path: root/src/modules/mavlink/mavlink_messages.cpp

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 * modification, are permitted provided that the following conditions
 * are met:
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 * 1. Redistributions of source code must retain the above copyright
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 *    used to endorse or promote products derived from this software
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/**
 * @file mavlink_messages.cpp
 * MAVLink 1.0 message formatters implementation.
 *
 * @author Lorenz Meier <lm@inf.ethz.ch>
 * @author Anton Babushkin <anton.babushkin@me.com>
 */

#include <stdio.h>

#include <commander/px4_custom_mode.h>
#include <lib/geo/geo.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/debug_key_value.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/navigation_capabilities.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_range_finder.h>
#include <systemlib/err.h>
#include <mavlink/mavlink_log.h>

#include "mavlink_messages.h"
#include "mavlink_main.h"

static uint16_t cm_uint16_from_m_float(float m);
static void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet,
				   uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode);

uint16_t
cm_uint16_from_m_float(float m)
{
	if (m < 0.0f) {
		return 0;

	} else if (m > 655.35f) {
		return 65535;
	}

	return (uint16_t)(m * 100.0f);
}

void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_setpoint_triplet_s *pos_sp_triplet,
			    uint8_t *mavlink_state, uint8_t *mavlink_base_mode, uint32_t *mavlink_custom_mode)
{
	*mavlink_state = 0;
	*mavlink_base_mode = 0;
	*mavlink_custom_mode = 0;

	/* HIL */
	if (status->hil_state == HIL_STATE_ON) {
		*mavlink_base_mode |= MAV_MODE_FLAG_HIL_ENABLED;
	}

	/* arming state */
	if (status->arming_state == ARMING_STATE_ARMED
	    || status->arming_state == ARMING_STATE_ARMED_ERROR) {
		*mavlink_base_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
	}

	/* main state */
	*mavlink_base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;

	union px4_custom_mode custom_mode;
	custom_mode.data = 0;

	switch (status->nav_state) {

		case NAVIGATION_STATE_MANUAL:
			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
			                      | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0);
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
			break;

		case NAVIGATION_STATE_ACRO:
			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ACRO;
			break;

		case NAVIGATION_STATE_ALTCTL:
			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL;
			break;

		case NAVIGATION_STATE_POSCTL:
			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
					      | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL;
			break;

		case NAVIGATION_STATE_AUTO_MISSION:
			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
					      | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_MISSION;
			break;

		case NAVIGATION_STATE_AUTO_LOITER:
			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
					      | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
			break;

		case NAVIGATION_STATE_AUTO_RTL:
			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
					      | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTL;
			break;

		case NAVIGATION_STATE_LAND:
			/* fallthrough */
		case NAVIGATION_STATE_DESCEND:
			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
					      | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
			break;

		case NAVIGATION_STATE_AUTO_RTGS:
			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
					      | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
			custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_RTGS;
			break;

		case NAVIGATION_STATE_TERMINATION:
			*mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL;
			break;

		case NAVIGATION_STATE_OFFBOARD:
			*mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED
			                      | MAV_MODE_FLAG_STABILIZE_ENABLED
					      | MAV_MODE_FLAG_GUIDED_ENABLED;
			custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_OFFBOARD;
			break;

		case NAVIGATION_STATE_MAX:
			/* this is an unused case, ignore */
			break;

	}

	*mavlink_custom_mode = custom_mode.data;

	/* set system state */
	if (status->arming_state == ARMING_STATE_INIT
	    || status->arming_state == ARMING_STATE_IN_AIR_RESTORE
	    || status->arming_state == ARMING_STATE_STANDBY_ERROR) {	// TODO review
		*mavlink_state = MAV_STATE_UNINIT;

	} else if (status->arming_state == ARMING_STATE_ARMED) {
		*mavlink_state = MAV_STATE_ACTIVE;

	} else if (status->arming_state == ARMING_STATE_ARMED_ERROR) {
		*mavlink_state = MAV_STATE_CRITICAL;

	} else if (status->arming_state == ARMING_STATE_STANDBY) {
		*mavlink_state = MAV_STATE_STANDBY;

	} else if (status->arming_state == ARMING_STATE_REBOOT) {
		*mavlink_state = MAV_STATE_POWEROFF;

	} else {
		*mavlink_state = MAV_STATE_CRITICAL;
	}
}


class MavlinkStreamHeartbeat : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamHeartbeat::get_name_static();
	}

	static const char *get_name_static()
	{
		return "HEARTBEAT";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_HEARTBEAT;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamHeartbeat(mavlink);
	}

	unsigned get_size()
	{
		return MAVLINK_MSG_ID_HEARTBEAT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
	}

	bool const_rate() {
		return true;
	}

private:
	MavlinkOrbSubscription *_status_sub;
	MavlinkOrbSubscription *_pos_sp_triplet_sub;

	/* do not allow top copying this class */
	MavlinkStreamHeartbeat(MavlinkStreamHeartbeat &);
	MavlinkStreamHeartbeat& operator = (const MavlinkStreamHeartbeat &);

protected:
	explicit MavlinkStreamHeartbeat(Mavlink *mavlink) : MavlinkStream(mavlink),
		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status))),
		_pos_sp_triplet_sub(_mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet)))
	{}

	void send(const hrt_abstime t)
	{
		struct vehicle_status_s status;
		struct position_setpoint_triplet_s pos_sp_triplet;

		/* always send the heartbeat, independent of the update status of the topics */
		if (!_status_sub->update(&status)) {
			/* if topic update failed fill it with defaults */
			memset(&status, 0, sizeof(status));
		}

		if (!_pos_sp_triplet_sub->update(&pos_sp_triplet)) {
			/* if topic update failed fill it with defaults */
			memset(&pos_sp_triplet, 0, sizeof(pos_sp_triplet));
		}

		mavlink_heartbeat_t msg;

		msg.base_mode = 0;
		msg.custom_mode = 0;
		get_mavlink_mode_state(&status, &pos_sp_triplet, &msg.system_status, &msg.base_mode, &msg.custom_mode);
		msg.type = mavlink_system.type;
		msg.autopilot = MAV_AUTOPILOT_PX4;
		msg.mavlink_version = 3;

		_mavlink->send_message(MAVLINK_MSG_ID_HEARTBEAT, &msg);
	}
};

class MavlinkStreamStatustext : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamStatustext::get_name_static();
	}

	static const char *get_name_static()
	{
		return "STATUSTEXT";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_STATUSTEXT;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamStatustext(mavlink);
	}

	unsigned get_size() {
		return mavlink_logbuffer_is_empty(_mavlink->get_logbuffer()) ? 0 : (MAVLINK_MSG_ID_STATUSTEXT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES);
	}

private:
	/* do not allow top copying this class */
	MavlinkStreamStatustext(MavlinkStreamStatustext &);
	MavlinkStreamStatustext& operator = (const MavlinkStreamStatustext &);

protected:
	explicit MavlinkStreamStatustext(Mavlink *mavlink) : MavlinkStream(mavlink)
	{}

	void send(const hrt_abstime t)
	{
		if (!mavlink_logbuffer_is_empty(_mavlink->get_logbuffer())) {
			struct mavlink_logmessage logmsg;
			int lb_ret = mavlink_logbuffer_read(_mavlink->get_logbuffer(), &logmsg);

			if (lb_ret == OK) {
				mavlink_statustext_t msg;

