diff --git a/src/drivers/optical_flow/px4flow/px4flow.cpp b/src/drivers/optical_flow/px4flow/px4flow.cpp
index 68ab508f2d..2b6e2a6df6 100644
--- a/src/drivers/optical_flow/px4flow/px4flow.cpp
+++ b/src/drivers/optical_flow/px4flow/px4flow.cpp
@@ -50,6 +50,7 @@
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/optical_flow.h>
 
@@ -99,8 +100,9 @@ private:
 	bool				_collect_phase{false};
 	int			_class_instance{-1};
 	int			_orb_class_instance{-1};
-	orb_advert_t		_px4flow_topic{nullptr};
-	orb_advert_t		_distance_sensor_topic{nullptr};
+
+	uORB::PublicationMulti<optical_flow_s>		_px4flow_topic{ORB_ID(optical_flow)};
+	uORB::PublicationMulti<distance_sensor_s>	_distance_sensor_topic{ORB_ID(distance_sensor)};
 
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
@@ -182,21 +184,6 @@ PX4FLOW::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-	/* get a publish handle on the range finder topic */
-	struct distance_sensor_s ds_report = {};
-
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-					 &_orb_class_instance, ORB_PRIO_HIGH);
-
-		if (_distance_sensor_topic == nullptr) {
-			PX4_ERR("failed to create distance_sensor object");
-		}
-
-	} else {
-		DEVICE_LOG("not primary range device, not advertising");
-	}
-
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
 	_sensor_ok = true;
@@ -339,28 +326,24 @@ PX4FLOW::collect()
 	rotate_3f(_sensor_rotation, report.pixel_flow_x_integral, report.pixel_flow_y_integral, zeroval);
 	rotate_3f(_sensor_rotation, report.gyro_x_rate_integral, report.gyro_y_rate_integral, report.gyro_z_rate_integral);
 
-	if (_px4flow_topic == nullptr) {
-		_px4flow_topic = orb_advertise(ORB_ID(optical_flow), &report);
-
-	} else {
-		/* publish it */
-		orb_publish(ORB_ID(optical_flow), _px4flow_topic, &report);
-	}
+	_px4flow_topic.publish(report);
 
 	/* publish to the distance_sensor topic as well */
-	distance_sensor_s distance_report{};
-	distance_report.timestamp = report.timestamp;
-	distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
-	distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
-	distance_report.current_distance = report.ground_distance_m;
-	distance_report.variance = 0.0f;
-	distance_report.signal_quality = -1;
-	distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
-	/* TODO: the ID needs to be properly set */
-	distance_report.id = 0;
-	distance_report.orientation = _sonar_rotation;
+	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+		distance_sensor_s distance_report{};
+		distance_report.timestamp = report.timestamp;
+		distance_report.min_distance = PX4FLOW_MIN_DISTANCE;
+		distance_report.max_distance = PX4FLOW_MAX_DISTANCE;
+		distance_report.current_distance = report.ground_distance_m;
+		distance_report.variance = 0.0f;
+		distance_report.signal_quality = -1;
+		distance_report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
+		/* TODO: the ID needs to be properly set */
+		distance_report.id = 0;
+		distance_report.orientation = _sonar_rotation;
 
-	orb_publish(ORB_ID(distance_sensor), _distance_sensor_topic, &distance_report);
+		_distance_sensor_topic.publish(distance_report);
+	}
 
 	perf_end(_sample_perf);