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diff --git a/src/modules/controllib/block/Block.hpp b/src/modules/controllib/block/Block.hpp
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 Block.h
+ *
+ * Controller library code
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <inttypes.h>
+
+#include "List.hpp"
+
+namespace control
+{
+
+static const uint16_t maxChildrenPerBlock = 100;
+static const uint16_t maxParamsPerBlock = 100;
+static const uint16_t maxSubscriptionsPerBlock = 100;
+static const uint16_t maxPublicationsPerBlock = 100;
+static const uint8_t blockNameLengthMax = 80;
+
+// forward declaration
+class BlockParamBase;
+class UOrbSubscriptionBase;
+class UOrbPublicationBase;
+class SuperBlock;
+
+/**
+ */
+class __EXPORT Block :
+	public ListNode<Block *>
+{
+public:
+	friend class BlockParamBase;
+// methods
+	Block(SuperBlock *parent, const char *name);
+	void getName(char *name, size_t n);
+	virtual ~Block() {};
+	virtual void updateParams();
+	virtual void updateSubscriptions();
+	virtual void updatePublications();
+	virtual void setDt(float dt) { _dt = dt; }
+// accessors
+	float getDt() { return _dt; }
+protected:
+// accessors
+	SuperBlock *getParent() { return _parent; }
+	List<UOrbSubscriptionBase *> & getSubscriptions() { return _subscriptions; }
+	List<UOrbPublicationBase *> & getPublications() { return _publications; }
+	List<BlockParamBase *> & getParams() { return _params; }
+// attributes
+	const char *_name;
+	SuperBlock *_parent;
+	float _dt;
+	List<UOrbSubscriptionBase *> _subscriptions;
+	List<UOrbPublicationBase *> _publications;
+	List<BlockParamBase *> _params;
+};
+
+class __EXPORT SuperBlock :
+	public Block
+{
+public:
+	friend class Block;
+// methods
+	SuperBlock(SuperBlock *parent, const char *name) :
+		Block(parent, name),
+		_children() {
+	}
+	virtual ~SuperBlock() {};
+	virtual void setDt(float dt);
+	virtual void updateParams() {
+		Block::updateParams();
+
+		if (getChildren().getHead() != NULL) updateChildParams();
+	}
+	virtual void updateSubscriptions() {
+		Block::updateSubscriptions();
+
+		if (getChildren().getHead() != NULL) updateChildSubscriptions();
+	}
+	virtual void updatePublications() {
+		Block::updatePublications();
+
+		if (getChildren().getHead() != NULL) updateChildPublications();
+	}
+protected:
+// methods
+	List<Block *> & getChildren() { return _children; }
+	void updateChildParams();
+	void updateChildSubscriptions();
+	void updateChildPublications();
+// attributes
+	List<Block *> _children;
+};
+
+} // namespace control