Removed subscribtion to multiple _telemetry_status instances.

Since commander handles all telemetry_status the same there is no need to subscribe to multiple instances.


Signed-off-by: Claudio Micheli <claudio@auterion.com>

src/modules/mavlink/mavlink_main.cpp

@@ -2552,8 +2552,13 @@ void Mavlink::publish_telemetry_status()
 	_tstatus.streams = _streams.size();
 
 	_tstatus.timestamp = hrt_absolute_time();
-	int instance;
-	orb_publish_auto(ORB_ID(telemetry_status), &_telem_status_pub, &_tstatus, &instance, ORB_PRIO_DEFAULT);
+
+	if (_telem_status_pub == nullptr) {
+		_telem_status_pub = orb_advertise_queue(ORB_ID(telemetry_status), &_tstatus, 3);
+
+	} else {
+		orb_publish(ORB_ID(telemetry_status), _telem_status_pub, &_tstatus);
+	}
 }
 
 void Mavlink::check_radio_config()

src/modules/mavlink/mavlink_receiver.cpp

@@ -1896,14 +1896,8 @@ MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
 			tstatus.remote_component_id = msg->compid;
 			tstatus.remote_type = hb.type;
 			tstatus.remote_system_status = hb.system_status;
-
-			if (_telem_status_pub == nullptr) {
-				_telem_status_pub = orb_advertise(ORB_ID(telemetry_status), &tstatus);
-
-			} else {
-				orb_publish(ORB_ID(telemetry_status), _telem_status_pub, &tstatus);
-			}
 		}
+
 	}
 }
 

src/modules/mavlink/mavlink_receiver.h

@@ -253,7 +253,6 @@ private:
 	orb_advert_t _rc_pub{nullptr};
 	orb_advert_t _trajectory_waypoint_pub{nullptr};
 	orb_advert_t _transponder_report_pub{nullptr};
-	orb_advert_t _telem_status_pub{nullptr};
 	orb_advert_t _visual_odometry_pub{nullptr};
 
 	static constexpr int _gps_inject_data_queue_size{6};