diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
index 18f60a89cb..58f0ece0af 100644
--- a/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
+++ b/boards/bitcraze/crazyflie/syslink/syslink_main.cpp
@@ -58,10 +58,6 @@
 
 #include <systemlib/err.h>
 
-#include <uORB/topics/parameter_update.h>
-#include <uORB/topics/battery_status.h>
-#include <uORB/topics/input_rc.h>
-
 #include <board_config.h>
 
 #include "crtp.h"
@@ -100,9 +96,6 @@ Syslink::Syslink() :
 	_fd(0),
 	_queue(2, sizeof(syslink_message_t)),
 	_writebuffer(16, sizeof(crtp_message_t)),
-	_battery_pub(nullptr),
-	_rc_pub(nullptr),
-	_cmd_pub(nullptr),
 	_rssi(RC_INPUT_RSSI_MAX),
 	_bstate(BAT_DISCHARGING)
 {
@@ -434,14 +427,8 @@ Syslink::handle_message(syslink_message_t *msg)
 			_bstate = BAT_DISCHARGING;
 		}
 
-
 		// announce the battery status if needed, just publish else
-		if (_battery_pub != nullptr) {
-			orb_publish(ORB_ID(battery_status), _battery_pub, &_battery_status);
-
-		} else {
-			_battery_pub = orb_advertise(ORB_ID(battery_status), &_battery_status);
-		}
+		_battery_pub.publish(_battery_status);
 
 	} else if (msg->type == SYSLINK_RADIO_RSSI) {
 		uint8_t rssi = msg->data[0]; // Between 40 and 100 meaning -40 dBm to -100 dBm
@@ -572,12 +559,7 @@ Syslink::handle_raw(syslink_message_t *sys)
 		rc.values[3] = cmd->thrust * 1000 / USHRT_MAX + 1000;
 		rc.values[4] = 1000; // Dummy channel as px4 needs at least 5
 
-		if (_rc_pub == nullptr) {
-			_rc_pub = orb_advertise(ORB_ID(input_rc), &rc);
-
-		} else {
-			orb_publish(ORB_ID(input_rc), _rc_pub, &rc);
-		}
+		_rc_pub.publish(rc);
 
 	} else if (c->port == CRTP_PORT_MAVLINK) {
 		_count_in++;
diff --git a/boards/bitcraze/crazyflie/syslink/syslink_main.h b/boards/bitcraze/crazyflie/syslink/syslink_main.h
index cc3665dead..79bdbce73f 100644
--- a/boards/bitcraze/crazyflie/syslink/syslink_main.h
+++ b/boards/bitcraze/crazyflie/syslink/syslink_main.h
@@ -40,7 +40,10 @@
 #include <drivers/device/device.h>
 #include <drivers/device/ringbuffer.h>
 
-#include <uORB/uORB.h>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/battery_status.h>
+#include <uORB/topics/input_rc.h>
 
 #include "syslink.h"
 #include "crtp.h"
@@ -132,9 +135,8 @@ private:
 	hrt_abstime _params_update[3]; // Time at which the parameters were updated
 	hrt_abstime _params_ack[3]; // Time at which the parameters were acknowledged by the nrf module
 
-	orb_advert_t _battery_pub;
-	orb_advert_t _rc_pub;
-	orb_advert_t _cmd_pub;
+	uORB::PublicationMulti<battery_status_s>	_battery_pub{ORB_ID(battery_status)};
+	uORB::PublicationMulti<input_rc_s>		_rc_pub{ORB_ID(input_rc)};
 
 	struct battery_status_s _battery_status;