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diff --git a/src/platforms/px4_middleware.h b/src/platforms/px4_middleware.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 px4_middleware.h
+ *
+ * PX4 generic middleware wrapper
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <unistd.h>
+
+namespace px4
+{
+
+__EXPORT void init(int argc, char *argv[], const char *process_name);
+
+__EXPORT uint64_t get_time_micros();
+
+#if defined(__PX4_ROS)
+/**
+ * Returns true if the app/task should continue to run
+ */
+inline bool ok() { return ros::ok(); }
+#else
+extern bool task_should_exit;
+/**
+ * Returns true if the app/task should continue to run
+ */
+__EXPORT inline bool ok() { return !task_should_exit; }
+#endif
+
+class Rate
+{
+public:
+	/**
+	 * Construct the Rate object and set rate
+	 * @param rate_hz rate from which sleep time is calculated in Hz
+	 */
+	explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; }
+
+	/**
+	 * Sleep for 1/rate_hz s
+	 */
+	void sleep() { usleep(sleep_interval); }
+
+private:
+	uint64_t sleep_interval;
+
+};
+
+} // namespace px4