public MavlinkV2Connection(IDataStream dataStream, Action <IPacketDecoder <IPacketV2 <IPayload> > > register)
{
DataStream = dataStream;
register(_decoder);
DataStream.SelectMany(_ => _).Subscribe(_decoder, _disposeCancel.Token);
_decoder.Subscribe(_ => Interlocked.Increment(ref _rxPackets), _disposeCancel.Token);
_decoder.OutError.Subscribe(_ => Interlocked.Increment(ref _skipPackets), _disposeCancel.Token);
}