Refactor and start tidying up the MAVLink app.

1 files changed, 91 insertions, 1254 deletions

diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c
index 0592d0377..3a1365c66 100644
--- a/apps/mavlink/mavlink.c
+++ b/apps/mavlink/mavlink.c
@@ -58,30 +58,18 @@
 #include <errno.h>
 #include <stdlib.h>
 #include <poll.h>
-#include <uORB/uORB.h>
-#include <uORB/topics/sensor_combined.h>
-#include <uORB/topics/rc_channels.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_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_global_position_setpoint.h>
-#include <uORB/topics/vehicle_attitude_setpoint.h>
-#include <uORB/topics/optical_flow.h>
-#include <uORB/topics/actuator_outputs.h>
-#include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/manual_control_setpoint.h>
-#include <uORB/topics/debug_key_value.h>
 
 #include <systemlib/param/param.h>
 #include <systemlib/systemlib.h>
 
 #include "waypoints.h"
 #include "mavlink_log.h"
+#include "orb_topics.h"
+#include "missionlib.h"
+#include "mavlink_hil.h"
+#include "util.h"
+#include "waypoints.h"
+#include "mavlink_parameters.h"
 
 /* define MAVLink specific parameters */
 PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
@@ -89,63 +77,47 @@ PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
 PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR);
 
 __EXPORT int mavlink_main(int argc, char *argv[]);
-int mavlink_thread_main(int argc, char *argv[]);
-
-static bool thread_should_exit = false;
-static bool thread_running = false;
-static int mavlink_task;
 
-/* terminate MAVLink on user request - disabled by default */
-static bool mavlink_link_termination_allowed = false;
+static int mavlink_thread_main(int argc, char *argv[]);
 
-mavlink_system_t mavlink_system = {100, 50, MAV_TYPE_QUADROTOR, 0, 0, 0}; // System ID, 1-255, Component/Subsystem ID, 1-255
-static uint8_t chan = MAVLINK_COMM_0;
-static mavlink_status_t status;
+/* thread state */
+volatile bool thread_should_exit = false;
+static volatile bool thread_running = false;
+static int mavlink_task;
 
 /* pthreads */
 static pthread_t receive_thread;
 static pthread_t uorb_receive_thread;
 
-/* Allocate storage space for waypoints */
-mavlink_wpm_storage wpm_s;
-
-/** Global position */
-static struct vehicle_global_position_s global_pos;
-
-/** Local position */
-static struct vehicle_local_position_s local_pos;
-
-/** Vehicle status */
-static struct vehicle_status_s v_status;
-
-/** RC channels */
-static struct rc_channels_s rc;
-
-/* HIL publishers */
-static orb_advert_t pub_hil_attitude = -1;
-
-/** HIL attitude */
-static struct vehicle_attitude_s hil_attitude;
-
-static struct vehicle_global_position_s hil_global_pos;
+/* terminate MAVLink on user request - disabled by default */
+static bool mavlink_link_termination_allowed = false;
 
-static struct offboard_control_setpoint_s offboard_control_sp;
+mavlink_system_t mavlink_system = {
+	100,
+	50,
+	MAV_TYPE_QUADROTOR,
+	0,
+	0,
+	0
+}; // System ID, 1-255, Component/Subsystem ID, 1-255
 
-static struct vehicle_command_s vcmd;
+/* XXX not widely used */
+uint8_t chan = MAVLINK_COMM_0;
 
-static struct actuator_armed_s armed;
+/* XXX probably should be in a header... */
+extern pthread_t receive_start(int uart);
 
-static struct vehicle_vicon_position_s vicon_position;
+/* Allocate storage space for waypoints */
+static mavlink_wpm_storage wpm_s;
+mavlink_wpm_storage *wpm = &wpm_s;
 
-static orb_advert_t pub_hil_global_pos = -1;
-static orb_advert_t cmd_pub = -1;
-static orb_advert_t flow_pub = -1;
-static orb_advert_t global_position_setpoint_pub = -1;
-static orb_advert_t local_position_setpoint_pub = -1;
-static bool mavlink_hil_enabled = false;
+bool mavlink_hil_enabled = false;
 
+/* buffer for message strings */
 static char mavlink_message_string[51] = {0};
 
+/* protocol interface */
+static int uart;
 static int baudrate = 57600;
 
 /* interface mode */
@@ -154,207 +126,19 @@ static enum {
 	MAVLINK_INTERFACE_MODE_ONBOARD
 } mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD;
 
-static struct mavlink_subscriptions {
-	int sensor_sub;
-	int att_sub;
-	int global_pos_sub;
-	int act_0_sub;
-	int act_1_sub;
-	int act_2_sub;
-	int act_3_sub;
-	int gps_sub;
-	int man_control_sp_sub;
-	int armed_sub;
-	int actuators_sub;
-	int local_pos_sub;
-	int spa_sub;
-	int spl_sub;
-	int spg_sub;
-	int debug_key_value;
-	bool initialized;
-} mavlink_subs = {
-	.sensor_sub = 0,
-	.att_sub = 0,
-	.global_pos_sub = 0,
-	.act_0_sub = 0,
-	.act_1_sub = 0,
-	.act_2_sub = 0,
-	.act_3_sub = 0,
-	.gps_sub = 0,
-	.man_control_sp_sub = 0,
-	.armed_sub = 0,
-	.actuators_sub = 0,
-	.local_pos_sub = 0,
-	.spa_sub = 0,
-	.spl_sub = 0,
-	.spg_sub = 0,
-	.debug_key_value = 0,
-	.initialized = false
-};
-
-static struct mavlink_publications {
-	orb_advert_t offboard_control_sp_pub;
-	orb_advert_t vicon_position_pub;
-} mavlink_pubs = {
-	.offboard_control_sp_pub = -1,
-	.vicon_position_pub = -1
-};
-
-
-/* 3: Define waypoint helper functions */
-void mavlink_wpm_send_message(mavlink_message_t *msg);
-void mavlink_wpm_send_gcs_string(const char *string);
-uint64_t mavlink_wpm_get_system_timestamp(void);
-int mavlink_missionlib_send_message(mavlink_message_t *msg);
-int mavlink_missionlib_send_gcs_string(const char *string);
-uint64_t mavlink_missionlib_get_system_timestamp(void);
-
-void handleMessage(mavlink_message_t *msg);
 static void mavlink_update_system(void);
-
-/**
- * Enable / disable Hardware in the Loop simulation mode.
- */
-int set_hil_on_off(bool hil_enabled);
-
-/**
- * Translate the custom state into standard mavlink modes and state.
- */
-void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, const struct actuator_armed_s *actuator, uint8_t *mavlink_state, uint8_t *mavlink_mode);
-
-int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
-
-/* 4: Include waypoint protocol */
-#include "waypoints.h"
-mavlink_wpm_storage *wpm;
+static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
 
-#include "mavlink_parameters.h"
-
 /**
  * Print the usage
  */
 static void usage(const char *reason);
 
