move initial sensor priority to parameters and purge ORB_PRIORITY

- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO

src/modules/uORB/PublicationMulti.hpp

@@ -59,23 +59,20 @@ public:
 	 * Constructor
 	 *
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
-	 * @param priority The priority for multi pub/sub, 0 means don't publish as multi
 	 */
-	PublicationMulti(ORB_ID id, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
-		PublicationBase(id),
-		_priority(priority)
+	PublicationMulti(ORB_ID id) :
+		PublicationBase(id)
 	{}
 
-	PublicationMulti(const orb_metadata *meta, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
-		PublicationBase(static_cast<ORB_ID>(meta->o_id)),
-		_priority(priority)
+	PublicationMulti(const orb_metadata *meta) :
+		PublicationBase(static_cast<ORB_ID>(meta->o_id))
 	{}
 
 	bool advertise()
 	{
 		if (!advertised()) {
 			int instance = 0;
-			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, _priority, QSIZE);
+			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
 		}
 
 		return advertised();
@@ -93,9 +90,6 @@ public:
 
 		return (orb_publish(get_topic(), _handle, &data) == PX4_OK);
 	}
-
-protected:
-	const ORB_PRIO _priority;
 };
 
 /**
@@ -109,14 +103,9 @@ public:
 	 * Constructor
 	 *
 	 * @param meta The uORB metadata (usually from the ORB_ID() macro) for the topic.
-	 * @param priority The priority for multi pub
 	 */
-	PublicationMultiData(ORB_ID id, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
-		PublicationMulti<T>(id, priority)
-	{}
-	PublicationMultiData(const orb_metadata *meta, ORB_PRIO priority = ORB_PRIO_DEFAULT) :
-		PublicationMulti<T>(meta, priority)
-	{}
+	PublicationMultiData(ORB_ID id) : PublicationMulti<T>(id) {}
+	PublicationMultiData(const orb_metadata *meta) : PublicationMulti<T>(meta) {}
 
 	T	&get() { return _data; }
 	void	set(const T &data) { _data = data; }

src/modules/uORB/Subscription.hpp

@@ -129,7 +129,6 @@ public:
 
 	uint8_t  get_instance() const { return _instance; }
 	unsigned get_last_generation() const { return _last_generation; }
-	ORB_PRIO get_priority() { return advertised() ? _node->get_priority() : ORB_PRIO_UNINITIALIZED; }
 	orb_id_t get_topic() const { return get_orb_meta(_orb_id); }
 
 protected:

src/modules/uORB/SubscriptionInterval.hpp

@@ -137,7 +137,6 @@ public:
 	uint8_t		get_instance() const { return _subscription.get_instance(); }
 	uint32_t        get_interval_us() const { return _interval_us; }
 	unsigned	get_last_generation() const { return _subscription.get_last_generation(); }
-	ORB_PRIO	get_priority() { return _subscription.get_priority(); }
 	orb_id_t	get_topic() const { return _subscription.get_topic(); }
 
 	/**

src/modules/uORB/uORB.cpp

@@ -50,15 +50,15 @@ orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *da
 	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
 }
 
-orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, ORB_PRIO priority)
+orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
-	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, priority);
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
 }
 
 orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-				       ORB_PRIO priority, unsigned int queue_size)
+				       unsigned int queue_size)
 {
-	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, priority, queue_size);
+	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
 }
 
 int orb_unadvertise(orb_advert_t handle)
@@ -112,11 +112,6 @@ int  orb_group_count(const struct orb_metadata *meta)
 	return instance;
 }
 
-int  orb_priority(int handle, enum ORB_PRIO *priority)
-{
-	return uORB::Manager::get_instance()->orb_priority(handle, priority);
-}
-
 int orb_set_interval(int handle, unsigned interval)
 {
 	return uORB::Manager::get_instance()->orb_set_interval(handle, interval);

src/modules/uORB/uORB.h

@@ -62,21 +62,6 @@ typedef const struct orb_metadata *orb_id_t;
  */
 #define ORB_MULTI_MAX_INSTANCES	4 // This must be < 10 (because it's the last char of the node path)
 
