diff --git a/Tools/px_generate_uorb_topic_files.py b/Tools/px_generate_uorb_topic_files.py
index d3c5fa835b..7625eea431 100755
--- a/Tools/px_generate_uorb_topic_files.py
+++ b/Tools/px_generate_uorb_topic_files.py
@@ -259,7 +259,12 @@ def convert_dir_save(format_idx, inputdir, outputdir, templatedir, temporarydir,
 
 def generate_topics_list_file(msgdir, outputdir, templatedir):
         # generate cpp file with topics list
-        tl_globals = {"msgs" : get_msgs_list(msgdir)}
+        msgs = get_msgs_list(msgdir)
+        multi_topics = []
+        for msg in msgs:
+            msg_filename = os.path.join(msgdir, msg)
+            multi_topics.extend(get_multi_topics(msg_filename))
+        tl_globals = {"msgs" : msgs, "multi_topics": multi_topics}
         tl_template_file = os.path.join(templatedir, TOPICS_LIST_TEMPLATE_FILE)
         tl_out_file = os.path.join(outputdir, TOPICS_LIST_TEMPLATE_FILE.replace(".template", ""))
         generate_by_template(tl_out_file, tl_template_file, tl_globals)
diff --git a/msg/templates/uorb/uORBTopics.cpp.template b/msg/templates/uorb/uORBTopics.cpp.template
index 91a3a7e640..c8e29cd189 100644
--- a/msg/templates/uorb/uORBTopics.cpp.template
+++ b/msg/templates/uorb/uORBTopics.cpp.template
@@ -8,6 +8,7 @@
 @#
 @# Context:
 @#  - msgs (List) list of all msg files
+@#  - multi_topics (List) list of all multi-topic names
 @###############################################
 /****************************************************************************
  *
@@ -45,17 +46,19 @@
 #include <uORB/uORBTopics.h>
 #include <uORB/uORB.h>
 @{
-msgs_count = len(msgs)
 msg_names = [mn.replace(".msg", "") for mn in msgs]
+msgs_count = len(msg_names)
+msg_names_all = list(set(msg_names + multi_topics)) # set() filters duplicates
+msgs_count_all = len(msg_names_all)
 }@
 @[for msg_name in msg_names]@
 #include <uORB/topics/@(msg_name).h>
 @[end for]
 
-const size_t _uorb_topics_count = @(msgs_count);
+const size_t _uorb_topics_count = @(msgs_count_all);
 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]
+@[for idx, msg_name in enumerate(msg_names_all, 1)]@
+    ORB_ID(@(msg_name))@[if idx != msgs_count_all],@[end if]
 @[end for]
 };