-static uint8_t missionlib_msg_buf[MAVLINK_MAX_PACKET_LEN];
-
-int mavlink_missionlib_send_message(mavlink_message_t *msg)
-{
-	uint16_t len = mavlink_msg_to_send_buffer(missionlib_msg_buf, msg);
-	int writelen = write(uart, missionlib_msg_buf, len);
-	if (writelen != len) {
-		return 1;
-	} else {
-		return 0;
-	}
-}
-
-int mavlink_missionlib_send_gcs_string(const char *string)
-{
-	const int len = MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN;
-	mavlink_statustext_t statustext;
-	int i = 0;
-
-	while (i < len - 1) {
-		statustext.text[i] = string[i];
-
-		if (string[i] == '\0')
-			break;
-
-		i++;
-	}
-
-	if (i > 1) {
-		/* Enforce null termination */
-		statustext.text[i] = '\0';
-		mavlink_message_t msg;
-
-		mavlink_msg_statustext_encode(mavlink_system.sysid, mavlink_system.compid, &msg, &statustext);
-		return mavlink_missionlib_send_message(&msg);
-	} else {
-		return 1;
-	}
-}
-
-/**
- * Get system time since boot in microseconds
- *
- * @return the system time since boot in microseconds
- */
-uint64_t mavlink_missionlib_get_system_timestamp()
-{
-	return hrt_absolute_time();
-}
-
-/**
- * This callback is executed each time a waypoint changes.
- *
- * It publishes the vehicle_global_position_setpoint_s or the
- * vehicle_local_position_setpoint_s topic, depending on the type of waypoint
- */
-extern void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1,
-		float param2, float param3, float param4, float param5_lat_x,
-		float param6_lon_y, float param7_alt_z, uint8_t frame, uint16_t command)
-{
-	char buf[50] = {0};
-
-	/* Update controller setpoints */
-	if (frame == (int)MAV_FRAME_GLOBAL) {
-		/* global, absolute waypoint */
-		struct vehicle_global_position_setpoint_s sp;
-		sp.lat = param5_lat_x * 1e7f;
-		sp.lon = param6_lon_y * 1e7f;
-		sp.altitude = param7_alt_z;
-		sp.altitude_is_relative = false;
-		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
-		/* Initialize publication if necessary */
-		if (global_position_setpoint_pub < 0) {
-			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
-		} else {
-			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
-		}
-		sprintf(buf, "[mp] WP#%i lat: % 3.6f/lon % 3.6f/alt % 4.6f/hdg %3.4f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
-
-	} else if (frame == (int)MAV_FRAME_GLOBAL_RELATIVE_ALT) {
-		/* global, relative alt (in relation to HOME) waypoint */
-		struct vehicle_global_position_setpoint_s sp;
-		sp.lat = param5_lat_x * 1e7f;
-		sp.lon = param6_lon_y * 1e7f;
-		sp.altitude = param7_alt_z;
-		sp.altitude_is_relative = true;
-		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
-		/* Initialize publication if necessary */
-		if (global_position_setpoint_pub < 0) {
-			global_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_global_position_setpoint), &sp);
-		} else {
-			orb_publish(ORB_ID(vehicle_global_position_setpoint), global_position_setpoint_pub, &sp);
-		}
-		sprintf(buf, "[mp] WP#%i (lat: %f/lon %f/rel alt %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
-
-	} else if (frame == (int)MAV_FRAME_LOCAL_ENU || frame == (int)MAV_FRAME_LOCAL_NED) {
-		/* local, absolute waypoint */
-		struct vehicle_local_position_setpoint_s sp;
-		sp.x = param5_lat_x;
-		sp.y = param6_lon_y;
-		sp.z = param7_alt_z;
-		sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F;
-		/* Initialize publication if necessary */
-		if (local_position_setpoint_pub < 0) {
-			local_position_setpoint_pub = orb_advertise(ORB_ID(vehicle_local_position_setpoint), &sp);
-		} else {
-			orb_publish(ORB_ID(vehicle_local_position_setpoint), local_position_setpoint_pub, &sp);
-		}
-		sprintf(buf, "[mp] WP#%i (x: %f/y %f/z %f/hdg %f\n", (int)index, (double)param5_lat_x, (double)param6_lon_y, (double)param7_alt_z, (double)param4);
-	}
-	
-	mavlink_missionlib_send_gcs_string(buf);
-	printf("%s\n", buf);
-	//printf("[mavlink mp] new setpoint\n");//: frame: %d, lat: %d, lon: %d, alt: %d, yaw: %d\n", frame, param5_lat_x*1000, param6_lon_y*1000, param7_alt_z*1000, param4*1000);
-}
-
 
 
-int set_hil_on_off(bool hil_enabled)
+int
+set_hil_on_off(bool hil_enabled)
 {
 	int ret = OK;
 
@@ -363,9 +147,6 @@ int set_hil_on_off(bool hil_enabled)
 
 		//printf("\n HIL ON \n");
 
-		(void)close(pub_hil_attitude);
-		(void)close(pub_hil_global_pos);
-
 		/* Advertise topics */
 		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
 		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
@@ -401,8 +182,6 @@ int set_hil_on_off(bool hil_enabled)
 	if (!hil_enabled && mavlink_hil_enabled) {
 		mavlink_hil_enabled = false;
 		orb_set_interval(mavlink_subs.spa_sub, 200);
-		(void)close(pub_hil_attitude);
-		(void)close(pub_hil_global_pos);
 
 	} else {
 		ret = ERROR;
@@ -411,32 +190,33 @@ int set_hil_on_off(bool hil_enabled)
 	return ret;
 }
 
-void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, const struct actuator_armed_s *actuator, uint8_t *mavlink_state, uint8_t *mavlink_mode)
+void
+get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
 {
 	/* reset MAVLink mode bitfield */
 	*mavlink_mode = 0;
 
 	/* set mode flags independent of system state */
-	if (c_status->flag_control_manual_enabled) {
+	if (v_status.flag_control_manual_enabled) {
 		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 	}
 
-	if (c_status->flag_hil_enabled) {
+	if (v_status.flag_hil_enabled) {
 		*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
 	}
 
 	/* set arming state */
-	if (actuator->armed) {
+	if (armed.armed) {
 		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 	} else {
 		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
 	}
 
-	switch (c_status->state_machine) {
+	switch (v_status.state_machine) {
 	case SYSTEM_STATE_PREFLIGHT:
-		if (c_status->flag_preflight_gyro_calibration ||
-		    c_status->flag_preflight_mag_calibration ||
-		    c_status->flag_preflight_accel_calibration) {
+		if (v_status.flag_preflight_gyro_calibration ||
+		    v_status.flag_preflight_mag_calibration ||
+		    v_status.flag_preflight_accel_calibration) {
 			*mavlink_state = MAV_STATE_CALIBRATING;
 		} else {
 			*mavlink_state = MAV_STATE_UNINIT;
@@ -489,47 +269,6 @@ void get_mavlink_mode_and_state(const struct vehicle_status_s *c_status, const s
 