-/**
- * Topic priority.
- * Relevant for multi-topics / topic groups
- */
-enum ORB_PRIO {
-	ORB_PRIO_UNINITIALIZED = 0,
-	ORB_PRIO_MIN = 1,
-	ORB_PRIO_VERY_LOW = 25,
-	ORB_PRIO_LOW = 50,
-	ORB_PRIO_DEFAULT = 75,
-	ORB_PRIO_HIGH = 100,
-	ORB_PRIO_VERY_HIGH = 125,
-	ORB_PRIO_MAX = 255
-};
-
 /**
  * Generates a pointer to the uORB metadata structure for
  * a given topic.
@@ -151,14 +136,13 @@ extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const v
 /**
  * @see uORB::Manager::orb_advertise_multi()
  */
-extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-					enum ORB_PRIO priority) __EXPORT;
+extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT;
 
 /**
  * @see uORB::Manager::orb_advertise_multi()
  */
 extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-		enum ORB_PRIO priority, unsigned int queue_size) __EXPORT;
+		unsigned int queue_size) __EXPORT;
 
 /**
  * @see uORB::Manager::orb_unadvertise()
@@ -179,10 +163,10 @@ extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, con
  * @see uORB::Manager::orb_advertise_multi() for meaning of the individual parameters
  */
 static inline int orb_publish_auto(const struct orb_metadata *meta, orb_advert_t *handle, const void *data,
-				   int *instance, enum ORB_PRIO priority)
+				   int *instance)
 {
 	if (!*handle) {
-		*handle = orb_advertise_multi(meta, data, instance, priority);
+		*handle = orb_advertise_multi(meta, data, instance);
 
 		if (*handle) {
 			return 0;
@@ -233,11 +217,6 @@ extern int	orb_exists(const struct orb_metadata *meta, int instance) __EXPORT;
  */
 extern int	orb_group_count(const struct orb_metadata *meta) __EXPORT;
 
-/**
- * @see uORB::Manager::orb_priority()
- */
-extern int	orb_priority(int handle, enum ORB_PRIO *priority) __EXPORT;
-
 /**
  * @see uORB::Manager::orb_set_interval()
  */

src/modules/uORB/uORBCommon.hpp

@@ -47,7 +47,6 @@ static constexpr unsigned orb_maxpath = 64;
 struct orb_advertdata {
 	const struct orb_metadata *meta;
 	int *instance;
-	ORB_PRIO priority;
 };
 
 }

src/modules/uORB/uORBDeviceMaster.cpp

@@ -59,7 +59,7 @@ uORB::DeviceMaster::~DeviceMaster()
 	px4_sem_destroy(&_lock);
 }
 
-int uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance, ORB_PRIO priority)
+int uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance)
 {
 	int ret = PX4_ERROR;
 
@@ -107,7 +107,7 @@ int uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_adver
 		}
 
 		/* construct the new node, passing the ownership of path to it */
-		uORB::DeviceNode *node = new uORB::DeviceNode(meta, group_tries, devpath, priority);
+		uORB::DeviceNode *node = new uORB::DeviceNode(meta, group_tries, devpath);
 
 		/* if we didn't get a device, that's bad, free the path too */
 		if (node == nullptr) {
@@ -142,7 +142,6 @@ int uORB::DeviceMaster::advertise(const struct orb_metadata *meta, bool is_adver
 				if (existing_node != nullptr &&
 				    (!existing_node->is_advertised() || is_single_instance_advertiser || !is_advertiser)) {
 					if (is_advertiser) {
-						existing_node->set_priority((ORB_PRIO)priority);
 						/* Set as advertised to avoid race conditions (otherwise 2 multi-instance advertisers
 						 * could get the same instance).
 						 */
@@ -194,7 +193,7 @@ void uORB::DeviceMaster::printStatistics()
 		return;
 	}
 