				/* map severity */
				switch (logmsg.severity) {
				case MAVLINK_IOC_SEND_TEXT_INFO:
					msg.severity = MAV_SEVERITY_INFO;
					break;

				case MAVLINK_IOC_SEND_TEXT_CRITICAL:
					msg.severity = MAV_SEVERITY_CRITICAL;
					break;

				case MAVLINK_IOC_SEND_TEXT_EMERGENCY:
					msg.severity = MAV_SEVERITY_EMERGENCY;
					break;

				default:
					msg.severity = MAV_SEVERITY_INFO;
					break;
				}
				strncpy(msg.text, logmsg.text, sizeof(msg.text));

				_mavlink->send_message(MAVLINK_MSG_ID_STATUSTEXT, &msg);
			}
		}
	}
};

class MavlinkStreamCommandLong : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamCommandLong::get_name_static();
	}

	static const char *get_name_static()
	{
		return "COMMAND_LONG";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_COMMAND_LONG;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamCommandLong(mavlink);
	}

	unsigned get_size() {
		return 0;	// commands stream is not regular and not predictable
	}

private:
	MavlinkOrbSubscription *_cmd_sub;
	uint64_t _cmd_time;

	/* do not allow top copying this class */
	MavlinkStreamCommandLong(MavlinkStreamCommandLong &);
	MavlinkStreamCommandLong& operator = (const MavlinkStreamCommandLong &);

protected:
	explicit MavlinkStreamCommandLong(Mavlink *mavlink) : MavlinkStream(mavlink),
		_cmd_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_command))),
		_cmd_time(0)
	{}

	void send(const hrt_abstime t)
	{
		struct vehicle_command_s cmd;

		if (_cmd_sub->update(&_cmd_time, &cmd)) {
			/* only send commands for other systems/components */
			if (cmd.target_system != mavlink_system.sysid || cmd.target_component != mavlink_system.compid) {
				mavlink_command_long_t msg;

				msg.target_system = cmd.target_system;
				msg.target_component = cmd.target_component;
				msg.command = cmd.command;
				msg.confirmation = cmd.confirmation;
				msg.param1 = cmd.param1;
				msg.param2 = cmd.param2;
				msg.param3 = cmd.param3;
				msg.param4 = cmd.param4;
				msg.param5 = cmd.param5;
				msg.param6 = cmd.param6;
				msg.param7 = cmd.param7;

				_mavlink->send_message(MAVLINK_MSG_ID_COMMAND_LONG, &msg);
			}
		}
	}
};

class MavlinkStreamSysStatus : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamSysStatus::get_name_static();
	}

	static const char *get_name_static()
	{
		return "SYS_STATUS";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_SYS_STATUS;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamSysStatus(mavlink);
	}

	unsigned get_size()
	{
		return MAVLINK_MSG_ID_SYS_STATUS_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
	}

private:
	MavlinkOrbSubscription *_status_sub;

	/* do not allow top copying this class */
	MavlinkStreamSysStatus(MavlinkStreamSysStatus &);
	MavlinkStreamSysStatus& operator = (const MavlinkStreamSysStatus &);

protected:
	explicit MavlinkStreamSysStatus(Mavlink *mavlink) : MavlinkStream(mavlink),
		_status_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_status)))
	{}

	void send(const hrt_abstime t)
	{
		struct vehicle_status_s status;

		if (_status_sub->update(&status)) {
			mavlink_sys_status_t msg;

			msg.onboard_control_sensors_present = status.onboard_control_sensors_present;
			msg.onboard_control_sensors_enabled = status.onboard_control_sensors_enabled;
			msg.onboard_control_sensors_health = status.onboard_control_sensors_health;
			msg.load = status.load * 1000.0f;
			msg.voltage_battery = status.battery_voltage * 1000.0f;
			msg.current_battery = status.battery_current * 100.0f;
			msg.drop_rate_comm = status.drop_rate_comm;
			msg.errors_comm = status.errors_comm;
			msg.errors_count1 = status.errors_count1;
			msg.errors_count2 = status.errors_count2;
			msg.errors_count3 = status.errors_count3;
			msg.errors_count4 = status.errors_count4;
			msg.battery_remaining = status.battery_remaining * 100.0f;

			_mavlink->send_message(MAVLINK_MSG_ID_SYS_STATUS, &msg);
		}
	}
};


class MavlinkStreamHighresIMU : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamHighresIMU::get_name_static();
	}

	static const char *get_name_static()
	{
		return "HIGHRES_IMU";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_HIGHRES_IMU;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamHighresIMU(mavlink);
	}

	unsigned get_size()
	{
		return MAVLINK_MSG_ID_HIGHRES_IMU_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
	}

private:
	MavlinkOrbSubscription *_sensor_sub;
	uint64_t _sensor_time;

	uint64_t _accel_timestamp;
	uint64_t _gyro_timestamp;
	uint64_t _mag_timestamp;
	uint64_t _baro_timestamp;

	/* do not allow top copying this class */
	MavlinkStreamHighresIMU(MavlinkStreamHighresIMU &);
	MavlinkStreamHighresIMU& operator = (const MavlinkStreamHighresIMU &);

protected:
	explicit MavlinkStreamHighresIMU(Mavlink *mavlink) : MavlinkStream(mavlink),
		_sensor_sub(_mavlink->add_orb_subscription(ORB_ID(sensor_combined))),
		_sensor_time(0),
		_accel_timestamp(0),
		_gyro_timestamp(0),
		_mag_timestamp(0),
		_baro_timestamp(0)
	{}

	void send(const hrt_abstime t)
	{
		struct sensor_combined_s sensor;

		if (_sensor_sub->update(&_sensor_time, &sensor)) {
			uint16_t fields_updated = 0;

			if (_accel_timestamp != sensor.accelerometer_timestamp) {
				/* mark first three dimensions as changed */
				fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
				_accel_timestamp = sensor.accelerometer_timestamp;
			}

			if (_gyro_timestamp != sensor.timestamp) {
				/* mark second group dimensions as changed */
				fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
				_gyro_timestamp = sensor.timestamp;
			}

			if (_mag_timestamp != sensor.magnetometer_timestamp) {
				/* mark third group dimensions as changed */
				fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
				_mag_timestamp = sensor.magnetometer_timestamp;
			}

			if (_baro_timestamp != sensor.baro_timestamp) {
				/* mark last group dimensions as changed */
				fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
				_baro_timestamp = sensor.baro_timestamp;
			}

			mavlink_highres_imu_t msg;

			msg.time_usec = sensor.timestamp;
			msg.xacc = sensor.accelerometer_m_s2[0];
			msg.yacc = sensor.accelerometer_m_s2[1];
			msg.zacc = sensor.accelerometer_m_s2[2];
			msg.xgyro = sensor.gyro_rad_s[0];
			msg.ygyro = sensor.gyro_rad_s[1];
			msg.zgyro = sensor.gyro_rad_s[2];
			msg.xmag = sensor.magnetometer_ga[0];
			msg.ymag = sensor.magnetometer_ga[1];
			msg.zmag = sensor.magnetometer_ga[2];
			msg.abs_pressure = sensor.baro_pres_mbar;
			msg.diff_pressure = sensor.differential_pressure_pa;
			msg.pressure_alt = sensor.baro_alt_meter;
			msg.temperature = sensor.baro_temp_celcius;
			msg.fields_updated = fields_updated;