 }
 
-/**
- * Receive data from UART.
- */
-static void *receiveloop(void *arg)
-{
-	int uart_fd = *((int*)arg);
-
-	const int timeout = 1000;
-	uint8_t ch;
-
-	mavlink_message_t msg;
-
-	prctl(PR_SET_NAME, "mavlink uart rcv", getpid());
-
-	while (!thread_should_exit) {
-
-		struct pollfd fds[] = { { .fd = uart_fd, .events = POLLIN } };
-
-		if (poll(fds, 1, timeout) > 0) {
-			/* non-blocking read until buffer is empty */
-			int nread = 0;
-
-			do {
-				nread = read(uart_fd, &ch, 1);
-
-				if (mavlink_parse_char(chan, ch, &msg, &status)) { //parse the char
-					/* handle generic messages and commands */
-					handleMessage(&msg);
-
-					/* Handle packet with waypoint component */
-					mavlink_wpm_message_handler(&msg, &global_pos, &local_pos);
-
-					/* Handle packet with parameter component */
-					mavlink_pm_message_handler(MAVLINK_COMM_0, &msg);
-				}
-			} while (nread > 0);
-		}
-	}
-
-	return NULL;
-}
 
 static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
 {
@@ -537,35 +276,35 @@ static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int ma
 
 	switch (mavlink_msg_id) {
 		case MAVLINK_MSG_ID_SCALED_IMU:
-			/* senser sub triggers scaled IMU */
-			if (subs->sensor_sub) orb_set_interval(subs->sensor_sub, min_interval);
+			/* sensor sub triggers scaled IMU */
+			orb_set_interval(subs->sensor_sub, min_interval);
 			break;
 		case MAVLINK_MSG_ID_HIGHRES_IMU:
-			/* senser sub triggers highres IMU */
-			if (subs->sensor_sub) orb_set_interval(subs->sensor_sub, min_interval);
+			/* sensor sub triggers highres IMU */
+			orb_set_interval(subs->sensor_sub, min_interval);
 			break;
 		case MAVLINK_MSG_ID_RAW_IMU:
-			/* senser sub triggers RAW IMU */
-			if (subs->sensor_sub) orb_set_interval(subs->sensor_sub, min_interval);
+			/* sensor sub triggers RAW IMU */
+			orb_set_interval(subs->sensor_sub, min_interval);
 			break;
 		case MAVLINK_MSG_ID_ATTITUDE:
 			/* attitude sub triggers attitude */
-			if (subs->att_sub) orb_set_interval(subs->att_sub, min_interval);
+			orb_set_interval(subs->att_sub, min_interval);
 			break;
 		case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
 			/* actuator_outputs triggers this message */
-			if (subs->act_0_sub) orb_set_interval(subs->act_0_sub, min_interval);
-			if (subs->act_1_sub) orb_set_interval(subs->act_1_sub, min_interval);
-			if (subs->act_2_sub) orb_set_interval(subs->act_2_sub, min_interval);
-			if (subs->act_3_sub) orb_set_interval(subs->act_3_sub, min_interval);
-			if (subs->actuators_sub) orb_set_interval(subs->actuators_sub, min_interval);
+			orb_set_interval(subs->act_0_sub, min_interval);
+			orb_set_interval(subs->act_1_sub, min_interval);
+			orb_set_interval(subs->act_2_sub, min_interval);
+			orb_set_interval(subs->act_3_sub, min_interval);
+			orb_set_interval(subs->actuators_sub, min_interval);
 			break;
 		case MAVLINK_MSG_ID_MANUAL_CONTROL:
 			/* manual_control_setpoint triggers this message */
-			if (subs->man_control_sp_sub) orb_set_interval(subs->man_control_sp_sub, min_interval);
+			orb_set_interval(subs->man_control_sp_sub, min_interval);
 			break;
 		case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
-			if (subs->debug_key_value) orb_set_interval(subs->debug_key_value, min_interval);
+			orb_set_interval(subs->debug_key_value, min_interval);
 			break;
 		default:
 			/* not found */
@@ -576,546 +315,6 @@ static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int ma
 	return ret;
 }
 
