uORB::Publication improvements and cleanup (#14784)

- create common uORB::PublicationBase
 - uORB::PublicationQueued types are now type aliases
 - ORB_PRIO use enum type everywhere to avoid accidental misuse
 - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.

src/modules/mavlink/mavlink_main.cpp

@@ -51,7 +51,7 @@
 #include <lib/ecl/geo/geo.h>
 #include <lib/mathlib/mathlib.h>
 #include <lib/version/version.h>
-#include <uORB/PublicationQueued.hpp>
+#include <uORB/Publication.hpp>
 
 #include "mavlink_receiver.h"
 #include "mavlink_main.h"

src/modules/mavlink/mavlink_main.h

@@ -71,7 +71,7 @@
 #include <px4_platform_common/posix.h>
 #include <systemlib/mavlink_log.h>
 #include <systemlib/uthash/utlist.h>
-#include <uORB/PublicationQueued.hpp>
+#include <uORB/Publication.hpp>
 #include <uORB/topics/mavlink_log.h>
 #include <uORB/topics/mission_result.h>
 #include <uORB/topics/radio_status.h>

src/modules/mavlink/mavlink_parameters.h

@@ -46,7 +46,6 @@
 
 #include "mavlink_bridge_header.h"
 #include <uORB/Publication.hpp>
-#include <uORB/PublicationQueued.hpp>
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/rc_parameter_map.h>
 #include <uORB/topics/uavcan_parameter_request.h>

src/modules/mavlink/mavlink_receiver.h

@@ -54,7 +54,6 @@
 #include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
 #include <px4_platform_common/module_params.h>
 #include <uORB/Publication.hpp>
-#include <uORB/PublicationQueued.hpp>
 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/actuator_controls.h>

src/modules/mavlink/tune_publisher.h

@@ -33,7 +33,7 @@
 
 #pragma once
 
-#include <uORB/PublicationQueued.hpp>
+#include <uORB/Publication.hpp>
 #include <drivers/drv_hrt.h>
 #include <lib/tunes/tunes.h>