			_mavlink->send_message(MAVLINK_MSG_ID_HIGHRES_IMU, &msg);
		}
	}
};


class MavlinkStreamAttitude : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamAttitude::get_name_static();
	}

	static const char *get_name_static()
	{
		return "ATTITUDE";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_ATTITUDE;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamAttitude(mavlink);
	}

	unsigned get_size()
	{
		return MAVLINK_MSG_ID_ATTITUDE_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
	}

private:
	MavlinkOrbSubscription *_att_sub;
	uint64_t _att_time;

	/* do not allow top copying this class */
	MavlinkStreamAttitude(MavlinkStreamAttitude &);
	MavlinkStreamAttitude& operator = (const MavlinkStreamAttitude &);


protected:
	explicit MavlinkStreamAttitude(Mavlink *mavlink) : MavlinkStream(mavlink),
		_att_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
		_att_time(0)
	{}

	void send(const hrt_abstime t)
	{
		struct vehicle_attitude_s att;

		if (_att_sub->update(&_att_time, &att)) {
			mavlink_attitude_t msg;

			msg.time_boot_ms = att.timestamp / 1000;
			msg.roll = att.roll;
			msg.pitch = att.pitch;
			msg.yaw = att.yaw;
			msg.rollspeed = att.rollspeed;
			msg.pitchspeed = att.pitchspeed;
			msg.yawspeed = att.yawspeed;

			_mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE, &msg);
		}
	}
};


class MavlinkStreamAttitudeQuaternion : public MavlinkStream
{
public:
	const char *get_name() const
	{
		return MavlinkStreamAttitudeQuaternion::get_name_static();
	}

	static const char *get_name_static()
	{
		return "ATTITUDE_QUATERNION";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamAttitudeQuaternion(mavlink);
	}

	unsigned get_size()
	{
		return MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
	}

private:
	MavlinkOrbSubscription *_att_sub;
	uint64_t _att_time;

	/* do not allow top copying this class */
	MavlinkStreamAttitudeQuaternion(MavlinkStreamAttitudeQuaternion &);
	MavlinkStreamAttitudeQuaternion& operator = (const MavlinkStreamAttitudeQuaternion &);

protected:
	explicit MavlinkStreamAttitudeQuaternion(Mavlink *mavlink) : MavlinkStream(mavlink),
		_att_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
		_att_time(0)
	{}

	void send(const hrt_abstime t)
	{
		struct vehicle_attitude_s att;

		if (_att_sub->update(&_att_time, &att)) {
			mavlink_attitude_quaternion_t msg;

			msg.time_boot_ms = att.timestamp / 1000;
			msg.q1 = att.q[0];
			msg.q2 = att.q[1];
			msg.q3 = att.q[2];
			msg.q4 = att.q[3];
			msg.rollspeed = att.rollspeed;
			msg.pitchspeed = att.pitchspeed;
			msg.yawspeed = att.yawspeed;

			_mavlink->send_message(MAVLINK_MSG_ID_ATTITUDE_QUATERNION, &msg);
		}
	}
};


class MavlinkStreamVFRHUD : public MavlinkStream
{
public:

	const char *get_name() const
	{
		return MavlinkStreamVFRHUD::get_name_static();
	}

	static const char *get_name_static()
	{
		return "VFR_HUD";
	}

	uint8_t get_id()
	{
		return MAVLINK_MSG_ID_VFR_HUD;
	}

	static MavlinkStream *new_instance(Mavlink *mavlink)
	{
		return new MavlinkStreamVFRHUD(mavlink);
	}

	unsigned get_size()
	{
		return MAVLINK_MSG_ID_VFR_HUD_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
	}

private:
	MavlinkOrbSubscription *_att_sub;
	uint64_t _att_time;

	MavlinkOrbSubscription *_pos_sub;
	uint64_t _pos_time;

	MavlinkOrbSubscription *_armed_sub;
	uint64_t _armed_time;

	MavlinkOrbSubscription *_act_sub;
	uint64_t _act_time;

	MavlinkOrbSubscription *_airspeed_sub;
	uint64_t _airspeed_time;

	/* do not allow top copying this class */
	MavlinkStreamVFRHUD(MavlinkStreamVFRHUD &);
	MavlinkStreamVFRHUD& operator = (const MavlinkStreamVFRHUD &);

protected:
	explicit MavlinkStreamVFRHUD(Mavlink *mavlink) : MavlinkStream(mavlink),
		_att_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_attitude))),
		_att_time(0),
		_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_global_position))),
		_pos_time(0),
		_armed_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_armed))),
		_armed_time(0),
		_act_sub(_mavlink->add_orb_subscription(ORB_ID(actuator_controls_0))),
		_act_time(0),
		_airspeed_sub(_mavlink->add_orb_subscription(ORB_ID(airspeed))),
		_airspeed_time(0)
	{}

	void send(const hrt_abstime t)
	{
		struct vehicle_attitude_s att;
		struct vehicle_global_position_s pos;
		struct actuator_armed_s armed;
		struct actuator_controls_s act;
		struct airspeed_s airspeed;

		bool updated = _att_sub->update(&_att_time, &att);
		updated |= _pos_sub->update(&_pos_time, &pos);
		updated |= _armed_sub->update(&_armed_time, &armed);
		updated |= _act_sub->update(&_act_time, &act);
		updated |= _airspeed_sub->update(&_airspeed_time, &airspeed);

		if (updated) {
			mavlink_vfr_hud_t msg;

			msg.airspeed = airspeed.true_airspeed_m_s;
			msg.groundspeed = sqrtf(pos.vel_n * pos.vel_n + pos.vel_e * pos.vel_e);
			msg.heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
			msg.throttle = armed.armed ? act.control[3] * 100.0f : 0.0f;
			msg.alt = pos.alt;
			msg.climb = -pos.vel_d;

			_mavlink->send_message(MAVLINK_MSG_ID_VFR_HUD, &msg);
		}
	}
};


