diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh
index 486eac9464..e0cc5693ed 100755
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@@ -30,4 +30,5 @@ exec find boards msg src platforms test \
     -path src/lib/cdrstream/cyclonedds -prune -o \
     -path src/lib/cdrstream/rosidl -prune -o \
     -path src/modules/zenoh/zenoh-pico -prune -o \
+    -path src/modules/muorb/apps/libfc-sensor-api -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
diff --git a/Tools/msg/templates/uorb/msg.cpp.em b/Tools/msg/templates/uorb/msg.cpp.em
index b77c013b91..4ffe4c38d1 100644
--- a/Tools/msg/templates/uorb/msg.cpp.em
+++ b/Tools/msg/templates/uorb/msg.cpp.em
@@ -73,9 +73,16 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
 #include <lib/matrix/matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
+@{
+queue_length = 1
+for constant in spec.constants:
+	if constant.name == 'ORB_QUEUE_LENGTH':
+		queue_length = constant.val
+}@
+
 @[for topic in topics]@
 static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic), @queue_length);
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)
diff --git a/msg/OrbTestMedium.msg b/msg/OrbTestMedium.msg
index b25ae1c851..43109d49d5 100644
--- a/msg/OrbTestMedium.msg
+++ b/msg/OrbTestMedium.msg
@@ -4,4 +4,6 @@ int32 val
 
 uint8[64] junk
 
+uint8 ORB_QUEUE_LENGTH = 16
+
 # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll
diff --git a/msg/TransponderReport.msg b/msg/TransponderReport.msg
index 6a1ca06418..d5171cf3b3 100644
--- a/msg/TransponderReport.msg
+++ b/msg/TransponderReport.msg
@@ -47,4 +47,4 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18
 uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19
 uint16 ADSB_EMITTER_TYPE_ENUM_END=20
 
-uint8 ORB_QUEUE_LENGTH = 8
+uint8 ORB_QUEUE_LENGTH = 16
diff --git a/platforms/common/px4_log.cpp b/platforms/common/px4_log.cpp
index a3d9b02338..73a3671c89 100644
--- a/platforms/common/px4_log.cpp
+++ b/platforms/common/px4_log.cpp
@@ -74,7 +74,7 @@ void px4_log_initialize(void)
 	log_message.severity = 6; // info
 	strcpy((char *)log_message.text, "initialized uORB logging");
 	log_message.timestamp = hrt_absolute_time();
-	orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH);
+	orb_log_message_pub = orb_advertise(ORB_ID(log_message), &log_message);
 }
 
 __EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...)
diff --git a/platforms/common/uORB/Publication.hpp b/platforms/common/uORB/Publication.hpp
index 7547e3b7fa..a0a7cc20cf 100644
--- a/platforms/common/uORB/Publication.hpp
+++ b/platforms/common/uORB/Publication.hpp
@@ -48,24 +48,6 @@
 namespace uORB
 {
 
-template <typename U> class DefaultQueueSize
-{
-private:
-	template <typename T>
-	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
-	{
-		return T::ORB_QUEUE_LENGTH;
-	}
-
-	template <typename T> static constexpr uint8_t get_queue_size(...)
-	{
-		return 1;
-	}
-
-public:
-	static constexpr unsigned value = get_queue_size<U>(nullptr);
-};
-
 class PublicationBase
 {
 public:
@@ -97,7 +79,7 @@ protected:
 /**
  * uORB publication wrapper class
  */
-template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
+template<typename T>
 class Publication : public PublicationBase
 {
 public:
@@ -113,7 +95,7 @@ public:
 	bool advertise()
 	{
 		if (!advertised()) {
-			_handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE);
+			_handle = orb_advertise(get_topic(), nullptr);
 		}
 
 		return advertised();
diff --git a/platforms/common/uORB/PublicationMulti.hpp b/platforms/common/uORB/PublicationMulti.hpp
index bc275940b6..6e8863b17d 100644
--- a/platforms/common/uORB/PublicationMulti.hpp
+++ b/platforms/common/uORB/PublicationMulti.hpp
@@ -51,7 +51,7 @@ namespace uORB
 /**
  * Base publication multi wrapper class
  */
-template<typename T, uint8_t QSIZE = DefaultQueueSize<T>::value>
+template<typename T>
 class PublicationMulti : public PublicationBase
 {
 public:
@@ -73,7 +73,7 @@ public:
 	{
 		if (!advertised()) {
 			int instance = 0;
-			_handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE);
+			_handle = orb_advertise_multi(get_topic(), nullptr, &instance);
 		}
 