-	PX4_INFO_RAW("%-*s INST #SUB #Q SIZE PRIO PATH\n", (int)max_topic_name_length - 2, "TOPIC NAME");
+	PX4_INFO_RAW("%-*s INST #SUB #Q SIZE PATH\n", (int)max_topic_name_length - 2, "TOPIC NAME");
 
 	cur_node = first_node;
 

src/modules/uORB/uORBDeviceMaster.hpp

@@ -65,7 +65,7 @@ class uORB::DeviceMaster
 {
 public:
 
-	int advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance, ORB_PRIO priority);
+	int advertise(const struct orb_metadata *meta, bool is_advertiser, int *instance);
 
 	/**
 	 * Public interface for getDeviceNodeLocked(). Takes care of synchronization.

src/modules/uORB/uORBDeviceNode.cpp

@@ -45,10 +45,9 @@
 static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }
 
 uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
-			     ORB_PRIO priority, uint8_t queue_size) :
+			     uint8_t queue_size) :
 	CDev(path),
 	_meta(meta),
-	_priority(priority),
 	_instance(instance),
 	_queue_size(queue_size)
 {
@@ -251,10 +250,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		*(uintptr_t *)arg = (uintptr_t)this;
 		return PX4_OK;
 
-	case ORBIOCGPRIORITY:
-		*(int *)arg = get_priority();
-		return PX4_OK;
-
 	case ORBIOCSETQUEUESIZE: {
 			lock();
 			int ret = update_queue_size(arg);
@@ -351,7 +346,7 @@ int uORB::DeviceNode::unadvertise(orb_advert_t handle)
 }
 
 #ifdef ORB_COMMUNICATOR
-int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, ORB_PRIO priority)
+int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta)
 {
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
 
@@ -364,7 +359,7 @@ int16_t uORB::DeviceNode::topic_advertised(const orb_metadata *meta, ORB_PRIO pr
 
 /*
 //TODO: Check if we need this since we only unadvertise when things all shutdown and it doesn't actually remove the device
-int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta, ORB_PRIO priority)
+int16_t uORB::DeviceNode::topic_unadvertised(const orb_metadata *meta)
 {
 	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
 	if (ch != nullptr && meta != nullptr) {
@@ -401,14 +396,13 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
 	lock();
 
 	const uint8_t instance = get_instance();
-	const uint8_t priority = get_priority();
 	const int8_t sub_count = subscriber_count();
 	const uint8_t queue_size = get_queue_size();
 
 	unlock();
 
-	PX4_INFO_RAW("%-*s %2i %4i %2i %4i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
-		     queue_size, get_meta()->o_size, priority, get_devname());
+	PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
+		     queue_size, get_meta()->o_size, get_devname());
 
 	return true;
 }

src/modules/uORB/uORBDeviceNode.hpp

@@ -56,8 +56,7 @@ class SubscriptionCallback;
 class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>
 {
 public:
-	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, ORB_PRIO priority,
-		   uint8_t queue_size = 1);
+	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1);
 	virtual ~DeviceNode();
 
 	// no copy, assignment, move, move assignment
@@ -119,8 +118,8 @@ public:
 	static int        unadvertise(orb_advert_t handle);
 
 #ifdef ORB_COMMUNICATOR
-	static int16_t topic_advertised(const orb_metadata *meta, ORB_PRIO priority);
-	//static int16_t topic_unadvertised(const orb_metadata *meta, ORB_PRIO priority);
+	static int16_t topic_advertised(const orb_metadata *meta);
+	//static int16_t topic_unadvertised(const orb_metadata *meta);
 
 	/**
 	 * processes a request for add subscription from remote
@@ -199,9 +198,6 @@ public:
 
 	uint8_t get_instance() const { return _instance; }
 
-	ORB_PRIO get_priority() const { return (ORB_PRIO)_priority; }
-	void set_priority(ORB_PRIO priority) { _priority = priority; }
-
 	/**
 	 * Copies data and the corresponding generation
 	 * from a node to the buffer provided.
@@ -235,7 +231,6 @@ private:
 	px4::atomic<unsigned>  _generation{0};  /**< object generation count */
 	List<uORB::SubscriptionCallback *>	_callbacks;
 
