vehicle_status.msg

@@ -41,7 +41,6 @@ uint8 RC_IN_MODE_GENERATED = 2
 
 # state machine / state of vehicle.
 # Encodes the complete system state and is set by the commander app.
-uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
 
 uint8 nav_state				# set navigation state machine to specified value
 uint8 arming_state			# current arming state

msg/vtol_vehicle_status.msg

@@ -5,7 +5,6 @@ uint8 VEHICLE_VTOL_STATE_TRANSITION_TO_MC = 2
 uint8 VEHICLE_VTOL_STATE_MC = 3
 uint8 VEHICLE_VTOL_STATE_FW = 4
 
-uint64 timestamp				# Microseconds since system boot
 bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
 bool vtol_in_trans_mode
 bool vtol_transition_failsafe	# vtol in transition failsafe mode

msg/wind_estimate.msg

@@ -1,4 +1,3 @@
-uint64 timestamp		# Microseconds since system boot
 float32 windspeed_north		# Wind component in north / X direction
 float32 windspeed_east		# Wind component in east / Y direction
 float32 covariance_north	# Uncertainty - set to zero (no uncertainty) if not estimated