//class MavlinkStreamGPSRawInt : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamGPSRawInt::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "GPS_RAW_INT";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_GPS_RAW_INT;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamGPSRawInt();
//	}
//
//private:
//	MavlinkOrbSubscription *gps_sub;
//	uint64_t gps_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &);
//	MavlinkStreamGPSRawInt& operator = (const MavlinkStreamGPSRawInt &);
//
//protected:
//	explicit MavlinkStreamGPSRawInt() : MavlinkStream(),
//		gps_sub(nullptr),
//		gps_time(0)
//	{}
//
//	void subscribe()
//	{
//		gps_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_gps_position));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_gps_position_s gps;
//
//		if (gps_sub->update(&gps_time, &gps)) {
//			mavlink_msg_gps_raw_int_send(_channel,
//						     gps.timestamp_position,
//						     gps.fix_type,
//						     gps.lat,
//						     gps.lon,
//						     gps.alt,
//						     cm_uint16_from_m_float(gps.eph),
//						     cm_uint16_from_m_float(gps.epv),
//						     gps.vel_m_s * 100.0f,
//						     _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
//						     gps.satellites_used);
//		}
//	}
//};
//
//
//class MavlinkStreamGlobalPositionInt : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamGlobalPositionInt::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "GLOBAL_POSITION_INT";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamGlobalPositionInt();
//	}
//
//private:
//	MavlinkOrbSubscription *pos_sub;
//	uint64_t pos_time;
//
//	MavlinkOrbSubscription *home_sub;
//	uint64_t home_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamGlobalPositionInt(MavlinkStreamGlobalPositionInt &);
//	MavlinkStreamGlobalPositionInt& operator = (const MavlinkStreamGlobalPositionInt &);
//
//protected:
//	explicit MavlinkStreamGlobalPositionInt() : MavlinkStream(),
//		pos_sub(nullptr),
//		pos_time(0),
//		home_sub(nullptr),
//		home_time(0)
//	{}
//
//	void subscribe()
//	{
//		pos_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_global_position));
//		home_sub = _mavlink->add_orb_subscription(ORB_ID(home_position));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_global_position_s pos;
//		struct home_position_s home;
//
//		bool updated = pos_sub->update(&pos_time, &pos);
//		updated |= home_sub->update(&home_time, &home);
//
//		if (updated) {
//			mavlink_msg_global_position_int_send(_channel,
//							     pos.timestamp / 1000,
//							     pos.lat * 1e7,
//							     pos.lon * 1e7,
//							     pos.alt * 1000.0f,
//							     (pos.alt - home.alt) * 1000.0f,
//							     pos.vel_n * 100.0f,
//							     pos.vel_e * 100.0f,
//							     pos.vel_d * 100.0f,
//							     _wrap_2pi(pos.yaw) * M_RAD_TO_DEG_F * 100.0f);
//		}
//	}
//};
//
//
//class MavlinkStreamLocalPositionNED : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamLocalPositionNED::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "LOCAL_POSITION_NED";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_LOCAL_POSITION_NED;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamLocalPositionNED();
//	}
//
//private:
//	MavlinkOrbSubscription *pos_sub;
//	uint64_t pos_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamLocalPositionNED(MavlinkStreamLocalPositionNED &);
//	MavlinkStreamLocalPositionNED& operator = (const MavlinkStreamLocalPositionNED &);
//
//protected:
//	explicit MavlinkStreamLocalPositionNED() : MavlinkStream(),
//		pos_sub(nullptr),
//		pos_time(0)
//	{}
//
//	void subscribe()
//	{
//		pos_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_local_position));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_local_position_s pos;
//
//		if (pos_sub->update(&pos_time, &pos)) {
//			mavlink_msg_local_position_ned_send(_channel,
//							    pos.timestamp / 1000,
//							    pos.x,
//							    pos.y,
//							    pos.z,
//							    pos.vx,
//							    pos.vy,
//							    pos.vz);
//		}
//	}
//};
//
//
//
//class MavlinkStreamViconPositionEstimate : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamViconPositionEstimate::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "VICON_POSITION_ESTIMATE";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamViconPositionEstimate();
//	}
//
//private:
//	MavlinkOrbSubscription *pos_sub;
//	uint64_t pos_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamViconPositionEstimate(MavlinkStreamViconPositionEstimate &);
//	MavlinkStreamViconPositionEstimate& operator = (const MavlinkStreamViconPositionEstimate &);
//
//protected:
//	explicit MavlinkStreamViconPositionEstimate() : MavlinkStream(),
//		pos_sub(nullptr),
//		pos_time(0)
//	{}
//
//	void subscribe()
//	{
//		pos_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_vicon_position));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_vicon_position_s pos;
//
//		if (pos_sub->update(&pos_time, &pos)) {
//			mavlink_msg_vicon_position_estimate_send(_channel,
//								pos.timestamp / 1000,
//								pos.x,
//								pos.y,
//								pos.z,
//								pos.roll,
//								pos.pitch,
//								pos.yaw);
//		}
//	}
//};
//
//
//class MavlinkStreamGPSGlobalOrigin : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamGPSGlobalOrigin::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "GPS_GLOBAL_ORIGIN";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamGPSGlobalOrigin();
//	}
//
//private:
//	MavlinkOrbSubscription *home_sub;
//
//	/* do not allow top copying this class */
//	MavlinkStreamGPSGlobalOrigin(MavlinkStreamGPSGlobalOrigin &);
//	MavlinkStreamGPSGlobalOrigin& operator = (const MavlinkStreamGPSGlobalOrigin &);
//
//protected:
//	explicit MavlinkStreamGPSGlobalOrigin() : MavlinkStream(),
//		home_sub(nullptr)
//	{}
//
//	void subscribe()
//	{
//		home_sub = _mavlink->add_orb_subscription(ORB_ID(home_position));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		/* we're sending the GPS home periodically to ensure the
//		 * the GCS does pick it up at one point */
//		if (home_sub->is_published()) {
//			struct home_position_s home;
//
//			if (home_sub->update(&home)) {
//				mavlink_msg_gps_global_origin_send(_channel,
//								   (int32_t)(home.lat * 1e7),
//								   (int32_t)(home.lon * 1e7),
//								   (int32_t)(home.alt) * 1000.0f);
//			}
//		}
//	}
//};
//
//template <int N>
//class MavlinkStreamServoOutputRaw : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamServoOutputRaw<N>::get_name_static();
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_SERVO_OUTPUT_RAW;
//	}
//
//	static const char *get_name_static()
//	{
//		switch (N) {
//			case 0:
//			return "SERVO_OUTPUT_RAW_0";
//
//			case 1:
//			return "SERVO_OUTPUT_RAW_1";
//
//			case 2:
//			return "SERVO_OUTPUT_RAW_2";
//
//			case 3:
//			return "SERVO_OUTPUT_RAW_3";
//		}
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamServoOutputRaw<N>();
//	}
//
//private:
//	MavlinkOrbSubscription *act_sub;