-	ORB_PRIO _priority;  /**< priority of the topic */
 	const uint8_t _instance; /**< orb multi instance identifier */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
 	uint8_t _queue_size; /**< maximum number of elements in the queue */

src/modules/uORB/uORBManager.cpp

@@ -168,7 +168,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 }
 
 orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-		ORB_PRIO priority, unsigned int queue_size)
+		unsigned int queue_size)
 {
 #ifdef ORB_USE_PUBLISHER_RULES
 
@@ -195,7 +195,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 #endif /* ORB_USE_PUBLISHER_RULES */
 
 	/* open the node as an advertiser */
-	int fd = node_open(meta, true, instance, priority);
+	int fd = node_open(meta, true, instance);
 
 	if (fd == PX4_ERROR) {
 		PX4_ERR("%s advertise failed (%i)", meta->o_name, errno);
@@ -224,7 +224,7 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 
 #ifdef ORB_COMMUNICATOR
 	// For remote systems call over and inform them
-	uORB::DeviceNode::topic_advertised(meta, priority);
+	uORB::DeviceNode::topic_advertised(meta);
 #endif /* ORB_COMMUNICATOR */
 
 	/* the advertiser may perform an initial publish to initialise the object */
@@ -307,11 +307,6 @@ int uORB::Manager::orb_check(int handle, bool *updated)
 	return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
 }
 
-int uORB::Manager::orb_priority(int handle, enum ORB_PRIO *priority)
-{
-	return px4_ioctl(handle, ORBIOCGPRIORITY, (unsigned long)(uintptr_t)priority);
-}
-
 int uORB::Manager::orb_set_interval(int handle, unsigned interval)
 {
 	return px4_ioctl(handle, ORBIOCSETINTERVAL, interval * 1000);
@@ -324,7 +319,7 @@ int uORB::Manager::orb_get_interval(int handle, unsigned *interval)
 	return ret;
 }
 
-int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance, ORB_PRIO priority)
+int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, int *instance)
 {
 	char path[orb_maxpath];
 	int fd = -1;
@@ -365,7 +360,7 @@ int uORB::Manager::node_open(const struct orb_metadata *meta, bool advertiser, i
 		ret = PX4_ERROR;
 
 		if (get_device_master()) {
-			ret = _device_master->advertise(meta, advertiser, instance, priority);
+			ret = _device_master->advertise(meta, advertiser, instance);
 		}
 
 		/* it's OK if it already exists */

src/modules/uORB/uORBManager.hpp

@@ -106,8 +106,7 @@ public:
 	 * Any number of advertisers may publish to a topic; publications are atomic
 	 * but co-ordination between publishers is not provided by the ORB.
 	 *
-	 * Internally this will call orb_advertise_multi with an instance of 0 and
-	 * default priority.
+	 * Internally this will call orb_advertise_multi with an instance of 0.
 	 *
 	 * @param meta    The uORB metadata (usually from the ORB_ID() macro)
 	 *      for the topic.
@@ -124,7 +123,7 @@ public:
 	 */
 	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
 	{
-		return orb_advertise_multi(meta, data, nullptr, ORB_PRIO_DEFAULT, queue_size);
+		return orb_advertise_multi(meta, data, nullptr, queue_size);
 	}
 
 	/**
@@ -149,10 +148,6 @@ public:
 	 * @param instance  Pointer to an integer which will yield the instance ID (0-based)
 	 *      of the publication. This is an output parameter and will be set to the newly
 	 *      created instance, ie. 0 for the first advertiser, 1 for the next and so on.
-	 * @param priority  The priority of the instance. If a subscriber subscribes multiple
-	 *      instances, the priority allows the subscriber to prioritize the best
-	 *      data source as long as its available. The subscriber is responsible to check
-	 *      and handle different priorities (@see orb_priority()).
 	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
 	 *      used.
 	 * @return    PX4_ERROR on error, otherwise returns a handle
@@ -161,7 +156,7 @@ public:
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return -1 and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, ORB_PRIO priority,
+	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
 					 unsigned int queue_size = 1);
 