 		return advertised();
diff --git a/platforms/common/uORB/uORB.cpp b/platforms/common/uORB/uORB.cpp
index c91ac6bcce..a68f3c5dc8 100644
--- a/platforms/common/uORB/uORB.cpp
+++ b/platforms/common/uORB/uORB.cpp
@@ -118,22 +118,11 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 	return uORB::Manager::get_instance()->orb_advertise(meta, data);
 }
 
-orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size)
-{
-	return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size);
-}
-
 orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance);
 }
 
-orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-				       unsigned int queue_size)
-{
-	return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size);
-}
-
 int orb_unadvertise(orb_advert_t handle)
 {
 	return uORB::Manager::get_instance()->orb_unadvertise(handle);
@@ -227,6 +216,14 @@ const char *orb_get_c_type(unsigned char short_type)
 	return nullptr;
 }
 
+uint8_t orb_get_queue_size(const struct orb_metadata *meta)
+{
+	if (meta) {
+		return meta->o_queue;
+	}
+
+	return 0;
+}
 
 void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name)
 {
diff --git a/platforms/common/uORB/uORB.h b/platforms/common/uORB/uORB.h
index fc06a2da3c..a8964b4d27 100644
--- a/platforms/common/uORB/uORB.h
+++ b/platforms/common/uORB/uORB.h
@@ -53,6 +53,8 @@ struct orb_metadata {
 	const uint16_t o_size_no_padding;   /**< object size w/o padding at the end (for logger) */
 	uint32_t message_hash;	/**< Hash over all fields for message compatibility checks */
 	orb_id_size_t  o_id;                /**< ORB_ID enum */
+	uint8_t o_queue;					/**< queue size */
+
 };
 
 typedef const struct orb_metadata *orb_id_t;
@@ -102,14 +104,16 @@ typedef const struct orb_metadata *orb_id_t;
  * @param _size_no_padding	Struct size w/o padding at the end
  * @param _message_hash	32 bit message hash over all fields
  * @param _orb_id_enum	ORB ID enum e.g.: ORB_ID::vehicle_status
+ * @param _queue_size Queue size from topic definition
  */
-#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum)		\
-	const struct orb_metadata __orb_##_name = {	\
-		#_name,					\
-		sizeof(_struct),		\
-		_size_no_padding,			\
-		_message_hash,				\
-		_orb_id_enum				\
+#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size)               \
+	const struct orb_metadata __orb_##_name = {     \
+		#_name,                                 \
+		sizeof(_struct),                \
+		_size_no_padding,                       \
+		_message_hash,                          \
+		_orb_id_enum,                           \
+		_queue_size                             \
 	}; struct hack
 
 __BEGIN_DECLS
@@ -135,23 +139,11 @@ typedef void 	*orb_advert_t;
  */
 extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT;
 
-/**
- * @see uORB::Manager::orb_advertise()
- */
-extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data,
-					unsigned int queue_size) __EXPORT;
-
 /**
  * @see uORB::Manager::orb_advertise_multi()
  */
 extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT;
 
-/**
- * @see uORB::Manager::orb_advertise_multi()
- */
-extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance,
-		unsigned int queue_size) __EXPORT;
-
 /**
  * @see uORB::Manager::orb_unadvertise()
  */
@@ -160,7 +152,7 @@ extern int orb_unadvertise(orb_advert_t handle) __EXPORT;
 /**
  * @see uORB::Manager::orb_publish()
  */
-extern int	orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
+extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT;
 
 /**
  * Advertise as the publisher of a topic.
@@ -241,6 +233,12 @@ extern int	orb_get_interval(int handle, unsigned *interval) __EXPORT;
  */
 const char *orb_get_c_type(unsigned char short_type);
 