//	uint64_t act_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamServoOutputRaw(MavlinkStreamServoOutputRaw &);
//	MavlinkStreamServoOutputRaw& operator = (const MavlinkStreamServoOutputRaw &);
//
//protected:
//	explicit MavlinkStreamServoOutputRaw() : MavlinkStream(),
//		act_sub(nullptr),
//		act_time(0)
//	{}
//
//	void subscribe()
//	{
//		orb_id_t act_topics[] = {
//			ORB_ID(actuator_outputs_0),
//			ORB_ID(actuator_outputs_1),
//			ORB_ID(actuator_outputs_2),
//			ORB_ID(actuator_outputs_3)
//		};
//
//		act_sub = _mavlink->add_orb_subscription(act_topics[N]);
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct actuator_outputs_s act;
//
//		if (act_sub->update(&act_time, &act)) {
//			mavlink_msg_servo_output_raw_send(_channel,
//							  act.timestamp / 1000,
//							  N,
//							  act.output[0],
//							  act.output[1],
//							  act.output[2],
//							  act.output[3],
//							  act.output[4],
//							  act.output[5],
//							  act.output[6],
//							  act.output[7]);
//		}
//	}
//};
//
//
//class MavlinkStreamHILControls : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamHILControls::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "HIL_CONTROLS";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_HIL_CONTROLS;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamHILControls();
//	}
//
//private:
//	MavlinkOrbSubscription *status_sub;
//	uint64_t status_time;
//
//	MavlinkOrbSubscription *pos_sp_triplet_sub;
//	uint64_t pos_sp_triplet_time;
//
//	MavlinkOrbSubscription *act_sub;
//	uint64_t act_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamHILControls(MavlinkStreamHILControls &);
//	MavlinkStreamHILControls& operator = (const MavlinkStreamHILControls &);
//
//protected:
//	explicit MavlinkStreamHILControls() : MavlinkStream(),
//		status_sub(nullptr),
//		status_time(0),
//		pos_sp_triplet_sub(nullptr),
//		pos_sp_triplet_time(0),
//		act_sub(nullptr),
//		act_time(0)
//	{}
//
//	void subscribe()
//	{
//		status_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_status));
//		pos_sp_triplet_sub = _mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
//		act_sub = _mavlink->add_orb_subscription(ORB_ID(actuator_outputs_0));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_status_s status;
//		struct position_setpoint_triplet_s pos_sp_triplet;
//		struct actuator_outputs_s act;
//
//		bool updated = act_sub->update(&act_time, &act);
//		updated |= pos_sp_triplet_sub->update(&pos_sp_triplet_time, &pos_sp_triplet);
//		updated |= status_sub->update(&status_time, &status);
//
//		if (updated && (status.arming_state == ARMING_STATE_ARMED)) {
//			/* translate the current syste state to mavlink state and mode */
//			uint8_t mavlink_state;
//			uint8_t mavlink_base_mode;
//			uint32_t mavlink_custom_mode;
//			get_mavlink_mode_state(&status, &pos_sp_triplet, &mavlink_state, &mavlink_base_mode, &mavlink_custom_mode);
//
//			float out[8];
//
//			const float pwm_center = (PWM_HIGHEST_MAX + PWM_LOWEST_MIN) / 2;
//
//			/* scale outputs depending on system type */
//			if (mavlink_system.type == MAV_TYPE_QUADROTOR ||
//				mavlink_system.type == MAV_TYPE_HEXAROTOR ||
//				mavlink_system.type == MAV_TYPE_OCTOROTOR) {
//				/* multirotors: set number of rotor outputs depending on type */
//
//				unsigned n;
//
//				switch (mavlink_system.type) {
//				case MAV_TYPE_QUADROTOR:
//					n = 4;
//					break;
//
//				case MAV_TYPE_HEXAROTOR:
//					n = 6;
//					break;
//
//				default:
//					n = 8;
//					break;
//				}
//
//				for (unsigned i = 0; i < 8; i++) {
//					if (mavlink_base_mode & MAV_MODE_FLAG_SAFETY_ARMED) {
//						if (i < n) {
//							/* scale PWM out 900..2100 us to 0..1 for rotors */
//							out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
//
//						} else {
//							/* scale PWM out 900..2100 us to -1..1 for other channels */
//							out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
//						}
//
//					} else {
//						/* send 0 when disarmed */
//						out[i] = 0.0f;
//					}
//				}
//
//			} else {
//				/* fixed wing: scale throttle to 0..1 and other channels to -1..1 */
//
//				for (unsigned i = 0; i < 8; i++) {
//					if (i != 3) {
//						/* scale PWM out 900..2100 us to -1..1 for normal channels */
//						out[i] = (act.output[i] - pwm_center) / ((PWM_HIGHEST_MAX - PWM_LOWEST_MIN) / 2);
//
//					} else {
//						/* scale PWM out 900..2100 us to 0..1 for throttle */
//						out[i] = (act.output[i] - PWM_LOWEST_MIN) / (PWM_HIGHEST_MAX - PWM_LOWEST_MIN);
//					}
//
//				}
//			}
//
//			mavlink_msg_hil_controls_send(_channel,
//						      hrt_absolute_time(),
//						      out[0], out[1], out[2], out[3], out[4], out[5], out[6], out[7],
//						      mavlink_base_mode,
//						      0);
//		}
//	}
//};
//
//
//class MavlinkStreamGlobalPositionSetpointInt : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamGlobalPositionSetpointInt::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "GLOBAL_POSITION_SETPOINT_INT";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_GLOBAL_POSITION_SETPOINT_INT;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamGlobalPositionSetpointInt();
//	}
//
//private:
//	MavlinkOrbSubscription *pos_sp_triplet_sub;
//
//	/* do not allow top copying this class */
//	MavlinkStreamGlobalPositionSetpointInt(MavlinkStreamGlobalPositionSetpointInt &);
//	MavlinkStreamGlobalPositionSetpointInt& operator = (const MavlinkStreamGlobalPositionSetpointInt &);
//
//protected:
//	explicit MavlinkStreamGlobalPositionSetpointInt() : MavlinkStream(),
//		pos_sp_triplet_sub(nullptr)
//	{}
//
//	void subscribe()
//	{
//		pos_sp_triplet_sub = _mavlink->add_orb_subscription(ORB_ID(position_setpoint_triplet));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct position_setpoint_triplet_s pos_sp_triplet;
//
//		if (pos_sp_triplet_sub->update(&pos_sp_triplet)) {
//			mavlink_msg_global_position_setpoint_int_send(_channel,
//					MAV_FRAME_GLOBAL,
//					(int32_t)(pos_sp_triplet.current.lat * 1e7),
//					(int32_t)(pos_sp_triplet.current.lon * 1e7),
//					(int32_t)(pos_sp_triplet.current.alt * 1000),
//					(int16_t)(pos_sp_triplet.current.yaw * M_RAD_TO_DEG_F * 100.0f));
//		}
//	}
//};
//
//
//class MavlinkStreamLocalPositionSetpoint : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamLocalPositionSetpoint::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "LOCAL_POSITION_SETPOINT";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamLocalPositionSetpoint();
//	}
//
//private:
//	MavlinkOrbSubscription *pos_sp_sub;
//	uint64_t pos_sp_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamLocalPositionSetpoint(MavlinkStreamLocalPositionSetpoint &);
//	MavlinkStreamLocalPositionSetpoint& operator = (const MavlinkStreamLocalPositionSetpoint &);
//
//protected:
//	explicit MavlinkStreamLocalPositionSetpoint() : MavlinkStream(),
//		pos_sp_sub(nullptr),
//		pos_sp_time(0)
//	{}
//
//	void subscribe()
//	{
//		pos_sp_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_local_position_setpoint));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_local_position_setpoint_s pos_sp;
