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diff --git a/src/modules/mavlink/mavlink_orb_listener.h b/src/modules/mavlink/mavlink_orb_listener.h
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+++ b/src/modules/mavlink/mavlink_orb_listener.h
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+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2014 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_orb_listener.h
+ * MAVLink 1.0 protocol interface definition.
+ *
+ * @author Lorenz Meier <lm@inf.ethz.ch>
+ */
+
+#pragma once
+
+class Mavlink;
+
+class MavlinkOrbListener
+{
+public:
+	/**
+	 * Constructor
+	 */
+	MavlinkOrbListener(Mavlink* parent);
+
+	/**
+	 * Destructor, also kills the mavlinks task.
+	 */
+	~MavlinkOrbListener();
+
+	/**
+	* Start the mavlink task.
+	 *
+	 * @return		OK on success.
+	 */
+	int		start();
+
+	/**
+	 * Display the mavlink status.
+	 */
+	void		status();
+
+private:
+
+	bool		_task_should_exit;		/**< if true, sensor task should exit */
+
+	perf_counter_t	_loop_perf;			/**< loop performance counter */
+
+	Mavlink*	_mavlink;
+
+	unsigned	_n_listeners;
+
+	/**
+	 * Shim for calling task_main from task_create.
+	 */
+	void		task_main_trampoline(int argc, char *argv[]);
+
+	/**
+	 * Main sensor collection task.
+	 */
+	void		task_main() __attribute__((noreturn));
+
+	void		l_sensor_combined(const struct listener *l);
+	void		l_vehicle_attitude(const struct listener *l);
+	void		l_vehicle_gps_position(const struct listener *l);
+	void		l_vehicle_status(const struct listener *l);
+	void		l_rc_channels(const struct listener *l);
+	void		l_input_rc(const struct listener *l);
+	void		l_global_position(const struct listener *l);
+	void		l_local_position(const struct listener *l);
+	void		l_global_position_setpoint(const struct listener *l);
+	void		l_local_position_setpoint(const struct listener *l);
+	void		l_attitude_setpoint(const struct listener *l);
+	void		l_actuator_outputs(const struct listener *l);
+	void		l_actuator_armed(const struct listener *l);
+	void		l_manual_control_setpoint(const struct listener *l);
+	void		l_vehicle_attitude_controls(const struct listener *l);
+	void		l_debug_key_value(const struct listener *l);
+	void		l_optical_flow(const struct listener *l);
+	void		l_vehicle_rates_setpoint(const struct listener *l);
+	void		l_home(const struct listener *l);
+	void		l_airspeed(const struct listener *l);
+	void		l_nav_cap(const struct listener *l);
+	void		l_control_mode(const struct listener *l);
+
+	struct vehicle_global_position_s global_pos;
+	struct vehicle_local_position_s local_pos;
+	struct navigation_capabilities_s nav_cap;
+	struct vehicle_status_s v_status;
+	struct vehicle_control_mode_s control_mode;
+	struct rc_channels_s rc;
+	struct rc_input_values rc_raw;
+	struct actuator_armed_s armed;
+	struct actuator_controls_s actuators_0;
+	struct vehicle_attitude_s att;
+	struct airspeed_s airspeed;
+
+	struct mavlink_subscriptions mavlink_subs;
+
+	int status_sub;
+	int rc_sub;
+
+	unsigned int sensors_raw_counter;
+	unsigned int attitude_counter;
+	unsigned int gps_counter;
+
+	/*
+	 * Last sensor loop time
+	 * some outputs are better timestamped
+	 * with this "global" reference.
+	 */
+	uint64_t last_sensor_timestamp;
+
+	hrt_abstime last_sent_vfr = 0;
+
+};