+/**
+ * Returns the queue size of a topic
+ * @param meta orb topic metadata
+ */
+extern uint8_t orb_get_queue_size(const struct orb_metadata *meta);
+
 /**
  * Print a topic to console. Do not call this directly, use print_message() instead.
  * @param meta orb topic metadata
diff --git a/platforms/common/uORB/uORBDeviceNode.cpp b/platforms/common/uORB/uORBDeviceNode.cpp
index 112170de6b..e83b3f3e04 100644
--- a/platforms/common/uORB/uORBDeviceNode.cpp
+++ b/platforms/common/uORB/uORBDeviceNode.cpp
@@ -48,37 +48,10 @@
 
 static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast<uORB::SubscriptionInterval *>(filp->f_priv); }
 
-// round up to nearest power of two
-// Such as 0 => 1, 1 => 1, 2 => 2 ,3 => 4, 10 => 16, 60 => 64, 65...255 => 128
-// Note: When the input value > 128, the output is always 128
-static inline uint8_t round_pow_of_two_8(uint8_t n)
-{
-	if (n == 0) {
-		return 1;
-	}
-
-	// Avoid is already a power of 2
-	uint8_t value = n - 1;
-
-	// Fill 1
-	value |= value >> 1U;
-	value |= value >> 2U;
-	value |= value >> 4U;
-
-	// Unable to round-up, take the value of round-down
-	if (value == UINT8_MAX) {
-		value >>= 1U;
-	}
-
-	return value + 1;
-}
-
-uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path,
-			     uint8_t queue_size) :
+uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path) :
 	CDev(strdup(path)), // success is checked in CDev::init
 	_meta(meta),
-	_instance(instance),
-	_queue_size(round_pow_of_two_8(queue_size))
+	_instance(instance)
 {
 }
 
@@ -186,7 +159,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 
 			/* re-check size */
 			if (nullptr == _data) {
-				const size_t data_size = _meta->o_size * _queue_size;
+				const size_t data_size = _meta->o_size * _meta->o_queue;
 				_data = (uint8_t *) px4_cache_aligned_alloc(data_size);
 
 				if (_data) {
@@ -217,7 +190,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen)
 	/* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */
 	unsigned generation = _generation.fetch_add(1);
 
-	memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size);
+	memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size);
 
 	// callbacks
 	for (auto item : _callbacks) {
@@ -254,13 +227,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
 		*(uintptr_t *)arg = (uintptr_t)this;
 		return PX4_OK;
 
-	case ORBIOCSETQUEUESIZE: {
-			lock();
-			int ret = update_queue_size(arg);
-			unlock();
-			return ret;
-		}
-
 	case ORBIOCGETINTERVAL:
 		*(unsigned *)arg = filp_to_subscription(filp)->get_interval_us();
 		return PX4_OK;
@@ -389,12 +355,11 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
 
 	const uint8_t instance = get_instance();
 	const int8_t sub_count = subscriber_count();
-	const uint8_t queue_size = get_queue_size();
 
 	unlock();
 
 	PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count,
-		     queue_size, get_meta()->o_size, get_devname());
+		     get_meta()->o_queue, get_meta()->o_size, get_devname());
 
 	return true;
 }
@@ -483,21 +448,6 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data
 }
 #endif /* CONFIG_ORB_COMMUNICATOR */
 
-int uORB::DeviceNode::update_queue_size(unsigned int queue_size)
-{
-	if (_queue_size == queue_size) {
-		return PX4_OK;
-	}
-
-	//queue size is limited to 255 for the single reason that we use uint8 to store it
-	if (_data || _queue_size > queue_size || queue_size > 255) {
-		return PX4_ERROR;
-	}
-
-	_queue_size = round_pow_of_two_8(queue_size);
-	return PX4_OK;
-}
-
 unsigned uORB::DeviceNode::get_initial_generation()
 {
 	ATOMIC_ENTER;
diff --git a/platforms/common/uORB/uORBDeviceNode.hpp b/platforms/common/uORB/uORBDeviceNode.hpp
index c5c5bb22c0..527c5ddf2b 100644
--- a/platforms/common/uORB/uORBDeviceNode.hpp
+++ b/platforms/common/uORB/uORBDeviceNode.hpp
@@ -62,7 +62,7 @@ class UnitTest;
 class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode<uORB::DeviceNode *>
 {
 public:
-	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1);
+	DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path);
 	virtual ~DeviceNode();
 