//
//		if (pos_sp_sub->update(&pos_sp_time, &pos_sp)) {
//			mavlink_msg_local_position_setpoint_send(_channel,
//					MAV_FRAME_LOCAL_NED,
//					pos_sp.x,
//					pos_sp.y,
//					pos_sp.z,
//					pos_sp.yaw);
//		}
//	}
//};
//
//
//class MavlinkStreamRollPitchYawThrustSetpoint : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamRollPitchYawThrustSetpoint::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "ROLL_PITCH_YAW_THRUST_SETPOINT";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamRollPitchYawThrustSetpoint();
//	}
//
//private:
//	MavlinkOrbSubscription *att_sp_sub;
//	uint64_t att_sp_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamRollPitchYawThrustSetpoint(MavlinkStreamRollPitchYawThrustSetpoint &);
//	MavlinkStreamRollPitchYawThrustSetpoint& operator = (const MavlinkStreamRollPitchYawThrustSetpoint &);
//
//protected:
//	explicit MavlinkStreamRollPitchYawThrustSetpoint() : MavlinkStream(),
//		att_sp_sub(nullptr),
//		att_sp_time(0)
//	{}
//
//	void subscribe()
//	{
//		att_sp_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_attitude_setpoint));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_attitude_setpoint_s att_sp;
//
//		if (att_sp_sub->update(&att_sp_time, &att_sp)) {
//			mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(_channel,
//					att_sp.timestamp / 1000,
//					att_sp.roll_body,
//					att_sp.pitch_body,
//					att_sp.yaw_body,
//					att_sp.thrust);
//		}
//	}
//};
//
//
//class MavlinkStreamRollPitchYawRatesThrustSetpoint : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "ROLL_PITCH_YAW_RATES_THRUST_SETPOINT";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamRollPitchYawRatesThrustSetpoint();
//	}
//
//private:
//	MavlinkOrbSubscription *att_rates_sp_sub;
//	uint64_t att_rates_sp_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamRollPitchYawRatesThrustSetpoint(MavlinkStreamRollPitchYawRatesThrustSetpoint &);
//	MavlinkStreamRollPitchYawRatesThrustSetpoint& operator = (const MavlinkStreamRollPitchYawRatesThrustSetpoint &);
//
//protected:
//	explicit MavlinkStreamRollPitchYawRatesThrustSetpoint() : MavlinkStream(),
//		att_rates_sp_sub(nullptr),
//		att_rates_sp_time(0)
//	{}
//
//	void subscribe()
//	{
//		att_rates_sp_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_rates_setpoint));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_rates_setpoint_s att_rates_sp;
//
//		if (att_rates_sp_sub->update(&att_rates_sp_time, &att_rates_sp)) {
//			mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(_channel,
//					att_rates_sp.timestamp / 1000,
//					att_rates_sp.roll,
//					att_rates_sp.pitch,
//					att_rates_sp.yaw,
//					att_rates_sp.thrust);
//		}
//	}
//};
//
//
//class MavlinkStreamRCChannelsRaw : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamRCChannelsRaw::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "RC_CHANNELS_RAW";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_RC_CHANNELS_RAW;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamRCChannelsRaw();
//	}
//
//private:
//	MavlinkOrbSubscription *rc_sub;
//	uint64_t rc_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamRCChannelsRaw(MavlinkStreamRCChannelsRaw &);
//	MavlinkStreamRCChannelsRaw& operator = (const MavlinkStreamRCChannelsRaw &);
//
//protected:
//	explicit MavlinkStreamRCChannelsRaw() : MavlinkStream(),
//		rc_sub(nullptr),
//		rc_time(0)
//	{}
//
//	void subscribe()
//	{
//		rc_sub = _mavlink->add_orb_subscription(ORB_ID(input_rc));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct rc_input_values rc;
//
//		if (rc_sub->update(&rc_time, &rc)) {
//			const unsigned port_width = 8;
//
//			// Deprecated message (but still needed for compatibility!)
//			for (unsigned i = 0; (i * port_width) < rc.channel_count; i++) {
//				/* Channels are sent in MAVLink main loop at a fixed interval */
//				mavlink_msg_rc_channels_raw_send(_channel,
//								 rc.timestamp_publication / 1000,
//								 i,
//								 (rc.channel_count > (i * port_width) + 0) ? rc.values[(i * port_width) + 0] : UINT16_MAX,
//								 (rc.channel_count > (i * port_width) + 1) ? rc.values[(i * port_width) + 1] : UINT16_MAX,
//								 (rc.channel_count > (i * port_width) + 2) ? rc.values[(i * port_width) + 2] : UINT16_MAX,
//								 (rc.channel_count > (i * port_width) + 3) ? rc.values[(i * port_width) + 3] : UINT16_MAX,
//								 (rc.channel_count > (i * port_width) + 4) ? rc.values[(i * port_width) + 4] : UINT16_MAX,
//								 (rc.channel_count > (i * port_width) + 5) ? rc.values[(i * port_width) + 5] : UINT16_MAX,
//								 (rc.channel_count > (i * port_width) + 6) ? rc.values[(i * port_width) + 6] : UINT16_MAX,
//								 (rc.channel_count > (i * port_width) + 7) ? rc.values[(i * port_width) + 7] : UINT16_MAX,
//								 rc.rssi);
//			}
//
//			// New message
//			mavlink_msg_rc_channels_send(_channel,
//					rc.timestamp_publication / 1000,
//					rc.channel_count,
//					((rc.channel_count > 0) ? rc.values[0] : UINT16_MAX),
//					((rc.channel_count > 1) ? rc.values[1] : UINT16_MAX),
//					((rc.channel_count > 2) ? rc.values[2] : UINT16_MAX),
//					((rc.channel_count > 3) ? rc.values[3] : UINT16_MAX),
//					((rc.channel_count > 4) ? rc.values[4] : UINT16_MAX),
//					((rc.channel_count > 5) ? rc.values[5] : UINT16_MAX),
//					((rc.channel_count > 6) ? rc.values[6] : UINT16_MAX),
//					((rc.channel_count > 7) ? rc.values[7] : UINT16_MAX),
//					((rc.channel_count > 8) ? rc.values[8] : UINT16_MAX),
//					((rc.channel_count > 9) ? rc.values[9] : UINT16_MAX),
//					((rc.channel_count > 10) ? rc.values[10] : UINT16_MAX),
//					((rc.channel_count > 11) ? rc.values[11] : UINT16_MAX),
//					((rc.channel_count > 12) ? rc.values[12] : UINT16_MAX),
//					((rc.channel_count > 13) ? rc.values[13] : UINT16_MAX),
//					((rc.channel_count > 14) ? rc.values[14] : UINT16_MAX),
//					((rc.channel_count > 15) ? rc.values[15] : UINT16_MAX),
//					((rc.channel_count > 16) ? rc.values[16] : UINT16_MAX),
//					((rc.channel_count > 17) ? rc.values[17] : UINT16_MAX),
//					rc.rssi);
//		}
//	}
//};
//
//
//class MavlinkStreamManualControl : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamManualControl::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "MANUAL_CONTROL";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_MANUAL_CONTROL;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamManualControl();
//	}
//
//private:
//	MavlinkOrbSubscription *manual_sub;
//	uint64_t manual_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamManualControl(MavlinkStreamManualControl &);
//	MavlinkStreamManualControl& operator = (const MavlinkStreamManualControl &);
//
//protected:
//	explicit MavlinkStreamManualControl() : MavlinkStream(),
//		manual_sub(nullptr),
//		manual_time(0)
//	{}
//
//	void subscribe()
//	{
//		manual_sub = _mavlink->add_orb_subscription(ORB_ID(manual_control_setpoint));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct manual_control_setpoint_s manual;
//
//		if (manual_sub->update(&manual_time, &manual)) {