-/**
- * Listen for uORB topics and send via MAVLink.
- *
- * This pthread performs a blocking wait on selected
- * uORB topics and sends them via MAVLink to other
- * vehicles or a ground control station.
- */
-static void *uorb_receiveloop(void *arg)
-{
-	/* obtain reference to task's subscriptions */
-	struct mavlink_subscriptions *subs = (struct mavlink_subscriptions *)arg;
-
-	/* Set thread name */
-	prctl(PR_SET_NAME, "mavlink orb rcv", getpid());
-
-
-	/* --- IMPORTANT: DEFINE NUMBER OF ORB STRUCTS TO WAIT FOR HERE --- */
-	/* number of messages */
-	const ssize_t fdsc = 25;
-	/* Sanity check variable and index */
-	ssize_t fdsc_count = 0;
-	/* file descriptors to wait for */
-	struct pollfd fds[fdsc];
-
-
-	union {
-		struct sensor_combined_s raw;
-		struct vehicle_attitude_s att;
-		struct vehicle_gps_position_s gps;
-		struct vehicle_local_position_setpoint_s local_sp;
-		struct vehicle_global_position_setpoint_s global_sp;
-		struct vehicle_attitude_setpoint_s att_sp;
-		struct actuator_outputs_s act_outputs;
-		struct manual_control_setpoint_s man_control;
-		struct actuator_controls_s actuators;
-		struct debug_key_value_s debug;
-	} buf;
-
-	/* --- SENSORS RAW VALUE --- */
-	/* subscribe to ORB for sensors raw */
-	subs->sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
-	fds[fdsc_count].fd = subs->sensor_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE VALUE --- */
-	/* subscribe to ORB for attitude */
-	subs->att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
-	orb_set_interval(subs->att_sub, 100);
-	fds[fdsc_count].fd = subs->att_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GPS VALUE --- */
-	/* subscribe to ORB for attitude */
-	subs->gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
-	orb_set_interval(subs->gps_sub, 1000);	/* 1Hz updates */
-	fds[fdsc_count].fd = subs->gps_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- SYSTEM STATE --- */
-	/* struct already globally allocated */
-	/* subscribe to topic */
-	int status_sub = orb_subscribe(ORB_ID(vehicle_status));
-	orb_set_interval(status_sub, 300);	/* max 3.33 Hz updates */
-	fds[fdsc_count].fd = status_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- RC CHANNELS VALUE --- */
-	/* struct already globally allocated */
-	/* subscribe to ORB for global position */
-	int rc_sub = orb_subscribe(ORB_ID(rc_channels));
-	orb_set_interval(rc_sub, 100);		/* 10Hz updates */
-	fds[fdsc_count].fd = rc_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL POS VALUE --- */
-	/* struct already globally allocated and topic already subscribed */
-	fds[fdsc_count].fd = subs->global_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- LOCAL POS VALUE --- */
-	/* struct and topic already globally subscribed */
-	fds[fdsc_count].fd = subs->local_pos_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- GLOBAL SETPOINT VALUE --- */
-	/* subscribe to ORB for local setpoint */
-	/* struct already allocated */
-	subs->spg_sub = orb_subscribe(ORB_ID(vehicle_global_position_setpoint));
-	orb_set_interval(subs->spg_sub, 2000);	/* 0.5 Hz updates */
-	fds[fdsc_count].fd = subs->spg_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- LOCAL SETPOINT VALUE --- */
-	/* subscribe to ORB for local setpoint */
-	/* struct already allocated */
-	subs->spl_sub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
-	orb_set_interval(subs->spl_sub, 2000);	/* 0.5 Hz updates */
-	fds[fdsc_count].fd = subs->spl_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ATTITUDE SETPOINT VALUE --- */
-	/* subscribe to ORB for attitude setpoint */
-	/* struct already allocated */
-	subs->spa_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
-	orb_set_interval(subs->spa_sub, 2000);	/* 0.5 Hz updates */
-	fds[fdsc_count].fd = subs->spa_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/** --- ACTUATOR OUTPUTS --- */
-	subs->act_0_sub = orb_subscribe(ORB_ID(actuator_outputs_0));
-	fds[fdsc_count].fd = subs->act_0_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-	subs->act_1_sub = orb_subscribe(ORB_ID(actuator_outputs_1));
-	fds[fdsc_count].fd = subs->act_1_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-	subs->act_2_sub = orb_subscribe(ORB_ID(actuator_outputs_2));
-	fds[fdsc_count].fd = subs->act_2_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-	subs->act_3_sub = orb_subscribe(ORB_ID(actuator_outputs_3));
-	fds[fdsc_count].fd = subs->act_3_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/** --- MAPPED MANUAL CONTROL INPUTS --- */
-	subs->man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
-	fds[fdsc_count].fd = subs->man_control_sp_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR ARMED VALUE --- */
-	/* subscribe to ORB for actuator armed */
-	subs->armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-	fds[fdsc_count].fd = subs->armed_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- ACTUATOR CONTROL VALUE --- */
-	/* subscribe to ORB for actuator control */
-	subs->actuators_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
-	fds[fdsc_count].fd = subs->actuators_sub;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* --- DEBUG VALUE OUTPUT --- */
-	/* subscribe to ORB for debug value outputs */
-	subs->debug_key_value = orb_subscribe(ORB_ID(debug_key_value));
-	fds[fdsc_count].fd = subs->debug_key_value;
-	fds[fdsc_count].events = POLLIN;
-	fdsc_count++;
-
-	/* all subscriptions initialized, return success */
-	subs->initialized = true;
-
-	unsigned int sensors_raw_counter = 0;
-	unsigned int attitude_counter = 0;
-	unsigned int gps_counter = 0;
-
-	/* WARNING: If you get the error message below,
-	 * then the number of registered messages (fdsc)
-	 * differs from the number of messages in the above list.
-	 */
-	if (fdsc_count > fdsc) {
-		fprintf(stderr, "[mavlink] WARNING: Not enough space for poll fds allocated. Check %s:%d.\n", __FILE__, __LINE__);
-		fdsc_count = fdsc;
-	}
-
-	/*
-	 * set up poll to block for new data,
-	 * wait for a maximum of 1000 ms (1 second)
-	 */
-	const int timeout = 1000;
-
-	/*
-	 * Last sensor loop time
-	 * some outputs are better timestamped
-	 * with this "global" reference.
-	 */
-	uint64_t last_sensor_timestamp = 0;
-
-	while (!thread_should_exit) {
-
-		int poll_ret = poll(fds, fdsc_count, timeout);
-
-		/* handle the poll result */
-		if (poll_ret == 0) {
-			mavlink_missionlib_send_gcs_string("[mavlink] No telemetry data for 1 s");
-		} else if (poll_ret < 0) {
-			mavlink_missionlib_send_gcs_string("[mavlink] ERROR reading uORB data");
-		} else {
-
-			int ifds = 0;
-
-			/* --- SENSORS RAW VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-
-				/* copy sensors raw data into local buffer */
-				orb_copy(ORB_ID(sensor_combined), subs->sensor_sub, &buf.raw);
-
-				last_sensor_timestamp = buf.raw.timestamp;
-
-				/* send raw imu data */
-				// mavlink_msg_raw_imu_send(MAVLINK_COMM_0, last_sensor_timestamp, buf.raw.accelerometer_raw[0],
-				// 	buf.raw.accelerometer_raw[1], buf.raw.accelerometer_raw[2], buf.raw.gyro_raw[0],
-				// 	buf.raw.gyro_raw[1], buf.raw.gyro_raw[2], buf.raw.magnetometer_raw[0],
-				// 	buf.raw.magnetometer_raw[1], buf.raw.magnetometer_raw[2]);
-
-				/* mark individual fields as changed */
-				uint16_t fields_updated = 0;
-				static unsigned accel_counter = 0;
-				static unsigned gyro_counter = 0;
-				static unsigned mag_counter = 0;
-				static unsigned baro_counter = 0;
-
-				if (accel_counter != buf.raw.accelerometer_counter) {
-					/* mark first three dimensions as changed */
-					fields_updated |= (1 << 0) | (1 << 1) | (1 << 2);
-					accel_counter = buf.raw.accelerometer_counter;
-				}
-
-				if (gyro_counter != buf.raw.gyro_counter) {
-					/* mark first three dimensions as changed */
-					fields_updated |= (1 << 3) | (1 << 4) | (1 << 5);
-					gyro_counter = buf.raw.gyro_counter;
-				}
-
-				if (mag_counter != buf.raw.magnetometer_counter) {
-					/* mark first three dimensions as changed */
-					fields_updated |= (1 << 6) | (1 << 7) | (1 << 8);
-					mag_counter = buf.raw.magnetometer_counter;
-				}
-
-				if (baro_counter != buf.raw.baro_counter) {
-					/* mark first three dimensions as changed */
-					fields_updated |= (1 << 9) | (1 << 11) | (1 << 12);
-					baro_counter = buf.raw.baro_counter;
-				}
-
-				mavlink_msg_highres_imu_send(MAVLINK_COMM_0, last_sensor_timestamp,
-					buf.raw.accelerometer_m_s2[0], buf.raw.accelerometer_m_s2[1],
-					buf.raw.accelerometer_m_s2[2], buf.raw.gyro_rad_s[0],
-					buf.raw.gyro_rad_s[1], buf.raw.gyro_rad_s[2],
-					buf.raw.magnetometer_ga[0],
-					buf.raw.magnetometer_ga[1],buf.raw.magnetometer_ga[2],
-					buf.raw.baro_pres_mbar, 0 /* no diff pressure yet */,
-					buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius,
-					fields_updated);
-				/* send pressure */
-				//mavlink_msg_scaled_pressure_send(MAVLINK_COMM_0, buf.raw.timestamp / 1000, buf.raw.baro_pres_mbar, buf.raw.baro_alt_meter, buf.raw.baro_temp_celcius * 100);
-
-				sensors_raw_counter++;
-			}
-
-			/* --- ATTITUDE VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-
-				/* copy attitude data into local buffer */
-				orb_copy(ORB_ID(vehicle_attitude), subs->att_sub, &buf.att);
-
-				/* send sensor values */
-				mavlink_msg_attitude_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, buf.att.roll, buf.att.pitch, buf.att.yaw, buf.att.rollspeed, buf.att.pitchspeed, buf.att.yawspeed);
-
-				attitude_counter++;
-			}
-
-			/* --- GPS VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy gps data into local buffer */
-				orb_copy(ORB_ID(vehicle_gps_position), subs->gps_sub, &buf.gps);
-				/* GPS position */
-				mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, buf.gps.timestamp, buf.gps.fix_type, buf.gps.lat, buf.gps.lon, buf.gps.alt, buf.gps.eph, buf.gps.epv, buf.gps.vel, buf.gps.cog, buf.gps.satellites_visible);
-
-				if (buf.gps.satellite_info_available && (gps_counter % 4 == 0)) {
-					mavlink_msg_gps_status_send(MAVLINK_COMM_0, buf.gps.satellites_visible, buf.gps.satellite_prn, buf.gps.satellite_used, buf.gps.satellite_elevation, buf.gps.satellite_azimuth, buf.gps.satellite_snr);
-				}
-
-				gps_counter++;
-			}
-
-			/* --- SYSTEM STATUS --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* immediately communicate state changes back to user */
-				orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
-				orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
-				/* enable or disable HIL */
-				set_hil_on_off(v_status.flag_hil_enabled);
-
-				/* translate the current syste state to mavlink state and mode */
-				uint8_t mavlink_state = 0;
-				uint8_t mavlink_mode = 0;
-				get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
-
-				/* send heartbeat */
-				mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
-			}
-
-			/* --- RC CHANNELS --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy rc channels into local buffer */
-				orb_copy(ORB_ID(rc_channels), rc_sub, &rc);
-				/* Channels are sent in MAVLink main loop at a fixed interval */
-			mavlink_msg_rc_channels_raw_send(chan, rc.timestamp / 1000, 0, rc.chan[0].raw, rc.chan[1].raw, rc.chan[2].raw, rc.chan[3].raw,
-							 rc.chan[4].raw, rc.chan[5].raw, rc.chan[6].raw, rc.chan[7].raw, rc.rssi);
-			}
-
-			/* --- VEHICLE GLOBAL POSITION --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy global position data into local buffer */
-				orb_copy(ORB_ID(vehicle_global_position), subs->global_pos_sub, &global_pos);
-				uint64_t timestamp = global_pos.timestamp;
-				int32_t lat = global_pos.lat;
-				int32_t lon = global_pos.lon;
-				int32_t alt = (int32_t)(global_pos.alt*1000);
-				int32_t relative_alt = (int32_t)(global_pos.relative_alt * 1000.0f);
-				int16_t vx = (int16_t)(global_pos.vx * 100.0f);
-				int16_t vy = (int16_t)(global_pos.vy * 100.0f);
-				int16_t vz = (int16_t)(global_pos.vz * 100.0f);
-				/* heading in degrees * 10, from 0 to 36.000) */
-				uint16_t hdg = (global_pos.hdg / M_PI_F) * (180.0f * 10.0f) + (180.0f * 10.0f);
-
-				mavlink_msg_global_position_int_send(MAVLINK_COMM_0, timestamp / 1000, lat, lon, alt,
-					relative_alt, vx, vy, vz, hdg);
-			}
-
-			/* --- VEHICLE LOCAL POSITION --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_local_position), subs->local_pos_sub, &local_pos);
-				mavlink_msg_local_position_ned_send(MAVLINK_COMM_0, local_pos.timestamp / 1000, local_pos.x,
-					local_pos.y, local_pos.z, local_pos.vx, local_pos.vy, local_pos.vz);
-			}
-
-			/* --- VEHICLE GLOBAL SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_global_position_setpoint), subs->spg_sub, &buf.global_sp);
-				uint8_t coordinate_frame = MAV_FRAME_GLOBAL;
-				if (buf.global_sp.altitude_is_relative) coordinate_frame = MAV_FRAME_GLOBAL_RELATIVE_ALT;
-				mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0, coordinate_frame, buf.global_sp.lat,
-					buf.global_sp.lon, buf.global_sp.altitude, buf.global_sp.yaw);
-			}
-
-			/* --- VEHICLE LOCAL SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_local_position_setpoint), subs->spl_sub, &buf.local_sp);
-				mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_0, MAV_FRAME_LOCAL_NED, buf.local_sp.x,
-					buf.local_sp.y, buf.local_sp.z, buf.local_sp.yaw);
-			}
-
-			/* --- VEHICLE ATTITUDE SETPOINT --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(vehicle_attitude_setpoint), subs->spa_sub, &buf.att_sp);
-				mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_0, buf.att_sp.timestamp/1000,
-					buf.att_sp.roll_body, buf.att_sp.pitch_body, buf.att_sp.yaw_body, buf.att_sp.thrust);
-			}
-
-			/* --- ACTUATOR OUTPUTS 0 --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy actuator data into local buffer */
-				orb_copy(ORB_ID(actuator_outputs_0), subs->act_0_sub, &buf.act_outputs);
-				mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
-					0 /* port 0 */,
-					buf.act_outputs.output[0],
-					buf.act_outputs.output[1],
-					buf.act_outputs.output[2],
-					buf.act_outputs.output[3],
-					buf.act_outputs.output[4],
-					buf.act_outputs.output[5],
-					buf.act_outputs.output[6],
-					buf.act_outputs.output[7]);
-
-				// if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
-				// 	mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, hrt_absolute_time(),
-				// 	1 /* port 1 */,
-				// 	buf.act_outputs.output[ 8],
-				// 	buf.act_outputs.output[ 9],
-				// 	buf.act_outputs.output[10],
-				// 	buf.act_outputs.output[11],
-				// 	buf.act_outputs.output[12],
-				// 	buf.act_outputs.output[13],
-				// 	buf.act_outputs.output[14],
-				// 	buf.act_outputs.output[15]);
-				// }
-			}
-
-			/* --- ACTUATOR OUTPUTS 1 --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy actuator data into local buffer */
-				orb_copy(ORB_ID(actuator_outputs_1), subs->act_1_sub, &buf.act_outputs);
-				mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
-					(NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) ? 2 : 1 /* port 2 or 1*/,
-					buf.act_outputs.output[0],
-					buf.act_outputs.output[1],
-					buf.act_outputs.output[2],
-					buf.act_outputs.output[3],
-					buf.act_outputs.output[4],
-					buf.act_outputs.output[5],
-					buf.act_outputs.output[6],
-					buf.act_outputs.output[7]);
-				if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
-					mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
-					3 /* port 3 */,
-					buf.act_outputs.output[ 8],
-					buf.act_outputs.output[ 9],
-					buf.act_outputs.output[10],
-					buf.act_outputs.output[11],
-					buf.act_outputs.output[12],
-					buf.act_outputs.output[13],
-					buf.act_outputs.output[14],
-					buf.act_outputs.output[15]);
-				}
-			}
-
-			/* --- ACTUATOR OUTPUTS 2 --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy actuator data into local buffer */
-				orb_copy(ORB_ID(actuator_outputs_2), subs->act_2_sub, &buf.act_outputs);
-				mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
-					(NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) ? 4 : 2 /* port 4 or 2 */,
-					buf.act_outputs.output[0],
-					buf.act_outputs.output[1],
-					buf.act_outputs.output[2],
-					buf.act_outputs.output[3],
-					buf.act_outputs.output[4],
-					buf.act_outputs.output[5],
-					buf.act_outputs.output[6],
-					buf.act_outputs.output[7]);
-				if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
-					mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
-					5 /* port 5 */,
-					buf.act_outputs.output[ 8],
-					buf.act_outputs.output[ 9],
-					buf.act_outputs.output[10],
-					buf.act_outputs.output[11],
-					buf.act_outputs.output[12],
-					buf.act_outputs.output[13],
-					buf.act_outputs.output[14],
-					buf.act_outputs.output[15]);
-				}
-			}
-
-			/* --- ACTUATOR OUTPUTS 3 --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy actuator data into local buffer */
-				orb_copy(ORB_ID(actuator_outputs_3), subs->act_3_sub, &buf.act_outputs);
-				mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
-					(NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) ? 6 : 3 /* port 6 or 3 */,
-					buf.act_outputs.output[0],
-					buf.act_outputs.output[1],
-					buf.act_outputs.output[2],
-					buf.act_outputs.output[3],
-					buf.act_outputs.output[4],
-					buf.act_outputs.output[5],
-					buf.act_outputs.output[6],
-					buf.act_outputs.output[7]);
-				if (NUM_ACTUATOR_OUTPUTS > 8 && NUM_ACTUATOR_OUTPUTS <= 16) {
-					mavlink_msg_servo_output_raw_send(MAVLINK_COMM_0, last_sensor_timestamp/1000,
-					7 /* port 7 */,
-					buf.act_outputs.output[ 8],
-					buf.act_outputs.output[ 9],
-					buf.act_outputs.output[10],
-					buf.act_outputs.output[11],
-					buf.act_outputs.output[12],
-					buf.act_outputs.output[13],
-					buf.act_outputs.output[14],
-					buf.act_outputs.output[15]);
-				}
-			}
-
-			/* --- MAPPED MANUAL CONTROL INPUTS --- */
-			if (fds[ifds++].revents & POLLIN) {
-				/* copy local position data into local buffer */
-				orb_copy(ORB_ID(manual_control_setpoint), subs->man_control_sp_sub, &buf.man_control);
-				mavlink_msg_manual_control_send(MAVLINK_COMM_0, mavlink_system.sysid, buf.man_control.roll*1000,
-					buf.man_control.pitch*1000, buf.man_control.yaw*1000, buf.man_control.throttle*1000, 0);
-			}
-
-			/* --- ACTUATOR ARMED --- */
-			if (fds[ifds++].revents & POLLIN) {
-			}
-
-			/* --- ACTUATOR CONTROL --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, subs->actuators_sub, &buf.actuators);
-				/* send, add spaces so that string buffer is at least 10 chars long */
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl0       ", buf.actuators.control[0]);
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl1       ", buf.actuators.control[1]);
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl2       ", buf.actuators.control[2]);
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, "ctrl3       ", buf.actuators.control[3]);
-
-												/* Only send in HIL mode */
-				if (mavlink_hil_enabled) {
-
-					/* translate the current syste state to mavlink state and mode */
-					uint8_t mavlink_state = 0;
-					uint8_t mavlink_mode = 0;
-					get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
-
-					/* HIL message as per MAVLink spec */
-					mavlink_msg_hil_controls_send(chan,
-						hrt_absolute_time(),
-						buf.actuators.control[0],
-						buf.actuators.control[1],
-						buf.actuators.control[2],
-						buf.actuators.control[3],
-						0,
-						0,
-						0,
-						0,
-						mavlink_mode,
-						0);
-				}
-			}
-
-			/* --- DEBUG KEY/VALUE --- */
-			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(debug_key_value), subs->debug_key_value, &buf.debug);
-				/* Enforce null termination */
-				buf.debug.key[sizeof(buf.debug.key) - 1] = '\0';
-				mavlink_msg_named_value_float_send(MAVLINK_COMM_0, last_sensor_timestamp / 1000, buf.debug.key, buf.debug.value);
-			}
-		}
-	}
-
-	return NULL;
-}
 