 	// no copy, assignment, move, move assignment
@@ -179,15 +179,6 @@ public:
 
 	void mark_as_advertised() { _advertised = true; }
 
-	/**
-	 * Try to change the size of the queue. This can only be done as long as nobody published yet.
-	 * This is the case, for example when orb_subscribe was called before an orb_advertise.
-	 * The queue size can only be increased.
-	 * @param queue_size new size of the queue
-	 * @return PX4_OK if queue size successfully set
-	 */
-	int update_queue_size(unsigned int queue_size);
-
 	/**
 	 * Print statistics
 	 * @param max_topic_length max topic name length for printing
@@ -195,7 +186,7 @@ public:
 	 */
 	bool print_statistics(int max_topic_length);
 
-	uint8_t get_queue_size() const { return _queue_size; }
+	uint8_t get_queue_size() const { return _meta->o_queue; }
 
 	int8_t subscriber_count() const { return _subscriber_count; }
 
@@ -234,7 +225,7 @@ public:
 	bool copy(void *dst, unsigned &generation)
 	{
 		if ((dst != nullptr) && (_data != nullptr)) {
-			if (_queue_size == 1) {
+			if (_meta->o_queue == 1) {
 				ATOMIC_ENTER;
 				memcpy(dst, _data, _meta->o_size);
 				generation = _generation.load();
@@ -253,12 +244,12 @@ public:
 				}
 
 				// Compatible with normal and overflow conditions
-				if (!is_in_range(current_generation - _queue_size, generation, current_generation - 1)) {
+				if (!is_in_range(current_generation - _meta->o_queue, generation, current_generation - 1)) {
 					// Reader is too far behind: some messages are lost
-					generation = current_generation - _queue_size;
+					generation = current_generation - _meta->o_queue;
 				}
 
-				memcpy(dst, _data + (_meta->o_size * (generation % _queue_size)), _meta->o_size);
+				memcpy(dst, _data + (_meta->o_size * (generation % _meta->o_queue)), _meta->o_size);
 				ATOMIC_LEAVE;
 
 				++generation;
@@ -295,7 +286,7 @@ private:
 
 	const uint8_t _instance; /**< orb multi instance identifier */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
-	uint8_t _queue_size; /**< maximum number of elements in the queue */
+
 	int8_t _subscriber_count{0};
 
 
diff --git a/platforms/common/uORB/uORBManager.cpp b/platforms/common/uORB/uORBManager.cpp
index 5b5530694b..7e2fe4461a 100644
--- a/platforms/common/uORB/uORBManager.cpp
+++ b/platforms/common/uORB/uORBManager.cpp
@@ -265,8 +265,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return ret;
 }
 
-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-		unsigned int queue_size)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 #ifdef ORB_USE_PUBLISHER_RULES
 
@@ -300,19 +299,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}
 
-	/* Set the queue size. This must be done before the first publication; thus it fails if
-	 * this is not the first advertiser.
-	 */
-	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
-
-	if (result < 0 && queue_size > 1) {
-		PX4_WARN("orb_advertise_multi: failed to set queue size");
-	}
-
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;
 
-	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);
 
 	if (result == PX4_ERROR) {
@@ -602,6 +592,22 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 {
 	PX4_DEBUG("entering process_remote_topic: name: %s", topic_name);
 
+	// First make sure this is a valid topic
+	const struct orb_metadata *const *topic_list = orb_get_topics();
+	orb_id_t topic_ptr = nullptr;
+
+	for (size_t i = 0; i < orb_topics_count(); i++) {
+		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
+			topic_ptr = topic_list[i];
+			break;
+		}
+	}
+
+	if (! topic_ptr) {
+		PX4_ERR("process_remote_topic meta not found for %s\n", topic_name);
+		return -1;
+	}
+
 	// Look to see if we already have a node for this topic
 	char nodepath[orb_maxpath];
 	int ret = uORB::Utils::node_mkpath(nodepath, topic_name);
@@ -613,7 +619,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 			uORB::DeviceNode *node = device_master->getDeviceNode(nodepath);
 
 			if (node) {
-				PX4_INFO("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
+				PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name);
 				node->mark_as_advertised();
 				_remote_topics.insert(topic_name);
 				return 0;
@@ -622,27 +628,9 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name)
 	}
 
