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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>
+
+namespace px4
+{
+
+void init(int argc, char *argv[], const char *process_name);
+
+uint64_t get_time_micros();
+
+bool ok();
+
+void spin_once();
+
+void spin();
+
+class Rate
+{
+
+public:
+	explicit Rate(unsigned rate_hz) { sleep_interval = 1e6 / rate_hz; }
+
+	void sleep() { usleep(sleep_interval); }
+
+private:
+	uint64_t sleep_interval;
+
+};
+
+// /**
+//  * A limiter/ saturation.
+//  * The output of update is the input, bounded
+//  * by min/max.
+//  */
+// class __EXPORT BlockLimit : public Block
+// {
+// public:
+// // methods
+// 	BlockLimit(SuperBlock *parent, const char *name) :
+// 		Block(parent, name),
+// 		_min(this, "MIN"),
+// 		_max(this, "MAX")
+// 	{};
+// 	virtual ~BlockLimit() {};
+// 	float update(float input);
+// // accessors
+// 	float getMin() { return _min.get(); }
+// 	float getMax() { return _max.get(); }
+// protected:
+// // attributes
+// 	control::BlockParamFloat _min;
+// 	control::BlockParamFloat _max;
+// };
+
+} // namespace px4