 /****************************************************************************
  * MAVLink text message logger
@@ -1152,349 +351,6 @@ mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
-void handleMessage(mavlink_message_t *msg)
-{
-	if (msg->msgid == MAVLINK_MSG_ID_COMMAND_LONG) {
-
-		mavlink_command_long_t cmd_mavlink;
-		mavlink_msg_command_long_decode(msg, &cmd_mavlink);
-
-		if (cmd_mavlink.target_system == mavlink_system.sysid && ((cmd_mavlink.target_component == mavlink_system.compid)
-			|| (cmd_mavlink.target_component == MAV_COMP_ID_ALL))) {
-			//check for MAVLINK terminate command
-			if (cmd_mavlink.command == MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN && ((int)cmd_mavlink.param1) == 3) {
-				/* This is the link shutdown command, terminate mavlink */
-				printf("[mavlink] Terminating .. \n");
-				fflush(stdout);
-				usleep(50000);
-
-				/* terminate other threads and this thread */
-				thread_should_exit = true;
-
-			} else {
-
-				/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-				vcmd.param1 = cmd_mavlink.param1;
-				vcmd.param2 = cmd_mavlink.param2;
-				vcmd.param3 = cmd_mavlink.param3;
-				vcmd.param4 = cmd_mavlink.param4;
-				vcmd.param5 = cmd_mavlink.param5;
-				vcmd.param6 = cmd_mavlink.param6;
-				vcmd.param7 = cmd_mavlink.param7;
-				vcmd.command = cmd_mavlink.command;
-				vcmd.target_system = cmd_mavlink.target_system;
-				vcmd.target_component = cmd_mavlink.target_component;
-				vcmd.source_system = msg->sysid;
-				vcmd.source_component = msg->compid;
-				vcmd.confirmation =  cmd_mavlink.confirmation;
-
-				/* check if topic is advertised */
-				if (cmd_pub <= 0) {
-					cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-				}
-				/* publish */
-				orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-			}
-		}
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_OPTICAL_FLOW) {
-		mavlink_optical_flow_t flow;
-		mavlink_msg_optical_flow_decode(msg, &flow);
-
-		struct optical_flow_s f;
-
-		f.timestamp = flow.time_usec;
-		f.flow_raw_x = flow.flow_x;
-		f.flow_raw_y = flow.flow_y;
-		f.flow_comp_x_m = flow.flow_comp_m_x;
-		f.flow_comp_y_m = flow.flow_comp_m_y;
-		f.ground_distance_m = flow.ground_distance;
-		f.quality = flow.quality;
-		f.sensor_id = flow.sensor_id;
-
-		/* check if topic is advertised */
-		if (flow_pub <= 0) {
-			flow_pub = orb_advertise(ORB_ID(optical_flow), &f);
-		} else {
-			/* publish */
-			orb_publish(ORB_ID(optical_flow), flow_pub, &f);
-		}
-	}
-
-	if (msg->msgid == MAVLINK_MSG_ID_SET_MODE) {
-		/* Set mode on request */
-		mavlink_set_mode_t new_mode;
-		mavlink_msg_set_mode_decode(msg, &new_mode);
-
-		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-		vcmd.param1 = new_mode.base_mode;
-		vcmd.param2 = new_mode.custom_mode;
-		vcmd.param3 = 0;
-		vcmd.param4 = 0;
-		vcmd.param5 = 0;
-		vcmd.param6 = 0;
-		vcmd.param7 = 0;
-		vcmd.command = MAV_CMD_DO_SET_MODE;
-		vcmd.target_system = new_mode.target_system;
-		vcmd.target_component = MAV_COMP_ID_ALL;
-		vcmd.source_system = msg->sysid;
-		vcmd.source_component = msg->compid;
-		vcmd.confirmation = 1;
-
-		/* check if topic is advertised */
-		if (cmd_pub <= 0) {
-			cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-		} else {
-			/* create command */
-			orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-		}
-	}
-
-	/* Handle Vicon position estimates */
-	if (msg->msgid == MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE) {
-		mavlink_vicon_position_estimate_t pos;
-		mavlink_msg_vicon_position_estimate_decode(msg, &pos);
-
-		vicon_position.x = pos.x;
-		vicon_position.y = pos.y;
-		vicon_position.z = pos.z;
-
-		if (mavlink_pubs.vicon_position_pub <= 0) {
-			mavlink_pubs.vicon_position_pub = orb_advertise(ORB_ID(vehicle_vicon_position), &vicon_position);
-		} else {
-			orb_publish(ORB_ID(vehicle_vicon_position), mavlink_pubs.vicon_position_pub, &vicon_position);
-		}
-	}
-
-	/* Handle quadrotor motor setpoints */
-
-	if (msg->msgid == MAVLINK_MSG_ID_SET_QUAD_SWARM_ROLL_PITCH_YAW_THRUST) {
-		mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t quad_motors_setpoint;
-		mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(msg, &quad_motors_setpoint);
-		//printf("got message\n");
-		//printf("got MAVLINK_MSG_ID_SET_QUAD_MOTORS_SETPOINT target_system=%u, sysid = %u\n", mavlink_system.sysid, quad_motors_setpoint.mode);
-
-		if (mavlink_system.sysid < 4) {
-			/* 
-			 * rate control mode - defined by MAVLink
-			 */
-
-			uint8_t ml_mode = 0;
-			bool ml_armed = false;
-
-//			if (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED) {
-//				ml_armed = true;
-//			}
-
-			switch (quad_motors_setpoint.mode) {
-				case 0:
-					ml_armed = false;
-
-					break;
-				case 1:
-
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_RATES;
-					ml_armed = true;
-
-				break;
-				case 2:
-
-
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE;
-					ml_armed = true;
-
-				break;
-				case 3:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY;
-					break;
-				case 4:
-					ml_mode = OFFBOARD_CONTROL_MODE_DIRECT_POSITION;
-					break;
-			}
-
-			offboard_control_sp.p1 = quad_motors_setpoint.roll[mavlink_system.sysid]   / (float)INT16_MAX;
-			offboard_control_sp.p2 = quad_motors_setpoint.pitch[mavlink_system.sysid]  / (float)INT16_MAX;
-			offboard_control_sp.p3= quad_motors_setpoint.yaw[mavlink_system.sysid]    / (float)INT16_MAX;
-			offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid]/(float)UINT16_MAX;
-			//offboard_control_sp.p4 = (float)quad_motors_setpoint.thrust[mavlink_system.sysid] ;
-
-			if (quad_motors_setpoint.thrust[mavlink_system.sysid] ==0){
-				ml_armed = false;
-
-			}
-
-			offboard_control_sp.armed = ml_armed;
-			offboard_control_sp.mode = ml_mode;
-
-			offboard_control_sp.timestamp = hrt_absolute_time();
-
-			/* check if topic has to be advertised */
