diff --git a/system/uorb/sensor/temp.c b/system/uorb/sensor/temp.c
index 63545b312..4a2e2fb93 100644
--- a/system/uorb/sensor/temp.c
+++ b/system/uorb/sensor/temp.c
@@ -40,3 +40,4 @@ static const char sensor_temp_format[] =
  ****************************************************************************/
 
 ORB_DEFINE(sensor_temp, struct sensor_temp, sensor_temp_format);
+ORB_DEFINE(sensor_ambient_temp, struct sensor_temp, sensor_temp_format);
diff --git a/system/uorb/sensor/temp.h b/system/uorb/sensor/temp.h
index 2ee401af3..18067559e 100644
--- a/system/uorb/sensor/temp.h
+++ b/system/uorb/sensor/temp.h
@@ -36,5 +36,6 @@
 /* register this as object request broker structure */
 
 ORB_DECLARE(sensor_temp);
+ORB_DECLARE(sensor_ambient_temp);
 
 #endif
diff --git a/system/uorb/sensor/topics.c b/system/uorb/sensor/topics.c
index 48619627f..2eec67dec 100644
--- a/system/uorb/sensor/topics.c
+++ b/system/uorb/sensor/topics.c
@@ -70,6 +70,7 @@
 #include <sensor/temp.h>
 #include <sensor/tvoc.h>
 #include <sensor/uv.h>
+#include <sensor/velocity.h>
 
 #include <uORB/uORB.h>
 
@@ -81,6 +82,7 @@ static FAR const struct orb_metadata *g_sensor_list[] =
 {
   ORB_ID(sensor_accel),
   ORB_ID(sensor_accel_uncal),
+  ORB_ID(sensor_ambient_temp),
   ORB_ID(sensor_hinge_angle),
   ORB_ID(sensor_baro),
   ORB_ID(sensor_cap),
@@ -139,6 +141,7 @@ static FAR const struct orb_metadata *g_sensor_list[] =
   ORB_ID(sensor_tilt_detector_uncal),
   ORB_ID(sensor_tvoc),
   ORB_ID(sensor_uv),
+  ORB_ID(sensor_velocity),
   ORB_ID(sensor_wake_gesture),
   ORB_ID(sensor_wake_gesture_uncal),
   ORB_ID(sensor_wrist_tilt),
diff --git a/system/uorb/sensor/velocity.c b/system/uorb/sensor/velocity.c
new file mode 100644
index 000000000..069717386
--- /dev/null
+++ b/system/uorb/sensor/velocity.c
@@ -0,0 +1,40 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/velocity.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <sensor/velocity.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_UORB_FORMAT
+static const char sensor_velocity_format[] =
+  "timestamp:%" PRIu64 ",velocity:%hf";
+#endif
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+ORB_DEFINE(sensor_velocity, struct sensor_velocity, sensor_velocity_format);
diff --git a/system/uorb/sensor/velocity.h b/system/uorb/sensor/velocity.h
new file mode 100644
index 000000000..aff892c1f
--- /dev/null
+++ b/system/uorb/sensor/velocity.h
@@ -0,0 +1,38 @@
+/****************************************************************************
+ * apps/system/uorb/sensor/velocity.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __APPS_SYSTEM_UORB_SENSOR_VELOCITY_H
+#define __APPS_SYSTEM_UORB_SENSOR_VELOCITY_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <uORB/uORB.h>
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/* register this as object request broker structure */
+
+ORB_DECLARE(sensor_velocity);
+
+#endif