diff --git a/msg/templates/uorb/msg.cpp.template b/msg/templates/uorb/msg.cpp.template
index ff5afb297e..54313dc5ec 100644
--- a/msg/templates/uorb/msg.cpp.template
+++ b/msg/templates/uorb/msg.cpp.template
@@ -57,8 +57,7 @@ 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',
+type_map = {'int8': 'int8_t',
   'int16': 'int16_t',
   'int32': 'int32_t',
   'int64': 'int64_t',
@@ -72,11 +71,9 @@ type_map = {
   'char': 'char',
   'fence_vertex': 'fence_vertex',
   'position_setpoint': 'position_setpoint',
-  'esc_report': 'esc_report'
-}
+  'esc_report': 'esc_report'}
 
-msgtype_size_map = {
-  'int8': 8,
+msgtype_size_map = {'int8': 8,
   'int16': 16,
   'int32': 32,
   'int64': 64,
@@ -90,8 +87,7 @@ msgtype_size_map = {
   'char': 1,
   'fence_vertex': 8,
   'position_setpoint': 104,
-  'esc_report': 36
-}
+  'esc_report': 36}
 
 def convert_type(spec_type):
     bare_type = spec_type
diff --git a/msg/templates/uorb/msg.h.template b/msg/templates/uorb/msg.h.template
index 564657c2e9..8ad98c61d5 100644
--- a/msg/templates/uorb/msg.h.template
+++ b/msg/templates/uorb/msg.h.template
@@ -63,6 +63,11 @@ topic_name = spec.short_name
 @# Generic Includes
 @##############################
 #include <stdint.h>
+#ifdef __cplusplus
+#include <cstring>
+#else
+#include <string.h>
+#endif
 #include <uORB/uORB.h>
 
 @##############################
@@ -88,8 +93,7 @@ for field in spec.parsed_fields():
 @# Main struct of message
 @##############################
 @{
-type_map = {
-  'int8': 'int8_t',
+type_map = {'int8': 'int8_t',
   'int16': 'int16_t',
   'int32': 'int32_t',
   'int64': 'int64_t',
@@ -124,6 +128,33 @@ msgtype_size_map = {
   '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)]
+
+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:
@@ -173,8 +204,7 @@ def print_parsed_fields():
 
 }@
 
-// #pragma pack(push, 1)
-ORBPACKED(
+#pragma pack(push, 1)
 #ifdef __cplusplus
 @#class @(uorb_struct) {
 struct __EXPORT @(uorb_struct) {
@@ -199,8 +229,12 @@ for constant in spec.constants:
   print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
 }
 #endif
-});
-//#pragma pack(pop)
+};
+#pragma pack(pop)
+
+/**
+ * @@}
+ */
 
 /* register this as object request broker structure */
 @[for multi_topic in topics]@
diff --git a/src/modules/uORB/uORB.h b/src/modules/uORB/uORB.h
index f58e093090..d9e57c9436 100644
--- a/src/modules/uORB/uORB.h
+++ b/src/modules/uORB/uORB.h
@@ -118,7 +118,7 @@ enum ORB_PRIO {
  *
  * @param _name		The name of the topic.
  * @param _struct	The structure the topic provides.
- * @param _fields	All fields in a semicolon separated list e.g: "float[3] position;bool armed"
+ * @param _func		The pointer to a function that packs topic
  */
 #define ORB_DEFINE(_name, _struct, _fields)			\
 	const struct orb_metadata __orb_##_name = {	\