diff --git a/src/examples/px4_mavlink_debug/CMakeLists.txt b/src/examples/px4_mavlink_debug/CMakeLists.txt
index 83e50943e7..a9a0ca724f 100644
--- a/src/examples/px4_mavlink_debug/CMakeLists.txt
+++ b/src/examples/px4_mavlink_debug/CMakeLists.txt
@@ -35,6 +35,6 @@ px4_add_module(
 	MAIN px4_mavlink_debug
 	STACK_MAIN 2000
 	SRCS
-		px4_mavlink_debug.c
+		px4_mavlink_debug.cpp
 	DEPENDS
 	)
diff --git a/src/examples/px4_mavlink_debug/px4_mavlink_debug.c b/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
similarity index 76%
rename from src/examples/px4_mavlink_debug/px4_mavlink_debug.c
rename to src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
index 1d746e45a2..273d780469 100644
--- a/src/examples/px4_mavlink_debug/px4_mavlink_debug.c
+++ b/src/examples/px4_mavlink_debug/px4_mavlink_debug.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4_mavlink_debug.c
+ * @file px4_mavlink_debug.cpp
  * Debug application example for PX4 autopilot
  *
  * @author Example User <mail@example.com>
@@ -41,6 +41,7 @@
 #include <px4_config.h>
 #include <unistd.h>
 #include <stdio.h>
+#include <string.h>
 #include <poll.h>
 
 #include <systemlib/err.h>
@@ -50,39 +51,53 @@
 #include <uORB/topics/debug_key_value.h>
 #include <uORB/topics/debug_value.h>
 #include <uORB/topics/debug_vect.h>
+#include <uORB/topics/debug_array.h>
 
-__EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
+extern "C" __EXPORT int px4_mavlink_debug_main(int argc, char *argv[]);
 
 int px4_mavlink_debug_main(int argc, char *argv[])
 {
 	printf("Hello Debug!\n");
 
 	/* advertise named debug value */
-	struct debug_key_value_s dbg_key = { .key = "velx", .value = 0.0f };
+	struct debug_key_value_s dbg_key;
+	strncpy(dbg_key.key, "velx", 10);
+	dbg_key.value = 0.0f;
 	orb_advert_t pub_dbg_key = orb_advertise(ORB_ID(debug_key_value), &dbg_key);
 
 	/* advertise indexed debug value */
-	struct debug_value_s dbg_ind = { .ind = 42, .value = 0.5f };
+	struct debug_value_s dbg_ind;
+	dbg_ind.ind = 42;
+	dbg_ind.value = 0.5f;
 	orb_advert_t pub_dbg_ind = orb_advertise(ORB_ID(debug_value), &dbg_ind);
 
 	/* advertise debug vect */
-	struct debug_vect_s dbg_vect = { .name = "vel3D", .x = 1.0f, .y = 2.0f, .z = 3.0f };
+	struct debug_vect_s dbg_vect;
+	strncpy(dbg_vect.name, "vel3D", 10);
+	dbg_vect.x = 1.0f;
+	dbg_vect.y = 2.0f;
+	dbg_vect.z = 3.0f;
 	orb_advert_t pub_dbg_vect = orb_advertise(ORB_ID(debug_vect), &dbg_vect);
 
+	/* advertise debug array */
+	struct debug_array_s dbg_array;
+	dbg_array.id = 1;
+	strncpy(dbg_array.name, "dbg_array", 10);
+	orb_advert_t pub_dbg_array = orb_advertise(ORB_ID(debug_array), &dbg_array);
+
 	int value_counter = 0;
 
 	while (value_counter < 100) {
 		uint64_t timestamp_us = hrt_absolute_time();
-		uint32_t timestamp_ms = timestamp_us / 1000;
 
 		/* send one named value */
 		dbg_key.value = value_counter;
-		dbg_key.timestamp = timestamp_ms * 1e3f;
+		dbg_key.timestamp = timestamp_us;
 		orb_publish(ORB_ID(debug_key_value), pub_dbg_key, &dbg_key);
 
 		/* send one indexed value */
 		dbg_ind.value = 0.5f * value_counter;
-		dbg_ind.timestamp = timestamp_ms * 1e3f;
+		dbg_ind.timestamp = timestamp_us;
 		orb_publish(ORB_ID(debug_value), pub_dbg_ind, &dbg_ind);
 
 		/* send one vector */
@@ -92,6 +107,14 @@ int px4_mavlink_debug_main(int argc, char *argv[])
 		dbg_vect.timestamp = timestamp_us;
 		orb_publish(ORB_ID(debug_vect), pub_dbg_vect, &dbg_vect);
 
+		/* send one array */
+		for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
+			dbg_array.data[i] = value_counter + i * 0.01f;
+		}
+
+		dbg_array.timestamp = timestamp_us;
+		orb_publish(ORB_ID(debug_array), pub_dbg_array, &dbg_array);
+
 		warnx("sent one more value..");
 
 		value_counter++;