mavlink: major rewrite, prepare for dynamic mavlink streams configuration, WIP

1 files changed, 31 insertions, 0 deletions

diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h
new file mode 100644
index 000000000..2c72abaef
--- /dev/null
+++ b/src/modules/mavlink/mavlink_orb_subscription.h
@@ -0,0 +1,31 @@
+/*
+ * mavlink_orb_subscription.h
+ *
+ *  Created on: 23.02.2014
+ *      Author: ton
+ */
+
+#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
+#define MAVLINK_ORB_SUBSCRIPTION_H_
+
+#include <systemlib/uthash/utlist.h>
+#include <drivers/drv_hrt.h>
+
+class MavlinkOrbSubscription {
+public:
+	MavlinkOrbSubscription(const struct orb_metadata *meta, size_t size);
+	~MavlinkOrbSubscription();
+
+	int set_interval(const unsigned int interval);
+	int update(const hrt_abstime t);
+
+	const struct orb_metadata *meta;
+	int fd;
+	void *data;
+	hrt_abstime last_update;
+	unsigned int interval;
+	MavlinkOrbSubscription *next;
+};
+
+
+#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */