diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index bc5cc2af9f..b88af6eab7 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -613,35 +613,26 @@ Mavlink::mavlink_open_uart(int baud, const char *uart_name, bool force_flow_cont
 	/* if this is a config link, stay here and wait for it to open */
 	if (_uart_fd < 0 && _mode == MAVLINK_MODE_CONFIG) {
 
-		int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
-		struct actuator_armed_s armed;
+		uORB::SubscriptionData<actuator_armed_s> armed_sub{ORB_ID(actuator_armed)};
 
 		/* get the system arming state and abort on arming */
 		while (_uart_fd < 0) {
 
 			/* abort if an arming topic is published and system is armed */
-			bool updated = false;
-			orb_check(armed_sub, &updated);
+			armed_sub.update();
 
-			if (updated) {
-				/* the system is now providing arming status feedback.
-				 * instead of timing out, we resort to abort bringing
-				 * up the terminal.
-				 */
-				orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
-
-				if (armed.armed) {
-					/* this is not an error, but we are done */
-					orb_unsubscribe(armed_sub);
-					return -1;
-				}
+			/* the system is now providing arming status feedback.
+			 * instead of timing out, we resort to abort bringing
+			 * up the terminal.
+			 */
+			if (armed_sub.get().armed) {
+				/* this is not an error, but we are done */
+				return -1;
 			}
 
 			px4_usleep(100000);
 			_uart_fd = ::open(uart_name, O_RDWR | O_NOCTTY);
 		}
-
-		orb_unsubscribe(armed_sub);
 	}
 
 	if (_uart_fd < 0) {
@@ -2136,7 +2127,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 	MavlinkOrbSubscription *mavlink_log_sub = add_orb_subscription(ORB_ID(mavlink_log));
 
-	struct vehicle_status_s status;
+	vehicle_status_s status{};
 	status_sub->update(&status_time, &status);
 
 	/* Activate sending the data by default (for the IRIDIUM mode it will be disabled after the first round of packages is sent)*/
@@ -2205,7 +2196,9 @@ Mavlink::task_main(int argc, char *argv[])
 
 		update_rate_mult();
 
-		if (param_sub->update(&param_time, nullptr)) {
+		parameter_update_s param_update;
+
+		if (param_sub->update(&param_time, &param_update)) {
 			mavlink_update_parameters();
 
 #if defined(CONFIG_NET)
@@ -2242,7 +2235,7 @@ Mavlink::task_main(int argc, char *argv[])
 			}
 		}
 
-		struct vehicle_command_s vehicle_cmd;
+		vehicle_command_s vehicle_cmd{};
 
 		if (cmd_sub->update_if_changed(&vehicle_cmd)) {
 			if ((vehicle_cmd.command == vehicle_command_s::VEHICLE_CMD_CONTROL_HIGH_LATENCY) &&
@@ -2287,7 +2280,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 		/* send command ACK */
 		uint16_t current_command_ack = 0;
-		struct vehicle_command_ack_s command_ack;
+		vehicle_command_ack_s command_ack{};
 
 		if (ack_sub->update_if_changed(&command_ack)) {
 			if (!command_ack.from_external) {
@@ -2308,7 +2301,7 @@ Mavlink::task_main(int argc, char *argv[])
 			}
 		}
 
-		struct mavlink_log_s mavlink_log;
+		mavlink_log_s mavlink_log{};
 
 		if (mavlink_log_sub->update_if_changed(&mavlink_log)) {
 			_logbuffer.put(&mavlink_log);
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 09e1be405c..b76d098137 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -73,15 +73,11 @@ uint16_t MavlinkMissionManager::_safepoint_update_counter = 0;
 MavlinkMissionManager::MavlinkMissionManager(Mavlink *mavlink) :
 	_mavlink(mavlink)
 {
-	_offboard_mission_sub = orb_subscribe(ORB_ID(mission));
-	_mission_result_sub = orb_subscribe(ORB_ID(mission_result));
-
 	init_offboard_mission();
 }
 
 MavlinkMissionManager::~MavlinkMissionManager()
 {
-	orb_unsubscribe(_mission_result_sub);
 	orb_unadvertise(_offboard_mission_pub);
 }
 
@@ -489,12 +485,9 @@ MavlinkMissionManager::send(const hrt_abstime now)
 		return;
 	}
 
-	bool updated = false;
-	orb_check(_mission_result_sub, &updated);
+	mission_result_s mission_result{};
 
-	if (updated) {
-		mission_result_s mission_result;
-		orb_copy(ORB_ID(mission_result), _mission_result_sub, &mission_result);
+	if (_mission_result_sub.update(&mission_result)) {
 
 		if (_current_seq != mission_result.seq_current) {
 			_current_seq = mission_result.seq_current;
diff --git a/src/modules/mavlink/mavlink_mission.h b/src/modules/mavlink/mavlink_mission.h
index e8afa17898..2a88d68eea 100644
--- a/src/modules/mavlink/mavlink_mission.h
+++ b/src/modules/mavlink/mavlink_mission.h
@@ -46,7 +46,8 @@
 #pragma once
 
 #include <dataman/dataman.h>
-#include <uORB/uORB.h>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/mission_result.h>
 
 #include "mavlink_bridge_header.h"
 #include "mavlink_rate_limiter.h"
@@ -124,8 +125,7 @@ private:
 
 	static bool		_transfer_in_progress;			///< Global variable checking for current transmission
 
-	int			_offboard_mission_sub{-1};
-	int			_mission_result_sub{-1};
+	uORB::Subscription	_mission_result_sub{ORB_ID(mission_result)};
 
 	orb_advert_t		_offboard_mission_pub{nullptr};
 
diff --git a/src/modules/mavlink/mavlink_orb_subscription.cpp b/src/modules/mavlink/mavlink_orb_subscription.cpp
index 4fdf3d2b99..d2ac9d2c5a 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.cpp
+++ b/src/modules/mavlink/mavlink_orb_subscription.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2014, 2015 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2014-2019 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
@@ -35,144 +35,23 @@
  * @file mavlink_orb_subscription.cpp
  * uORB subscription implementation.
  *
- * @author Anton Babushkin <anton.babushkin@me.com>
- * @author Lorenz Meier <lorenz@px4.io>
  */
 
 #include "mavlink_orb_subscription.h"
 
-#include <unistd.h>
-#include <stdlib.h>
-#include <string.h>
-#include <stdio.h>
-
-#include <px4_defines.h>
-#include <uORB/uORB.h>
-
-MavlinkOrbSubscription::MavlinkOrbSubscription(const orb_id_t topic, int instance) :
-	_topic(topic),
-	_instance(instance)
-{
-}
-
-MavlinkOrbSubscription::~MavlinkOrbSubscription()
-{
-	if (_fd >= 0) {
-		orb_unsubscribe(_fd);
-	}
-}
-
-orb_id_t
-MavlinkOrbSubscription::get_topic() const
-{
-	return _topic;
-}
-
-int
-MavlinkOrbSubscription::get_instance() const
-{
-	return _instance;
-}
-
 bool
-MavlinkOrbSubscription::update(uint64_t *time, void *data)
+MavlinkOrbSubscription::is_published()
 {
-	// TODO this is NOT atomic operation, we can get data newer than time
-	// if topic was published between orb_stat and orb_copy calls.
+	const bool published = _sub.published();
 
-	if (!is_published()) {
-		return false;
-	}
+	if (published) {
+		return true;
 
-	uint64_t time_topic;
-
-	if (orb_stat(_fd, &time_topic)) {
-		/* error getting last topic publication time */
-		time_topic = 0;
-	}
-
-	if (time_topic == 0 || (time_topic != *time)) {
-		if (orb_copy(_topic, _fd, data) == PX4_OK) {
-			/* data copied successfully */
-			*time = time_topic;
-			return true;
-		}
+	} else if (!published && _subscribe_from_beginning) {
+		// For some topics like vehicle_command_ack, we want to subscribe
+		// from the beginning in order not to miss or delay the first publish respective advertise.
+		return _sub.forceInit();
 	}
 
 	return false;
 }
-
-bool
-MavlinkOrbSubscription::update(void *data)
-{
-	if (!is_published()) {
-		return false;
-	}
-
-	if (orb_copy(_topic, _fd, data) != PX4_OK) {
-		return false;
-	}
-
-	return true;
-}
-
-bool
-MavlinkOrbSubscription::update_if_changed(void *data)
-{
-	if (!is_published()) {
-		return false;
-	}
-
-	bool updated;
-
-	if (orb_check(_fd, &updated) || !updated) {
-		return false;
-	}
-
-	return update(data);
-}
-
-bool
-MavlinkOrbSubscription::is_published()
-{
-	// If we marked it as published no need to check again
-	if (_published) {
-		return true;
-	}
-
-	hrt_abstime now = hrt_absolute_time();
-
-	if (now - _last_pub_check < 300000) {
-		return false;
-	}
-
-	// We are checking now
-	_last_pub_check = now;
-
-	// We don't want to subscribe to anything that does not exist
-	// in order to save memory and file descriptors.
-	// However, for some topics like vehicle_command_ack, we want to subscribe
-	// from the beginning in order not to miss or delay the first publish respective advertise.
-	if (!_subscribe_from_beginning && orb_exists(_topic, _instance)) {
-		return false;
-	}
-
-	if (_fd < 0) {
-		_fd = orb_subscribe_multi(_topic, _instance);
-	}
-
-	bool updated;
-	orb_check(_fd, &updated);
-
-	if (updated) {
-		_published = true;
-	}
-
-	return _published;
-}
-
-void
-MavlinkOrbSubscription::subscribe_from_beginning(bool from_beginning)
-{
-	_subscribe_from_beginning = from_beginning;
-}
diff --git a/src/modules/mavlink/mavlink_orb_subscription.h b/src/modules/mavlink/mavlink_orb_subscription.h
index 900d86ec3c..5d2ab95459 100644
--- a/src/modules/mavlink/mavlink_orb_subscription.h
+++ b/src/modules/mavlink/mavlink_orb_subscription.h
@@ -43,14 +43,14 @@
 
 #include <drivers/drv_hrt.h>
 #include <containers/List.hpp>
-#include "uORB/uORB.h"	// orb_id_t
+#include <uORB/Subscription.hpp>
 
 class MavlinkOrbSubscription : public ListNode<MavlinkOrbSubscription *>
 {
 public:
 
-	MavlinkOrbSubscription(const orb_id_t topic, int instance);
-	~MavlinkOrbSubscription();
+	MavlinkOrbSubscription(const orb_id_t topic, int instance) : _sub(topic, instance) {}
+	~MavlinkOrbSubscription() = default;
 
 	/**
 	 * Check if subscription updated based on timestamp.
@@ -61,14 +61,14 @@ public:
 	 * still copy the data.
 	 * If no data available data buffer will be filled with zeros.
 	 */
-	bool update(uint64_t *time, void *data);
+	bool update(uint64_t *time, void *data) { return _sub.update(time, data); }
 
 	/**
 	 * Copy topic data to given buffer.
 	 *
 	 * @return true only if topic data copied successfully.
 	 */
-	bool update(void *data);
+	bool update(void *data) { return _sub.copy(data); }
 
 	/**
 	 * Check if the subscription has been updated.
@@ -76,7 +76,7 @@ public:
 	 * @return true if there has been an update which has been
 	 * copied successfully.
 	 */
-	bool update_if_changed(void *data);
+	bool update_if_changed(void *data) { return _sub.update(data); }
 
 	/**
 	 * Check if the topic has been published.
@@ -87,28 +87,16 @@ public:
 	 */
 	bool is_published();
 
-	void subscribe_from_beginning(bool from_beginning);
+	void subscribe_from_beginning(bool from_beginning) { _subscribe_from_beginning = from_beginning; }
 
-	orb_id_t get_topic() const;
-	int get_instance() const;
-
-	int get_fd() { return _fd; }
+	orb_id_t get_topic() const { return _sub.get_topic(); }
+	int get_instance() const { return _sub.get_instance(); }
 
 private:
-	const orb_id_t _topic;		///< topic metadata
-	const uint8_t _instance;		///< get topic instance
 
-	int _fd{-1};			///< subscription handle
-
-	bool _published{false};		///< topic was ever published
+	uORB::Subscription	_sub;
 
 	bool _subscribe_from_beginning{false}; ///< we need to subscribe from the beginning, e.g. for vehicle_command_acks
-
-	hrt_abstime _last_pub_check{0};	///< when we checked last
-
-	/* do not allow copying this class */
-	MavlinkOrbSubscription(const MavlinkOrbSubscription &);
-	MavlinkOrbSubscription operator=(const MavlinkOrbSubscription &);
 };
 
 
diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index 0f1afcb77f..1290c9a5f7 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -42,33 +42,16 @@
 
 #include <stdio.h>
 
-#include <uORB/topics/uavcan_parameter_request.h>
-#include <uORB/topics/uavcan_parameter_value.h>
-
 #include "mavlink_parameters.h"
 #include "mavlink_main.h"
 
 MavlinkParametersManager::MavlinkParametersManager(Mavlink *mavlink) :
-	_send_all_index(-1),
-	_uavcan_open_request_list(nullptr),
-	_uavcan_waiting_for_request_response(false),
-	_uavcan_queued_request_items(0),
-	_rc_param_map_pub(nullptr),
-	_rc_param_map(),
-	_uavcan_parameter_request_pub(nullptr),
-	_uavcan_parameter_value_sub(-1),
-	_mavlink_parameter_sub(-1),
-	_param_update_time(0),
-	_param_update_index(0),
 	_mavlink(mavlink)
 {
 }
+
 MavlinkParametersManager::~MavlinkParametersManager()
 {
-	if (_uavcan_parameter_value_sub >= 0) {
-		orb_unsubscribe(_uavcan_parameter_value_sub);
-	}
-
 	if (_uavcan_parameter_request_pub) {
 		orb_unadvertise(_uavcan_parameter_request_pub);
 	}
@@ -349,18 +332,10 @@ MavlinkParametersManager::send_untransmitted()
 {
 	bool sent_one = false;
 
-	// Check for untransmitted system parameters
-	if (_mavlink_parameter_sub < 0) {
-		_mavlink_parameter_sub = orb_subscribe(ORB_ID(parameter_update));
-	}
-
-	bool param_ready;
-	orb_check(_mavlink_parameter_sub, &param_ready);
-
-	if (param_ready) {
+	if (_mavlink_parameter_sub.updated()) {
 		// Clear the ready flag
-		struct parameter_update_s value;
-		orb_copy(ORB_ID(parameter_update), _mavlink_parameter_sub, &value);
+		parameter_update_s value;
+		_mavlink_parameter_sub.update(&value);
 
 		// Schedule an update if not already the case
 		if (_param_update_time == 0) {
@@ -408,16 +383,9 @@ bool
 MavlinkParametersManager::send_uavcan()
 {
 	/* Send parameter values received from the UAVCAN topic */
-	if (_uavcan_parameter_value_sub < 0) {
-		_uavcan_parameter_value_sub = orb_subscribe(ORB_ID(uavcan_parameter_value));
-	}
-
-	bool param_value_ready;
-	orb_check(_uavcan_parameter_value_sub, &param_value_ready);
-
-	if (param_value_ready) {
-		struct uavcan_parameter_value_s value;
-		orb_copy(ORB_ID(uavcan_parameter_value), _uavcan_parameter_value_sub, &value);
+	if (_uavcan_parameter_value_sub.updated()) {
+		uavcan_parameter_value_s value;
+		_uavcan_parameter_value_sub.update(&value);
 
 		// Check if we received a matching parameter, drop it from the list and request the next
 		if (_uavcan_open_request_list != nullptr
diff --git a/src/modules/mavlink/mavlink_parameters.h b/src/modules/mavlink/mavlink_parameters.h
index 0838a33795..6c82a42cd8 100644
--- a/src/modules/mavlink/mavlink_parameters.h
+++ b/src/modules/mavlink/mavlink_parameters.h
@@ -46,8 +46,10 @@
 
 #include "mavlink_bridge_header.h"
 #include <uORB/uORB.h>
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/rc_parameter_map.h>
 #include <uORB/topics/uavcan_parameter_request.h>
+#include <uORB/topics/uavcan_parameter_value.h>
 #include <uORB/topics/parameter_update.h>
 #include <drivers/drv_hrt.h>
 
@@ -70,7 +72,7 @@ public:
 	void handle_message(const mavlink_message_t *msg);
 
 private:
-	int		_send_all_index;
+	int		_send_all_index{-1};
 
 	/* do not allow top copying this class */
 	MavlinkParametersManager(MavlinkParametersManager &);
@@ -119,18 +121,19 @@ protected:
 	 */
 	void dequeue_uavcan_request();
 
-	_uavcan_open_request_list_item *_uavcan_open_request_list; ///< Pointer to the first item in the linked list
-	bool _uavcan_waiting_for_request_response; ///< We have reqested a parameter and wait for the response
-	uint16_t _uavcan_queued_request_items;	///< Number of stored parameter requests currently in the list
+	_uavcan_open_request_list_item *_uavcan_open_request_list{nullptr}; ///< Pointer to the first item in the linked list
+	bool _uavcan_waiting_for_request_response{false}; ///< We have reqested a parameter and wait for the response
+	uint16_t _uavcan_queued_request_items{0};	///< Number of stored parameter requests currently in the list
 
-	orb_advert_t _rc_param_map_pub;
-	struct rc_parameter_map_s _rc_param_map;
+	orb_advert_t _rc_param_map_pub{nullptr};
+	rc_parameter_map_s _rc_param_map{};
 
-	orb_advert_t _uavcan_parameter_request_pub;
-	int _uavcan_parameter_value_sub;
-	int _mavlink_parameter_sub;
-	hrt_abstime _param_update_time;
-	int _param_update_index;
+	orb_advert_t _uavcan_parameter_request_pub{nullptr};
+	uORB::Subscription _uavcan_parameter_value_sub{ORB_ID(uavcan_parameter_value)};
+
+	uORB::Subscription _mavlink_parameter_sub{ORB_ID(parameter_update)};
+	hrt_abstime _param_update_time{0};
+	int _param_update_index{0};
 
 	Mavlink *_mavlink;
 };
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 7f98defe86..f421b92b7f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -101,13 +101,6 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
 	_att.q[0] = 1.0f;
 }
 
-MavlinkReceiver::~MavlinkReceiver()
-{
-	orb_unsubscribe(_control_mode_sub);
-	orb_unsubscribe(_actuator_armed_sub);
-	orb_unsubscribe(_vehicle_attitude_sub);
-}
-
 void
 MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)
 {
@@ -350,10 +343,10 @@ MavlinkReceiver::send_flight_information()
 		flight_info.flight_uuid = (uint64_t)flight_uuid;
 	}
 
-	actuator_armed_s actuator_armed;
-	int ret = orb_copy(ORB_ID(actuator_armed), _actuator_armed_sub, &actuator_armed);
+	actuator_armed_s actuator_armed{};
+	bool ret = _actuator_armed_sub.copy(&actuator_armed);
 
-	if (ret == 0 && actuator_armed.timestamp != 0) {
+	if (ret && actuator_armed.timestamp != 0) {
 		flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
 	}
 
@@ -853,12 +846,8 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 		/* If we are in offboard control mode and offboard control loop through is enabled
 		 * also publish the setpoint topic which is read by the controller */
 		if (_mavlink->get_forward_externalsp()) {
-			bool updated;
-			orb_check(_control_mode_sub, &updated);
 
-			if (updated) {
-				orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
-			}
+			_control_mode_sub.update(&_control_mode);
 
 			if (_control_mode.flag_control_offboard_enabled) {
 				if (is_force_sp && offboard_control_mode.ignore_position &&
@@ -1019,14 +1008,8 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 			orb_publish(ORB_ID(offboard_control_mode), _offboard_control_mode_pub, &offboard_control_mode);
 		}
 
-
 		/* If we are in offboard control mode, publish the actuator controls */
-		bool updated;
-		orb_check(_control_mode_sub, &updated);
-
-		if (updated) {
-			orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
-		}
+		_control_mode_sub.update(&_control_mode);
 
 		if (_control_mode.flag_control_offboard_enabled) {
 
@@ -1184,9 +1167,6 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 		odometry.pose_covariance[i] = odom.pose_covariance[i];
 	}
 
-	bool updated;
-	orb_check(_vehicle_attitude_sub, &updated);
-
 	if (odom.child_frame_id == MAV_FRAME_BODY_FRD) { /* WRT to estimated vehicle body-fixed frame */
 		/* get quaternion from the msg quaternion itself and build DCM matrix from it */
 		Rbl = matrix::Dcmf(matrix::Quatf(odometry.q)).I();
@@ -1207,8 +1187,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 		}
 
 	} else if (odom.child_frame_id == MAV_FRAME_BODY_NED) { /* WRT to vehicle body-NED frame */
-		if (updated) {
-			orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_att);
+		if (_vehicle_attitude_sub.update(&_att)) {
 
 			/* get quaternion from vehicle_attitude quaternion and build DCM matrix from it */
 			Rbl = matrix::Dcmf(matrix::Quatf(_att.q)).I();
@@ -1233,8 +1212,7 @@ MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
 	} else if (odom.child_frame_id == MAV_FRAME_VISION_NED || /* WRT to vehicle local NED frame */
 		   odom.child_frame_id == MAV_FRAME_MOCAP_NED) {
 
-		if (updated) {
-			orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &_att);
+		if (_vehicle_attitude_sub.update(&_att)) {
 
 			/* get quaternion from vehicle_attitude quaternion and build DCM matrix from it */
 			matrix::Dcmf Rlb = matrix::Quatf(_att.q);
@@ -1340,12 +1318,8 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 		/* If we are in offboard control mode and offboard control loop through is enabled
 		 * also publish the setpoint topic which is read by the controller */
 		if (_mavlink->get_forward_externalsp()) {
-			bool updated;
-			orb_check(_control_mode_sub, &updated);
 
-			if (updated) {
-				orb_copy(ORB_ID(vehicle_control_mode), _control_mode_sub, &_control_mode);
-			}
+			_control_mode_sub.update(&_control_mode);
 
 			if (_control_mode.flag_control_offboard_enabled) {
 
@@ -2706,12 +2680,6 @@ MavlinkReceiver::receive_thread(void *arg)
 	return nullptr;
 }
 
-void
-MavlinkReceiver::print_status()
-{
-
-}
-
 void *
 MavlinkReceiver::start_helper(void *context)
 {
diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h
index 0ed02ed625..182f96debd 100644
--- a/src/modules/mavlink/mavlink_receiver.h
+++ b/src/modules/mavlink/mavlink_receiver.h
@@ -98,16 +98,7 @@ public:
 	 * Constructor
 	 */
 	MavlinkReceiver(Mavlink *parent);
-
-	/**
-	 * Destructor, also kills the mavlinks task.
-	 */
-	~MavlinkReceiver();
-
-	/**
-	 * Display the mavlink status.
-	 */
-	void print_status();
+	~MavlinkReceiver() = default;
 
 	/**
 	 * Start the receiver thread
@@ -257,9 +248,9 @@ private:
 
 	static constexpr int _gps_inject_data_queue_size{6};
 
-	int _actuator_armed_sub{orb_subscribe(ORB_ID(actuator_armed))};
-	int _control_mode_sub{orb_subscribe(ORB_ID(vehicle_control_mode))};
-	int _vehicle_attitude_sub{orb_subscribe(ORB_ID(vehicle_attitude))};
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
+	uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)};
+	uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
 
 	int _orb_class_instance{-1};
 
diff --git a/src/modules/mavlink/mavlink_ulog.cpp b/src/modules/mavlink/mavlink_ulog.cpp
index 8a3425922f..cd58851ed9 100644
--- a/src/modules/mavlink/mavlink_ulog.cpp
+++ b/src/modules/mavlink/mavlink_ulog.cpp
@@ -56,19 +56,9 @@ MavlinkULog::MavlinkULog(int datarate, float max_rate_factor, uint8_t target_sys
 				      (MAVLINK_MSG_ID_LOGGING_DATA_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES)))),
 	  _current_rate_factor(max_rate_factor)
 {
-	_ulog_stream_sub = orb_subscribe(ORB_ID(ulog_stream));
+	// make sure we won't read any old messages
+	while (_ulog_stream_sub.update()) {
 
-	if (_ulog_stream_sub < 0) {
-		PX4_ERR("orb_subscribe failed (%i)", errno);
-
-	} else {
-		// make sure we won't read any old messages
-		struct ulog_stream_s stream_msg;
-		bool update;
-
-		while (orb_check(_ulog_stream_sub, &update) == 0 && update) {
-			orb_copy(ORB_ID(ulog_stream), _ulog_stream_sub, &stream_msg);
-		}
 	}
 
 	_waiting_for_initial_ack = true;
@@ -81,10 +71,6 @@ MavlinkULog::~MavlinkULog()
 	if (_ulog_stream_ack_pub) {
 		orb_unadvertise(_ulog_stream_ack_pub);
 	}
-
-	if (_ulog_stream_sub >= 0) {
-		orb_unsubscribe(_ulog_stream_sub);
-	}
 }
 
 void MavlinkULog::start_ack_received()
@@ -129,13 +115,16 @@ int MavlinkULog::handle_update(mavlink_channel_t channel)
 				} else {
 					PX4_DEBUG("re-sending ulog mavlink message (try=%i)", _sent_tries);
 					_last_sent_time = hrt_absolute_time();
+
+					const ulog_stream_s &ulog_data = _ulog_stream_sub.get();
+
 					mavlink_logging_data_acked_t msg;
-					msg.sequence = _ulog_data.sequence;
-					msg.length = _ulog_data.length;
-					msg.first_message_offset = _ulog_data.first_message_offset;
+					msg.sequence = ulog_data.sequence;
+					msg.length = ulog_data.length;
+					msg.first_message_offset = ulog_data.first_message_offset;
 					msg.target_system = _target_system;
 					msg.target_component = _target_component;
-					memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
+					memcpy(msg.data, ulog_data.data, sizeof(msg.data));
 					mavlink_msg_logging_data_acked_send_struct(channel, &msg);
 				}
 			}
@@ -146,44 +135,40 @@ int MavlinkULog::handle_update(mavlink_channel_t channel)
 		}
 	}
 
-	bool updated = false;
-	int ret = orb_check(_ulog_stream_sub, &updated);
+	while ((_current_num_msgs < _max_num_messages) && _ulog_stream_sub.update()) {
+		const ulog_stream_s &ulog_data = _ulog_stream_sub.get();
 
-	while (updated && !ret && _current_num_msgs < _max_num_messages) {
-		orb_copy(ORB_ID(ulog_stream), _ulog_stream_sub, &_ulog_data);
-
-		if (_ulog_data.timestamp > 0) {
-			if (_ulog_data.flags & ulog_stream_s::FLAGS_NEED_ACK) {
+		if (ulog_data.timestamp > 0) {
+			if (ulog_data.flags & ulog_stream_s::FLAGS_NEED_ACK) {
 				_sent_tries = 1;
 				_last_sent_time = hrt_absolute_time();
 				lock();
-				_wait_for_ack_sequence = _ulog_data.sequence;
+				_wait_for_ack_sequence = ulog_data.sequence;
 				_ack_received = false;
 				unlock();
 
 				mavlink_logging_data_acked_t msg;
-				msg.sequence = _ulog_data.sequence;
-				msg.length = _ulog_data.length;
-				msg.first_message_offset = _ulog_data.first_message_offset;
+				msg.sequence = ulog_data.sequence;
+				msg.length = ulog_data.length;
+				msg.first_message_offset = ulog_data.first_message_offset;
 				msg.target_system = _target_system;
 				msg.target_component = _target_component;
-				memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
+				memcpy(msg.data, ulog_data.data, sizeof(msg.data));
 				mavlink_msg_logging_data_acked_send_struct(channel, &msg);
 
 			} else {
 				mavlink_logging_data_t msg;
-				msg.sequence = _ulog_data.sequence;
-				msg.length = _ulog_data.length;
-				msg.first_message_offset = _ulog_data.first_message_offset;
+				msg.sequence = ulog_data.sequence;
+				msg.length = ulog_data.length;
+				msg.first_message_offset = ulog_data.first_message_offset;
 				msg.target_system = _target_system;
 				msg.target_component = _target_component;
-				memcpy(msg.data, _ulog_data.data, sizeof(msg.data));
+				memcpy(msg.data, ulog_data.data, sizeof(msg.data));
 				mavlink_msg_logging_data_send_struct(channel, &msg);
 			}
 		}
 
 		++_current_num_msgs;
-		ret = orb_check(_ulog_stream_sub, &updated);
 	}
 
 	//need to update the rate?
diff --git a/src/modules/mavlink/mavlink_ulog.h b/src/modules/mavlink/mavlink_ulog.h
index 5b5371c580..609f7d30fa 100644
--- a/src/modules/mavlink/mavlink_ulog.h
+++ b/src/modules/mavlink/mavlink_ulog.h
@@ -46,6 +46,7 @@
 #include <px4_sem.h>
 #include <drivers/drv_hrt.h>
 
+#include <uORB/Subscription.hpp>
 #include <uORB/topics/ulog_stream.h>
 #include <uORB/topics/ulog_stream_ack.h>
 
@@ -96,7 +97,6 @@ public:
 	float current_data_rate() const { return _current_rate_factor; }
 	float maximum_data_rate() const { return _max_rate_factor; }
 
-	int get_ulog_stream_fd() const { return _ulog_stream_sub; }
 private:
 
 	MavlinkULog(int datarate, float max_rate_factor, uint8_t target_system, uint8_t target_component);
@@ -120,13 +120,12 @@ private:
 	static MavlinkULog *_instance;
 	static const float _rate_calculation_delta_t; ///< rate update interval
 
-	int _ulog_stream_sub = -1;
+	uORB::SubscriptionData<ulog_stream_s> _ulog_stream_sub{ORB_ID(ulog_stream)};
 	orb_advert_t _ulog_stream_ack_pub = nullptr;
 	uint16_t _wait_for_ack_sequence;
 	uint8_t _sent_tries = 0;
 	volatile bool _ack_received = false; ///< set to true if a matching ack received
 	hrt_abstime _last_sent_time = 0; ///< last time we sent a message that requires an ack
-	ulog_stream_s _ulog_data;
 	bool _waiting_for_initial_ack = false;
 	const uint8_t _target_system;
 	const uint8_t _target_component;