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diff --git a/src/modules/mavlink/mavlink_stream.h b/src/modules/mavlink/mavlink_stream.h
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+++ b/src/modules/mavlink/mavlink_stream.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_stream.h
+ * Mavlink messages stream definition.
+ *
+ * @author Anton Babushkin <anton.babushkin@me.com>
+ */
+
+#ifndef MAVLINK_STREAM_H_
+#define MAVLINK_STREAM_H_
+
+#include <drivers/drv_hrt.h>
+
+class Mavlink;
+class MavlinkStream;
+
+#include "mavlink_main.h"
+
+class MavlinkStream
+{
+
+public:
+	MavlinkStream *next;
+
+	MavlinkStream();
+	virtual ~MavlinkStream();
+	void set_interval(const unsigned int interval);
+	void set_channel(mavlink_channel_t channel);
+
+	/**
+	 * @return 0 if updated / sent, -1 if unchanged
+	 */
+	int update(const hrt_abstime t);
+	static MavlinkStream *new_instance();
+	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;
+
+protected:
+	mavlink_channel_t _channel;
+	unsigned int _interval;
+
+	virtual void send(const hrt_abstime t) = 0;
+
+private:
+	hrt_abstime _last_sent;
+};
+
+
+#endif /* MAVLINK_STREAM_H_ */