Replace PublicationQueued with Publication to automatically configure ORB_QUEUE_LENGTH

src/lib/avoidance/ObstacleAvoidance.hpp

@@ -124,7 +124,7 @@ protected:
 
 	uORB::Publication<vehicle_trajectory_waypoint_s> _pub_traj_wp_avoidance_desired{ORB_ID(vehicle_trajectory_waypoint_desired)};	/**< trajectory waypoint desired publication */
 	uORB::Publication<position_controller_status_s> _pub_pos_control_status{ORB_ID(position_controller_status)};	/**< position controller status publication */
-	uORB::PublicationQueued<vehicle_command_s> _pub_vehicle_command{ORB_ID(vehicle_command)};	/**< vehicle command do publication */
+	uORB::Publication<vehicle_command_s> _pub_vehicle_command{ORB_ID(vehicle_command)};	/**< vehicle command do publication */
 
 	matrix::Vector3f _curr_wp = {}; /**< current position triplet */
 	matrix::Vector3f _position = {}; /**< current vehicle position */

src/lib/collision_prevention/CollisionPrevention.hpp

@@ -129,7 +129,7 @@ private:
 
 	uORB::Publication<collision_constraints_s>	_constraints_pub{ORB_ID(collision_constraints)};		/**< constraints publication */
 	uORB::Publication<obstacle_distance_s>		_obstacle_distance_pub{ORB_ID(obstacle_distance_fused)};	/**< obstacle_distance publication */
-	uORB::PublicationQueued<vehicle_command_s>	_vehicle_command_pub{ORB_ID(vehicle_command)};			/**< vehicle command do publication */
+	uORB::Publication<vehicle_command_s>	_vehicle_command_pub{ORB_ID(vehicle_command)};			/**< vehicle command do publication */
 
 	uORB::SubscriptionData<obstacle_distance_s> _sub_obstacle_distance{ORB_ID(obstacle_distance)}; /**< obstacle distances received form a range sensor */
 	uORB::SubscriptionData<vehicle_attitude_s> _sub_vehicle_attitude{ORB_ID(vehicle_attitude)};

src/lib/drivers/accelerometer/PX4Accelerometer.hpp

@@ -66,7 +66,7 @@ private:
 	void Publish(const hrt_abstime &timestamp_sample, float x, float y, float z, uint8_t clip_count[3]);
 	void UpdateClipLimit();
 
-	uORB::PublicationQueuedMulti<sensor_accel_s> _sensor_pub;
+	uORB::PublicationMulti<sensor_accel_s> _sensor_pub;
 	uORB::PublicationMulti<sensor_accel_fifo_s>  _sensor_fifo_pub;
 
 	uint32_t		_device_id{0};

src/lib/drivers/gyroscope/PX4Gyroscope.hpp

@@ -64,7 +64,7 @@ public:
 private:
 	void Publish(const hrt_abstime &timestamp_sample, float x, float y, float z);
 
-	uORB::PublicationQueuedMulti<sensor_gyro_s> _sensor_pub;
+	uORB::PublicationMulti<sensor_gyro_s> _sensor_pub;
 	uORB::PublicationMulti<sensor_gyro_fifo_s>  _sensor_fifo_pub;
 
 	uint32_t		_device_id{0};

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -61,7 +61,7 @@ public:
 	int get_class_instance() { return _class_device_instance; };
 
 private:
-	uORB::PublicationQueuedMulti<sensor_mag_s> _sensor_pub;
+	uORB::PublicationMulti<sensor_mag_s> _sensor_pub;
 
 	uint32_t		_device_id{0};
 	const enum Rotation	_rotation;

src/lib/flight_tasks/FlightTasks.hpp

@@ -196,7 +196,7 @@ private:
 
 	uORB::Subscription _sub_vehicle_command{ORB_ID(vehicle_command)}; /**< topic handle on which commands are received */
 
-	uORB::PublicationQueued<vehicle_command_ack_s>	_pub_vehicle_command_ack{ORB_ID(vehicle_command_ack)};
+	uORB::Publication<vehicle_command_ack_s>	_pub_vehicle_command_ack{ORB_ID(vehicle_command_ack)};
 
 	int _initTask(FlightTaskIndex task_index);
 };

src/lib/mixer_module/mixer_module.cpp

@@ -72,7 +72,7 @@ _control_latency_perf(perf_alloc(PC_ELAPSED, "control latency"))
 
 	// Enforce the existence of the test_motor topic, so we won't miss initial publications
 	test_motor_s test{};
-	uORB::PublicationQueued<test_motor_s> test_motor_pub{ORB_ID(test_motor)};
+	uORB::Publication<test_motor_s> test_motor_pub{ORB_ID(test_motor)};
 	test_motor_pub.publish(test);
 	_motor_test.test_motor_sub.subscribe();
 }