 	/**
@@ -308,18 +303,6 @@ public:
 	 */
 	int  orb_exists(const struct orb_metadata *meta, int instance);
 
-	/**
-	 * Return the priority of the topic
-	 *
-	 * @param handle  A handle returned from orb_subscribe.
-	 * @param priority  Returns the priority of this topic. This is only relevant for
-	 *      topics which are published by multiple publishers (e.g. mag0, mag1, etc.)
-	 *      and allows a subscriber to pick the topic with the highest priority,
-	 *      independent of the startup order of the associated publishers.
-	 * @return    OK on success, PX4_ERROR otherwise with errno set accordingly.
-	 */
-	int  orb_priority(int handle, enum ORB_PRIO *priority);
-
 	/**
 	 * Set the minimum interval between which updates are seen for a subscription.
 	 *
@@ -383,8 +366,7 @@ private: // class methods
 	 * Handles creation of the object and the initial publication for
 	 * advertisers.
 	 */
-	int node_open(const struct orb_metadata *meta, bool advertiser, int *instance = nullptr,
-		      ORB_PRIO priority = ORB_PRIO_DEFAULT);
+	int node_open(const struct orb_metadata *meta, bool advertiser, int *instance = nullptr);
 
 private: // data members
 	static Manager *_Instance;

src/modules/uORB/uORB_tests/uORBTest_UnitTest.cpp

@@ -229,7 +229,7 @@ int uORBTest::UnitTest::test_unadvertise()
 	orb_test_s t{};
 
 	for (int i = 0; i < 4; ++i) {
-		_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i], ORB_PRIO_MAX);
+		_pfd[i] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance_test[i]);
 
 		if (instance_test[i] != i) {
 			return test_fail("got wrong instance (should be %i, is %i)", i, instance_test[i]);
@@ -335,12 +335,12 @@ int uORBTest::UnitTest::test_multi()
 	orb_test_s u{};
 
 	int instance0;
-	_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0, ORB_PRIO_MAX);
+	_pfd[0] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance0);
 
 	test_note("advertised");
 
 	int instance1;
-	_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1, ORB_PRIO_MIN);
+	_pfd[1] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance1);
 
 	if (instance0 != 0) {
 		return test_fail("mult. id0: %d", instance0);
@@ -385,25 +385,6 @@ int uORBTest::UnitTest::test_multi()
 		return test_fail("sub #1 val. mismatch: %d", u.val);
 	}
 
-	/* test priorities */
-	ORB_PRIO prio;
-
-	if (PX4_OK != orb_priority(sfd0, &prio)) {
-		return test_fail("prio #0");
-	}
-
-	if (prio != ORB_PRIO_MAX) {
-		return test_fail("prio: %d", prio);
-	}
-
-	if (PX4_OK != orb_priority(sfd1, &prio)) {
-		return test_fail("prio #1");
-	}
-
-	if (prio != ORB_PRIO_MIN) {
-		return test_fail("prio: %d", prio);
-	}
-
 	if (PX4_OK != latency_test<orb_test_s>(ORB_ID(orb_test), false)) {
 		return test_fail("latency test failed");
 	}
@@ -431,7 +412,7 @@ int uORBTest::UnitTest::pub_test_multi2_main()
 		orb_advert_t &pub = orb_pub[i];
 		int idx = i;
 //		PX4_WARN("advertise %i, t=%" PRIu64, i, hrt_absolute_time());
-		pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx, ORB_PRIO_DEFAULT);
+		pub = orb_advertise_multi(ORB_ID(orb_test_medium_multi), &data_topic, &idx);
 
 		if (idx != i) {
 			_thread_should_exit = true;
@@ -550,12 +531,10 @@ int uORBTest::UnitTest::test_multi_reversed()
 	t.val = 0;
 
 	int instance2;
-
-	_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2, ORB_PRIO_MAX);
+	_pfd[2] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance2);
 
 	int instance3;
-
-	_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3, ORB_PRIO_MIN);
+	_pfd[3] = orb_advertise_multi(ORB_ID(orb_multitest), &t, &instance3);
 
 	test_note("advertised");