-			if (mavlink_pubs.offboard_control_sp_pub <= 0) {
-				mavlink_pubs.offboard_control_sp_pub = orb_advertise(ORB_ID(offboard_control_setpoint), &offboard_control_sp);
-			} else {
-				/* Publish */
-				orb_publish(ORB_ID(offboard_control_setpoint), mavlink_pubs.offboard_control_sp_pub, &offboard_control_sp);
-			}
-
-			// /* change armed status if required */
-			// bool cmd_armed = (quad_motors_setpoint.mode & MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED);
-
-			// bool cmd_generated = false;
-
-			// if (v_status.flag_control_offboard_enabled != cmd_armed) {
-			// 	vcmd.param1 = cmd_armed;
-			// 	vcmd.param2 = 0;
-			// 	vcmd.param3 = 0;
-			// 	vcmd.param4 = 0;
-			// 	vcmd.param5 = 0;
-			// 	vcmd.param6 = 0;
-			// 	vcmd.param7 = 0;
-			// 	vcmd.command = MAV_CMD_COMPONENT_ARM_DISARM;
-			// 	vcmd.target_system = mavlink_system.sysid;
-			// 	vcmd.target_component = MAV_COMP_ID_ALL;
-			// 	vcmd.source_system = msg->sysid;
-			// 	vcmd.source_component = msg->compid;
-			// 	vcmd.confirmation = 1;
-
-			// 	cmd_generated = true;
-			// }
-
-			// /* check if input has to be enabled */
-			// if ((v_status.flag_control_rates_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES)) ||
-			// 	(v_status.flag_control_attitude_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE)) ||
-			// 	(v_status.flag_control_velocity_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY)) ||
-			// 	(v_status.flag_control_position_enabled != (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION))) {
-			// 	vcmd.param1 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_RATES);
-			// 	vcmd.param2 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE);
-			// 	vcmd.param3 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY);
-			// 	vcmd.param4 = (quad_motors_setpoint.mode == MAVLINK_OFFBOARD_CONTROL_MODE_POSITION);
-			// 	vcmd.param5 = 0;
-			// 	vcmd.param6 = 0;
-			// 	vcmd.param7 = 0;
-			// 	vcmd.command = PX4_CMD_CONTROLLER_SELECTION;
-			// 	vcmd.target_system = mavlink_system.sysid;
-			// 	vcmd.target_component = MAV_COMP_ID_ALL;
-			// 	vcmd.source_system = msg->sysid;
-			// 	vcmd.source_component = msg->compid;
-			// 	vcmd.confirmation = 1;
-
-			// 	cmd_generated = true;
-			// }
-
-			// if (cmd_generated) {
-			// 	/* check if topic is advertised */
-			// 	if (cmd_pub <= 0) {
-			// 		cmd_pub = orb_advertise(ORB_ID(vehicle_command), &vcmd);
-			// 	} else {
-			// 		/* create command */
-			// 		orb_publish(ORB_ID(vehicle_command), cmd_pub, &vcmd);
-			// 	}
-			// }
-		}
-	}
-
-	/*
-	 * Only decode hil messages in HIL mode.
-	 *
-	 * The HIL mode is enabled by the HIL bit flag
-	 * in the system mode. Either send a set mode
-	 * COMMAND_LONG message or a SET_MODE message
-	 */
-
-	// printf("\n HIL ENABLED?: %s \n",(mavlink_hil_enabled)?"true":"false");
-
-	if (mavlink_hil_enabled) {
-
-		if (msg->msgid == MAVLINK_MSG_ID_HIL_STATE) {
-
-			mavlink_hil_state_t hil_state;
-			mavlink_msg_hil_state_decode(msg, &hil_state);
-
-			//	printf("\n HILSTATE : \n LAT: %i \n LON: %i \n ALT: %i \n "
-			//		"ROLL %i \n PITCH %i \n YAW %i \n"
-			//		"ROLLSPEED: %i \n PITCHSPEED: %i \n, YAWSPEED: %i \n",
-			//			hil_state.lat/1000000,	// 1e7
-			//			hil_state.lon/1000000,	// 1e7
-			//			hil_state.alt/1000,  // mm
-			//			hil_state.roll, // float rad
-			//			hil_state.pitch, // float rad
-			//			hil_state.yaw, // float rad
-			//			hil_state.rollspeed, // float rad/s
-			//			hil_state.pitchspeed, // float rad/s
-			//			hil_state.yawspeed); // float rad/s
-
-
-			hil_global_pos.lat = hil_state.lat;
-			hil_global_pos.lon = hil_state.lon;
-			hil_global_pos.alt = hil_state.alt / 1000.0f;
-			hil_global_pos.vx = hil_state.vx / 100.0f;
-			hil_global_pos.vy = hil_state.vy / 100.0f;
-			hil_global_pos.vz = hil_state.vz / 100.0f;
-
-			/* set timestamp and notify processes (broadcast) */
-			hil_global_pos.timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(vehicle_global_position), pub_hil_global_pos, &hil_global_pos);
-
-			hil_attitude.roll = hil_state.roll;
-			hil_attitude.pitch = hil_state.pitch;
-			hil_attitude.yaw = hil_state.yaw;
-			hil_attitude.rollspeed = hil_state.rollspeed;
-			hil_attitude.pitchspeed = hil_state.pitchspeed;
-			hil_attitude.yawspeed = hil_state.yawspeed;
-
-			/* set timestamp and notify processes (broadcast) */
-			hil_attitude.counter++;
-			hil_attitude.timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(vehicle_attitude), pub_hil_attitude, &hil_attitude);
-		}
-
-		if (msg->msgid == MAVLINK_MSG_ID_MANUAL_CONTROL) {
-			mavlink_manual_control_t man;
-			mavlink_msg_manual_control_decode(msg, &man);
-
-			struct rc_channels_s rc_hil;
-			memset(&rc_hil, 0, sizeof(rc_hil));
-			static orb_advert_t rc_pub = 0;
-
-			rc_hil.timestamp = hrt_absolute_time();
-			rc_hil.chan_count = 4;
-			rc_hil.chan[0].raw = 1500 + man.x / 2;
-			rc_hil.chan[1].raw = 1500 + man.y / 2;
-			rc_hil.chan[2].raw = 1500 + man.r / 2;
-			rc_hil.chan[3].raw = 1500 + man.z / 2;
-
-			rc_hil.chan[0].scaled = man.x / 1000.0f;
-			rc_hil.chan[1].scaled = man.y / 1000.0f;
-			rc_hil.chan[2].scaled = man.r / 1000.0f;
-			rc_hil.chan[3].scaled = man.z / 1000.0f;
-
-			struct manual_control_setpoint_s mc;
-			static orb_advert_t mc_pub = 0;
-
-			mc.timestamp = rc_hil.timestamp;
-			mc.roll = man.x / 1000.0f;
-			mc.pitch = man.y / 1000.0f;
-			mc.yaw = man.r / 1000.0f;
-			mc.throttle = man.z / 1000.0f;
-
-			/* fake RC channels with manual control input from simulator */
-
-
-			if (rc_pub == 0) {
-				rc_pub = orb_advertise(ORB_ID(rc_channels), &rc_hil);
-			} else {
-				orb_publish(ORB_ID(rc_channels), rc_pub, &rc_hil);
-			}
-
-			if (mc_pub == 0) {
-				mc_pub = orb_advertise(ORB_ID(manual_control_setpoint), &mc);
-			} else {
-				orb_publish(ORB_ID(manual_control_setpoint), mc_pub, &mc);
-			}
-		}
-	}
-}
 
