1 files changed, 54 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp
new file mode 100644
index 000000000..b504b6955
--- /dev/null
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -0,0 +1,54 @@
+/*
+ * mavlink_orb_subscription.cpp
+ *
+ *  Created on: 23.02.2014
+ *      Author: ton
+ */
+
+
+#include <unistd.h>
+#include <stdlib.h>
+#include <string.h>
+#include <uORB/uORB.h>
+
+#include "mavlink_orb_subscription.h"
+
+MavlinkOrbSubscription::MavlinkOrbSubscription(const struct orb_metadata *topic, size_t size) : _topic(topic), _last_check(0), next(nullptr)
+{
+	_data = malloc(size);
+	memset(_data, 0, size);
+	_fd = orb_subscribe(_topic);
+}
+
+MavlinkOrbSubscription::~MavlinkOrbSubscription()
+{
+	close(_fd);
+	free(_data);
+}
+
+const struct orb_metadata *
+MavlinkOrbSubscription::get_topic()
+{
+	return _topic;
+}
+
+void *
+MavlinkOrbSubscription::get_data()
+{
+	return _data;
+}
+
+bool
+MavlinkOrbSubscription::update(const hrt_abstime t)
+{
+	if (_last_check != t) {
+		_last_check = t;
+		bool updated;
+		orb_check(_fd, &updated);
+		if (updated) {
+			orb_copy(_topic, _fd, _data);
+			return true;
+		}
+	}
+	return false;
+}