//			mavlink_msg_manual_control_send(_channel,
//							mavlink_system.sysid,
//							manual.x * 1000,
//							manual.y * 1000,
//							manual.z * 1000,
//							manual.r * 1000,
//							0);
//		}
//	}
//};
//
//
//class MavlinkStreamOpticalFlow : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamOpticalFlow::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "OPTICAL_FLOW";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_OPTICAL_FLOW;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamOpticalFlow();
//	}
//
//private:
//	MavlinkOrbSubscription *flow_sub;
//	uint64_t flow_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamOpticalFlow(MavlinkStreamOpticalFlow &);
//	MavlinkStreamOpticalFlow& operator = (const MavlinkStreamOpticalFlow &);
//
//protected:
//	explicit MavlinkStreamOpticalFlow() : MavlinkStream(),
//		flow_sub(nullptr),
//		flow_time(0)
//	{}
//
//	void subscribe()
//	{
//		flow_sub = _mavlink->add_orb_subscription(ORB_ID(optical_flow));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct optical_flow_s flow;
//
//		if (flow_sub->update(&flow_time, &flow)) {
//			mavlink_msg_optical_flow_send(_channel,
//						      flow.timestamp,
//						      flow.sensor_id,
//						      flow.flow_raw_x, flow.flow_raw_y,
//						      flow.flow_comp_x_m, flow.flow_comp_y_m,
//						      flow.quality,
//						      flow.ground_distance_m);
//		}
//	}
//};
//
//class MavlinkStreamAttitudeControls : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamAttitudeControls::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "ATTITUDE_CONTROLS";
//	}
//
//	uint8_t get_id()
//	{
//		return 0;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamAttitudeControls();
//	}
//
//private:
//	MavlinkOrbSubscription *att_ctrl_sub;
//	uint64_t att_ctrl_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamAttitudeControls(MavlinkStreamAttitudeControls &);
//	MavlinkStreamAttitudeControls& operator = (const MavlinkStreamAttitudeControls &);
//
//protected:
//	explicit MavlinkStreamAttitudeControls() : MavlinkStream(),
//		att_ctrl_sub(nullptr),
//		att_ctrl_time(0)
//	{}
//
//	void subscribe()
//	{
//		att_ctrl_sub = _mavlink->add_orb_subscription(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct actuator_controls_s att_ctrl;
//
//		if (att_ctrl_sub->update(&att_ctrl_time, &att_ctrl)) {
//			/* send, add spaces so that string buffer is at least 10 chars long */
//			mavlink_msg_named_value_float_send(_channel,
//							   att_ctrl.timestamp / 1000,
//							   "rll ctrl    ",
//							   att_ctrl.control[0]);
//			mavlink_msg_named_value_float_send(_channel,
//							   att_ctrl.timestamp / 1000,
//							   "ptch ctrl    ",
//							   att_ctrl.control[1]);
//			mavlink_msg_named_value_float_send(_channel,
//							   att_ctrl.timestamp / 1000,
//							   "yaw ctrl     ",
//							   att_ctrl.control[2]);
//			mavlink_msg_named_value_float_send(_channel,
//							   att_ctrl.timestamp / 1000,
//							   "thr ctrl     ",
//							   att_ctrl.control[3]);
//		}
//	}
//};
//
//class MavlinkStreamNamedValueFloat : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamNamedValueFloat::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "NAMED_VALUE_FLOAT";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_NAMED_VALUE_FLOAT;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamNamedValueFloat();
//	}
//
//private:
//	MavlinkOrbSubscription *debug_sub;
//	uint64_t debug_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamNamedValueFloat(MavlinkStreamNamedValueFloat &);
//	MavlinkStreamNamedValueFloat& operator = (const MavlinkStreamNamedValueFloat &);
//
//protected:
//	explicit MavlinkStreamNamedValueFloat() : MavlinkStream(),
//		debug_sub(nullptr),
//		debug_time(0)
//	{}
//
//	void subscribe()
//	{
//		debug_sub = _mavlink->add_orb_subscription(ORB_ID(debug_key_value));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct debug_key_value_s debug;
//
//		if (debug_sub->update(&debug_time, &debug)) {
//			/* enforce null termination */
//			debug.key[sizeof(debug.key) - 1] = '\0';
//
//			mavlink_msg_named_value_float_send(_channel,
//							   debug.timestamp_ms,
//							   debug.key,
//							   debug.value);
//		}
//	}
//};
//
//class MavlinkStreamCameraCapture : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamCameraCapture::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "CAMERA_CAPTURE";
//	}
//
//	uint8_t get_id()
//	{
//		return 0;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamCameraCapture();
//	}
//
//private:
//	MavlinkOrbSubscription *status_sub;
//
//	/* do not allow top copying this class */
//	MavlinkStreamCameraCapture(MavlinkStreamCameraCapture &);
//	MavlinkStreamCameraCapture& operator = (const MavlinkStreamCameraCapture &);
//
//protected:
//	explicit MavlinkStreamCameraCapture() : MavlinkStream(),
//		status_sub(nullptr)
//	{}
//
//	void subscribe()
//	{
//		status_sub = _mavlink->add_orb_subscription(ORB_ID(vehicle_status));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct vehicle_status_s status;
//		(void)status_sub->update(&status);
//
//		if (status.arming_state == ARMING_STATE_ARMED
//		    || status.arming_state == ARMING_STATE_ARMED_ERROR) {
//
//			/* send camera capture on */
//			mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 1, 0, 0, 0);
//
//		} else {
//			/* send camera capture off */
//			mavlink_msg_command_long_send(_channel, mavlink_system.sysid, 0, MAV_CMD_DO_CONTROL_VIDEO, 0, 0, 0, 0, 0, 0, 0, 0);
//		}
//	}
//};
//
//class MavlinkStreamDistanceSensor : public MavlinkStream
//{
//public:
//	const char *get_name() const
//	{
//		return MavlinkStreamDistanceSensor::get_name_static();
//	}
//
//	static const char *get_name_static()
//	{
//		return "DISTANCE_SENSOR";
//	}
//
//	uint8_t get_id()
//	{
//		return MAVLINK_MSG_ID_DISTANCE_SENSOR;
//	}
//
//	static MavlinkStream *new_instance(Mavlink *mavlink)
//	{
//		return new MavlinkStreamDistanceSensor();
//	}
//
//private:
//	MavlinkOrbSubscription *range_sub;
//	uint64_t range_time;
//
//	/* do not allow top copying this class */
//	MavlinkStreamDistanceSensor(MavlinkStreamDistanceSensor &);
//	MavlinkStreamDistanceSensor& operator = (const MavlinkStreamDistanceSensor &);
//
//protected:
//	explicit MavlinkStreamDistanceSensor() : MavlinkStream(),
//		range_sub(nullptr),
//		range_time(0)
//	{}
//
//	void subscribe()
//	{
//		range_sub = _mavlink->add_orb_subscription(ORB_ID(sensor_range_finder));
//	}
//
//	void send(const hrt_abstime t)
//	{
//		struct range_finder_report range;
//
//		if (range_sub->update(&range_time, &range)) {
//
//			uint8_t type;
//
//			switch (range.type) {
//				case RANGE_FINDER_TYPE_LASER:
//				type = MAV_DISTANCE_SENSOR_LASER;
//				break;
//			}
//
//			uint8_t id = 0;
//			uint8_t orientation = 0;
//			uint8_t covariance = 20;
//
//			mavlink_msg_distance_sensor_send(_channel, range.timestamp / 1000, type, id, orientation,
//				range.minimum_distance*100, range.maximum_distance*100, range.distance*100, covariance);
//		}
//	}
//};


