1 files changed, 45 insertions, 15 deletions
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index def40d9ad..ef22dc443 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -46,30 +46,60 @@
 class Mavlink;
 class MavlinkStream;
 
-#include "mavlink_main.h"
-
 class MavlinkStream
 {
-private:
-	hrt_abstime _last_sent;
+
+public:
+	MavlinkStream *next;
+
+	MavlinkStream(Mavlink *mavlink);
+	virtual ~MavlinkStream();
+
+	/**
+	 * Get the interval
+	 *
+	 * @param interval the inveral in microseconds (us) between messages
+	 */
+	void set_interval(const unsigned int interval);
+
+	/**
+	 * Get the interval
+	 *
+	 * @return the inveral in microseconds (us) between messages
+	 */
+	unsigned get_interval() { return _interval; }
+
+	/**
+	 * @return 0 if updated / sent, -1 if unchanged
+	 */
+	int update(const hrt_abstime t);
+	static MavlinkStream *new_instance(const Mavlink *mavlink);
+	static const char *get_name_static();
+	virtual const char *get_name() const = 0;
+	virtual uint8_t get_id() = 0;
+
+	/**
+	 * @return true if steam rate shouldn't be adjusted
+	 */
+	virtual bool const_rate() { return false; }
+
+	/**
+	 * Get maximal total messages size on update
+	 */
+	virtual unsigned get_size() = 0;
 
 protected:
-	mavlink_channel_t _channel;
+	Mavlink *    _mavlink;
 	unsigned int _interval;
 
 	virtual void send(const hrt_abstime t) = 0;
 
-public:
-	MavlinkStream *next;
+private:
+	hrt_abstime _last_sent;
 
-	MavlinkStream();
-	~MavlinkStream();
-	void set_interval(const unsigned int interval);
-	void set_channel(mavlink_channel_t channel);
-	int update(const hrt_abstime t);
-	virtual MavlinkStream *new_instance() = 0;
-	virtual void subscribe(Mavlink *mavlink) = 0;
-	virtual const char *get_name() = 0;
+	/* do not allow top copying this class */
+	MavlinkStream(const MavlinkStream&);
+	MavlinkStream& operator=(const MavlinkStream&);
 };