diff --git a/msg/encoders.msg b/msg/encoders.msg
new file mode 100644
index 0000000000..505365c57e
--- /dev/null
+++ b/msg/encoders.msg
@@ -0,0 +1,5 @@
+uint8 NUM_ENCODERS = 4
+
+uint64 timestamp
+int64[4] counts			# counts of encoder
+float32[4] velocity		# counts of encoder/ second
diff --git a/src/modules/uORB/topics/encoders.h b/src/modules/uORB/topics/encoders.h
deleted file mode 100644
index 588c0ddb13..0000000000
--- a/src/modules/uORB/topics/encoders.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/****************************************************************************
- *
- *   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 encoders.h
- *
- * Encoders topic.
- *
- */
-
-#ifndef TOPIC_ENCODERS_H
-#define TOPIC_ENCODERS_H
-
-#include <stdint.h>
-#include "../uORB.h"
-
-/**
- * @addtogroup topics
- * @{
- */
-
-#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