StreamListItem *streams_list[] = {
	new StreamListItem(&MavlinkStreamHeartbeat::new_instance, &MavlinkStreamHeartbeat::get_name_static),
	new StreamListItem(&MavlinkStreamStatustext::new_instance, &MavlinkStreamStatustext::get_name_static),
	new StreamListItem(&MavlinkStreamCommandLong::new_instance, &MavlinkStreamCommandLong::get_name_static),
	new StreamListItem(&MavlinkStreamSysStatus::new_instance, &MavlinkStreamSysStatus::get_name_static),
	new StreamListItem(&MavlinkStreamHighresIMU::new_instance, &MavlinkStreamHighresIMU::get_name_static),
	new StreamListItem(&MavlinkStreamAttitude::new_instance, &MavlinkStreamAttitude::get_name_static),
	new StreamListItem(&MavlinkStreamAttitudeQuaternion::new_instance, &MavlinkStreamAttitudeQuaternion::get_name_static),
	new StreamListItem(&MavlinkStreamVFRHUD::new_instance, &MavlinkStreamVFRHUD::get_name_static),
//	new StreamListItem(&MavlinkStreamGPSRawInt::new_instance, &MavlinkStreamGPSRawInt::get_name_static),
//	new StreamListItem(&MavlinkStreamGlobalPositionInt::new_instance, &MavlinkStreamGlobalPositionInt::get_name_static),
//	new StreamListItem(&MavlinkStreamLocalPositionNED::new_instance, &MavlinkStreamLocalPositionNED::get_name_static),
//	new StreamListItem(&MavlinkStreamGPSGlobalOrigin::new_instance, &MavlinkStreamGPSGlobalOrigin::get_name_static),
//	new StreamListItem(&MavlinkStreamServoOutputRaw<0>::new_instance, &MavlinkStreamServoOutputRaw<0>::get_name_static),
//	new StreamListItem(&MavlinkStreamServoOutputRaw<1>::new_instance, &MavlinkStreamServoOutputRaw<1>::get_name_static),
//	new StreamListItem(&MavlinkStreamServoOutputRaw<2>::new_instance, &MavlinkStreamServoOutputRaw<2>::get_name_static),
//	new StreamListItem(&MavlinkStreamServoOutputRaw<3>::new_instance, &MavlinkStreamServoOutputRaw<3>::get_name_static),
//	new StreamListItem(&MavlinkStreamHILControls::new_instance, &MavlinkStreamHILControls::get_name_static),
//	new StreamListItem(&MavlinkStreamGlobalPositionSetpointInt::new_instance, &MavlinkStreamGlobalPositionSetpointInt::get_name_static),
//	new StreamListItem(&MavlinkStreamLocalPositionSetpoint::new_instance, &MavlinkStreamLocalPositionSetpoint::get_name_static),
//	new StreamListItem(&MavlinkStreamRollPitchYawThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawThrustSetpoint::get_name_static),
//	new StreamListItem(&MavlinkStreamRollPitchYawRatesThrustSetpoint::new_instance, &MavlinkStreamRollPitchYawRatesThrustSetpoint::get_name_static),
//	new StreamListItem(&MavlinkStreamRCChannelsRaw::new_instance, &MavlinkStreamRCChannelsRaw::get_name_static),
//	new StreamListItem(&MavlinkStreamManualControl::new_instance, &MavlinkStreamManualControl::get_name_static),
//	new StreamListItem(&MavlinkStreamOpticalFlow::new_instance, &MavlinkStreamOpticalFlow::get_name_static),
//	new StreamListItem(&MavlinkStreamAttitudeControls::new_instance, &MavlinkStreamAttitudeControls::get_name_static),
//	new StreamListItem(&MavlinkStreamNamedValueFloat::new_instance, &MavlinkStreamNamedValueFloat::get_name_static),
//	new StreamListItem(&MavlinkStreamCameraCapture::new_instance, &MavlinkStreamCameraCapture::get_name_static),
//	new StreamListItem(&MavlinkStreamDistanceSensor::new_instance, &MavlinkStreamDistanceSensor::get_name_static),
//	new StreamListItem(&MavlinkStreamViconPositionEstimate::new_instance, &MavlinkStreamViconPositionEstimate::get_name_static),
	nullptr
};