uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815)

Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static.

Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions.

* Made setting of uORB topic queue size in based on topic definition only
* Fixes to the ModalAI muorb implementation
* Removed libfc sensor from format checks
* msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h

---------

Co-authored-by: Eric Katzfey <eric.katzfey@modalai.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>

src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp

@@ -55,7 +55,7 @@ public:
 	void SetUp() override
 	{
 		// ensure topic exists, otherwise we might lose first queued events
-		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(event), nullptr);
 	}
 
 };

src/modules/commander/commander_helper.cpp

@@ -153,7 +153,7 @@ int buzzer_init()
 	tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000;
 	tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000;
 
-	tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH);
+	tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control);
 
 	return PX4_OK;
 }
@@ -330,7 +330,7 @@ int led_init()
 	led_control.mode = led_control_s::MODE_OFF;
 	led_control.priority = 0;
 	led_control.timestamp = hrt_absolute_time();
-	led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH);
+	led_control_pub = orb_advertise(ORB_ID(led_control), &led_control);
 
 	/* first open normal LEDs */
 	fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR);

src/modules/mavlink/mavlink_main.cpp

@@ -124,13 +124,13 @@ Mavlink::Mavlink() :
 
 	// ensure topic exists, otherwise we might lose first queued commands
 	if (orb_exists(ORB_ID(vehicle_command), 0) == PX4_ERROR) {
-		orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(vehicle_command), nullptr);
 	}
 
 	_vehicle_command_sub.subscribe();
 
 	if (orb_exists(ORB_ID(event), 0) == PX4_ERROR) {
-		orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH);
+		orb_advertise(ORB_ID(event), nullptr);
 	}
 
 	_event_sub.subscribe();

src/modules/uxrce_dds_client/dds_topics.h.em

@@ -168,7 +168,7 @@ bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id
 {
 @[    for idx, sub in enumerate(subscriptions + subscriptions_multi)]@
 	{
-			uint16_t queue_depth = uORB::DefaultQueueSize<@(sub['simple_base_type'])_s>::value * 2; // use a bit larger queue size than internal
+			uint16_t queue_depth = orb_get_queue_size(ORB_ID(@(sub['simple_base_type']))) * 2; // use a bit larger queue size than internal
 			create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])", queue_depth);
 	}
 @[    end for]@

src/modules/uxrce_dds_client/vehicle_command_srv.cpp

@@ -39,8 +39,7 @@ VehicleCommandSrv::VehicleCommandSrv(uxrSession *session, uxrStreamId reliable_o
 				     uxrStreamId input_stream_id, uxrObjectId participant_id, const char *client_namespace, const uint8_t index) :
 	SrvBase(session, reliable_out_stream_id, input_stream_id, participant_id)
 {
-	uint16_t queue_depth = uORB::DefaultQueueSize<vehicle_command_s>::value *
-			       2; // use a bit larger queue size than internal
+	uint16_t queue_depth = orb_get_queue_size(ORB_ID(vehicle_command)) * 2; // use a bit larger queue size than internal
 	create_replier(input_stream_id, participant_id, index, client_namespace, "vehicle_command", "VehicleCommand",
 		       queue_depth);
 };

src/modules/zenoh/subscribers/uorb_subscriber.hpp

@@ -55,7 +55,7 @@ public:
 		_cdr_ops(ops)
 	{
 		int instance = 0;
-		_uorb_pub_handle = orb_advertise_multi_queue(_uorb_meta, nullptr, &instance, 1); //FIXME template magic qsize
+		_uorb_pub_handle = orb_advertise_multi(_uorb_meta, nullptr, &instance);
 	};
 
 	~uORB_Zenoh_Subscriber() override = default;