1 files changed, 26 insertions, 7 deletions
diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
index 20e1c7c44..ef22dc443 100644
--- a/src/modules/mavlink/mavlink_stream.h
+++ b/src/modules/mavlink/mavlink_stream.h
@@ -46,31 +46,50 @@
 class Mavlink;
 class MavlinkStream;
 
-#include "mavlink_main.h"
-
 class MavlinkStream
 {
 
 public:
 	MavlinkStream *next;
 
-	MavlinkStream();
+	MavlinkStream(Mavlink *mavlink);
 	virtual ~MavlinkStream();
+
+	/**
+	 * Get the interval
+	 *
+	 * @param interval the inveral in microseconds (us) between messages
+	 */
 	void set_interval(const unsigned int interval);
-	void set_channel(mavlink_channel_t channel);
+
+	/**
+	 * 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();
+	static MavlinkStream *new_instance(const Mavlink *mavlink);
 	static const char *get_name_static();
-	virtual void subscribe(Mavlink *mavlink) = 0;
 	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;