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diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.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_orb_subscription.h
+ * uORB subscription definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef MAVLINK_ORB_SUBSCRIPTION_H_
+#define MAVLINK_ORB_SUBSCRIPTION_H_
+
+#include <systemlib/uthash/utlist.h>
+#include <drivers/drv_hrt.h>
+
+
+class MavlinkOrbSubscription
+{
+public:
+	MavlinkOrbSubscription *next;	///< pointer to next subscription in list
+
+	MavlinkOrbSubscription(const orb_id_t topic);
+	~MavlinkOrbSubscription();
+
+	/**
+	 * Check if subscription updated and get data.
+	 *
+	 * @return true only if topic was updated and data copied to buffer successfully.
+	 * If topic was not updated since last check it will return false but still copy the data.
+	 * If no data available data buffer will be filled with zeroes.
+	 */
+	bool update(uint64_t *time, void* data);
+
+	/**
+	 * Copy topic data to given buffer.
+	 *
+	 * @return true only if topic data copied successfully.
+	 */
+	bool update(void* data);
+
+	/**
+	 * Check if the topic has been published.
+	 *
+	 * This call will return true if the topic was ever published.
+	 * @return true if the topic has been published at least once.
+	 */
+	bool is_published();
+	orb_id_t get_topic() const;
+
+private:
+	const orb_id_t _topic;		///< topic metadata
+	int _fd;			///< subscription handle
+	bool _published;		///< topic was ever published
+};
+
+
+#endif /* MAVLINK_ORB_SUBSCRIPTION_H_ */