drivers/tone_alarm and tune_control small improvements/cleanup

- drivers/tone_alarm: move to ModuleBase and purge CDev (/dev/tone_alarm0)
 - drivers/tone_alarm: only run on tune_control publication (or scheduled note) rather than continuously
 - drivers/tone_alarm: use HRT to schedule tone stop (prevents potential disruption)
 - msg/tune_control: add tune_id numbering
 - systemcmds/tune_control: add "error" special case tune_id
 - move all tune_control publication to new uORB::PublicationQueued<>
 - start tone_alarm immediately after board defaults are loaded to fix potential startup issues
 - for SITL (or other boards with no TONE output) print common messages (startup, error, etc)

src/drivers/mkblctrl/mkblctrl.cpp

@@ -74,6 +74,7 @@
 #include <systemlib/err.h>
 #include <lib/mixer/MixerGroup.hpp>
 
+#include <uORB/Publication.hpp>
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_armed.h>
@@ -161,7 +162,7 @@ private:
 	char					_device[20];
 	orb_advert_t			_t_outputs;
 	orb_advert_t			_t_esc_status;
-	orb_advert_t			_tune_control_sub;
+	uORB::PublicationQueued<tune_control_s> _tune_control_pub{ORB_ID(tune_control)};
 	unsigned int			_num_outputs;
 	bool					_primary_pwm_device;
 	bool     				_motortest;
@@ -448,14 +449,14 @@ MK::scaling(float val, float inMin, float inMax, float outMin, float outMax)
 void
 MK::play_beep(int count)
 {
-	tune_control_s tune = {};
+	tune_control_s tune{};
 	tune.tune_id = static_cast<int>(TuneID::SINGLE_BEEP);
 
 	for (int i = 0; i < count; i++) {
-		orb_publish(ORB_ID(tune_control), _tune_control_sub, &tune);
+		tune.timestamp = hrt_absolute_time();
+		_tune_control_pub.publish(tune);
 		usleep(300000);
 	}
-
 }
 
 int
@@ -490,12 +491,6 @@ MK::task_main()
 	memset(&esc, 0, sizeof(esc));
 	_t_esc_status = orb_advertise(ORB_ID(esc_status), &esc);
 
-	/*
-	 * advertise the tune_control.
-	 */
-	tune_control_s tune = {};
-	_tune_control_sub = orb_advertise_queue(ORB_ID(tune_control), &tune, tune_control_s::ORB_QUEUE_LENGTH);
-
 	pollfd fds[2];
 	fds[0].fd = _t_actuators;
 	fds[0].events = POLLIN;