PX4/Firmware — pull request #1039 by DrTon (2014-06-04 00:00:14+00:00)
Title: uORB: tiny C++ wrappers

uORB C++ wrappers rewrite. Make it as tiny as possible. Previous approach with extending structure is not good when we have a lot of subscriptions/publications, because it always reserves some stack, even if data not used between updates. This version only allows to avoid repeating code like:

```
if (_v_rates_sp_pub > 0) {
orb_publish(ORB_ID(vehicle_rates_setpoint), _v_rates_sp_pub, &_v_rates_sp);

} else {
_v_rates_sp_pub = orb_advertise(ORB_ID(vehicle_rates_setpoint), &_v_rates_sp);
}
```

and

```
bool updated;

orb_check(_manual_control_sp_sub, &updated);

if (updated) {
orb_copy(ORB_ID(manual_control_setpoint), _manual_control_sp_sub, &_manual_control_sp);
}
```

New wrappers successfully integrated to mc_att_control, see as example.