 int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
 {
@@ -1593,6 +449,12 @@ int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_conf
 	return uart;
 }
 
+void 
+mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
+{
+	write(uart, ch, (size_t)(sizeof(uint8_t) * length));
+}
+
 void mavlink_update_system(void)
 {
 	static bool initialized = false;
@@ -1631,22 +493,10 @@ void mavlink_update_system(void)
  */
 int mavlink_thread_main(int argc, char *argv[])
 {
-	wpm = &wpm_s;
-
-	/* initialize global data structs */
-	memset(&global_pos, 0, sizeof(global_pos));
-	memset(&local_pos, 0, sizeof(local_pos));
-	memset(&v_status, 0, sizeof(v_status));
-	memset(&rc, 0, sizeof(rc));
-	memset(&hil_attitude, 0, sizeof(hil_attitude));
-	memset(&hil_global_pos, 0, sizeof(hil_global_pos));
-	memset(&offboard_control_sp, 0, sizeof(offboard_control_sp));
-	memset(&vcmd, 0, sizeof(vcmd));
-
 	/* print welcome text */
 	printf("[mavlink] MAVLink v1.0 serial interface starting..\n");
 
-	/* reate the device node that's used for sending text log messages, etc. */
+	/* create the device node that's used for sending text log messages, etc. */
 	register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL);
 
 	/* default values for arguments */
@@ -1704,40 +554,19 @@ int mavlink_thread_main(int argc, char *argv[])
 	/* Initialize system properties */
 	mavlink_update_system();
 
-	/* topics to subscribe globally */
-	/* subscribe to ORB for global position */
-	mavlink_subs.global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
-	orb_set_interval(mavlink_subs.global_pos_sub, 1000);	/* 1Hz active updates */
-	/* subscribe to ORB for local position */
-	mavlink_subs.local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
-	orb_set_interval(mavlink_subs.local_pos_sub, 1000);	/* 1Hz active updates */
-
+	/* start the MAVLink receiver */
+	receive_thread = receive_start(uart);
 
-	pthread_attr_t receiveloop_attr;
-	pthread_attr_init(&receiveloop_attr);
-	pthread_attr_setstacksize(&receiveloop_attr, 2048);
-	pthread_create(&receive_thread, &receiveloop_attr, receiveloop, &uart);
-
-	pthread_attr_t uorb_attr;
-	pthread_attr_init(&uorb_attr);
-	/* Set stack size, needs more than 8000 bytes */
-	pthread_attr_setstacksize(&uorb_attr, 8192);
-	pthread_create(&uorb_receive_thread, &uorb_attr, uorb_receiveloop, &mavlink_subs);
+	/* start the ORB receiver */
+	uorb_receive_thread = uorb_receive_start();
 
 	/* initialize waypoint manager */
 	mavlink_wpm_init(wpm);
 
 	uint16_t counter = 0;
 
-	/* make sure all threads have registered their subscriptions */
-	while (!mavlink_subs.initialized) {
-		usleep(500);
-	}
-
 	/* all subscriptions are now active, set up initial guess about rate limits */
-	if (baudrate >= 460800) {
-		/* 200 Hz / 5 ms */
-	} else if (baudrate >= 230400) {
+	if (baudrate >= 230400) {
 		/* 200 Hz / 5 ms */
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
 		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
@@ -1791,19 +620,14 @@ int mavlink_thread_main(int argc, char *argv[])
 
 	while (!thread_should_exit) {
 
-		/* get local and global position */
-		orb_copy(ORB_ID(vehicle_global_position), mavlink_subs.global_pos_sub, &global_pos);
-		orb_copy(ORB_ID(vehicle_local_position), mavlink_subs.local_pos_sub, &local_pos);
-		orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
-
 		/* 1 Hz */
 		if (lowspeed_counter == 10) {
 			mavlink_update_system();
 
-			/* translate the current syste state to mavlink state and mode */
+			/* translate the current system state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
 			uint8_t mavlink_mode = 0;
-			get_mavlink_mode_and_state(&v_status, &armed, &mavlink_state, &mavlink_mode);
+			get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);
 
 			/* send heartbeat */
 			mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);
@@ -1812,10 +636,20 @@ int mavlink_thread_main(int argc, char *argv[])
 			set_hil_on_off(v_status.flag_hil_enabled);
 
 			/* send status (values already copied in the section above) */
-			mavlink_msg_sys_status_send(chan, v_status.onboard_control_sensors_present, v_status.onboard_control_sensors_enabled,
-						    v_status.onboard_control_sensors_health, v_status.load, v_status.voltage_battery * 1000.f, v_status.current_battery * 1000.f,
-						    v_status.battery_remaining, v_status.drop_rate_comm, v_status.errors_comm,
-						    v_status.errors_count1, v_status.errors_count2, v_status.errors_count3, v_status.errors_count4);
+			mavlink_msg_sys_status_send(chan,
+						    v_status.onboard_control_sensors_present,
+						    v_status.onboard_control_sensors_enabled,
+						    v_status.onboard_control_sensors_health,
+						    v_status.load,
+						    v_status.voltage_battery * 1000.0f,
+						    v_status.current_battery * 1000.0f,
+						    v_status.battery_remaining,
+						    v_status.drop_rate_comm,
+						    v_status.errors_comm,
+						    v_status.errors_count1,
+						    v_status.errors_count2,
+						    v_status.errors_count3,
+						    v_status.errors_count4);
 			lowspeed_counter = 0;
 		}
 		lowspeed_counter++;
@@ -1831,6 +665,7 @@ int mavlink_thread_main(int argc, char *argv[])
 
 		/* send parameters at 20 Hz (if queued for sending) */
 		mavlink_pm_queued_send();
+
 		/* sleep quarter the time */
 		usleep(25000);
 		if (baudrate > 57600) {
@@ -1841,8 +676,10 @@ int mavlink_thread_main(int argc, char *argv[])
 		usleep(10000);
 
 		/* send one string at 10 Hz */
-		mavlink_missionlib_send_gcs_string(mavlink_message_string);
-		mavlink_message_string[0] = '\0';
+		if (mavlink_message_string[0] != '\0') {
+			mavlink_missionlib_send_gcs_string(mavlink_message_string);
+			mavlink_message_string[0] = '\0';
+		}
 		counter++;
 
 		/* sleep 15 ms */