Merge branch 'master' into mpc_local_pos

1 files changed, 65 insertions, 0 deletions

diff --git a/src/modules/mavlink/mavlink_commands.h b/src/modules/mavlink/mavlink_commands.h
new file mode 100644
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+++ b/src/modules/mavlink/mavlink_commands.h
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+/****************************************************************************
+ *
+ *   Copyright (c) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_commands.h
+ * Mavlink commands stream definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef MAVLINK_COMMANDS_H_
+#define MAVLINK_COMMANDS_H_
+
+#include <uORB/uORB.h>
+#include <uORB/topics/vehicle_command.h>
+
+class Mavlink;
+class MavlinkCommansStream;
+
+#include "mavlink_main.h"
+
+class MavlinkCommandsStream
+{
+private:
+	MavlinkOrbSubscription *_cmd_sub;
+	struct vehicle_command_s *_cmd;
+	mavlink_channel_t _channel;
+
+public:
+	MavlinkCommandsStream(Mavlink *mavlink, mavlink_channel_t channel);
+	~MavlinkCommandsStream();
+	void update(const hrt_abstime t);
+};
+
+#endif /* MAVLINK_COMMANDS_H_ */