 	// We didn't find a node so we need to create it via an advertisement
-	const struct orb_metadata *const *topic_list = orb_get_topics();
-	orb_id_t topic_ptr = nullptr;
-
-	for (size_t i = 0; i < orb_topics_count(); i++) {
-		if (strcmp(topic_list[i]->o_name, topic_name) == 0) {
-			topic_ptr = topic_list[i];
-			break;
-		}
-	}
-
-	if (topic_ptr) {
-		PX4_INFO("Advertising remote topic %s", topic_name);
-		_remote_topics.insert(topic_name);
-		// Add some queue depth when advertising remote topics. These
-		// topics may get aggregated and thus delivered in a batch that
-		// requires some buffering in a queue.
-		orb_advertise(topic_ptr, nullptr, 5);
-
-	} else {
-		PX4_INFO("process_remote_topic meta not found for %s\n", topic_name);
-	}
+	PX4_DEBUG("Advertising remote topic %s", topic_name);
+	_remote_topics.insert(topic_name);
+	orb_advertise(topic_ptr, nullptr, topic_ptr->o_queue);
 
 	return 0;
 }
@@ -663,8 +651,11 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName)
 			PX4_DEBUG("DeviceNode(%s) not created yet", messageName);
 
 		} else {
-			// node is present.
-			node->process_add_subscription();
+			// node is present. But don't send any data to it if it
+			// is a node advertised by the remote side
+			if (_remote_topics.find(messageName) == false) {
+				node->process_add_subscription();
+			}
 		}
 
 	} else {
diff --git a/platforms/common/uORB/uORBManager.hpp b/platforms/common/uORB/uORBManager.hpp
index 1c2870b1ee..d5202b9236 100644
--- a/platforms/common/uORB/uORBManager.hpp
+++ b/platforms/common/uORB/uORBManager.hpp
@@ -215,17 +215,15 @@ public:
 	 * @param data    A pointer to the initial data to be published.
 	 *      For topics updated by interrupt handlers, the advertisement
 	 *      must be performed from non-interrupt context.
-	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
-	 *      used.
 	 * @return    nullptr on error, otherwise returns an object pointer
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1)
+	orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data = nullptr)
 	{
-		return orb_advertise_multi(meta, data, nullptr, queue_size);
+		return orb_advertise_multi(meta, data, nullptr);
 	}
 
 	/**
@@ -250,16 +248,13 @@ public:
 	 * @param instance  Pointer to an integer which will yield the instance ID (0-based)
 	 *      of the publication. This is an output parameter and will be set to the newly
 	 *      created instance, ie. 0 for the first advertiser, 1 for the next and so on.
-	 * @param queue_size  Maximum number of buffered elements. If this is 1, no queuing is
-	 *      used.
 	 * @return    nullptr on error, otherwise returns a handle
 	 *      that can be used to publish to the topic.
 	 *      If the topic in question is not known (due to an
 	 *      ORB_DEFINE with no corresponding ORB_DECLARE)
 	 *      this function will return nullptr and set errno to ENOENT.
 	 */
-	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-					 unsigned int queue_size = 1);
+	orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance);
 
 	/**
 	 * Unadvertise a topic.
diff --git a/platforms/common/uORB/uORBManagerUsr.cpp b/platforms/common/uORB/uORBManagerUsr.cpp
index af00dbb9ba..e1a413e4c6 100644
--- a/platforms/common/uORB/uORBManagerUsr.cpp
+++ b/platforms/common/uORB/uORBManagerUsr.cpp
@@ -89,8 +89,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance)
 	return data.ret;
 }
 
-orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance,
-		unsigned int queue_size)
+orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance)
 {
 	/* open the node as an advertiser */
 	int fd = node_open(meta, true, instance);
@@ -100,19 +99,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta,
 		return nullptr;
 	}
 
-	/* Set the queue size. This must be done before the first publication; thus it fails if
-	 * this is not the first advertiser.
-	 */
-	int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size);
-
-	if (result < 0 && queue_size > 1) {
-		PX4_WARN("orb_advertise_multi: failed to set queue size");
-	}
-
 	/* get the advertiser handle and close the node */
 	orb_advert_t advertiser;
 
-	result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
+	int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser);
 	px4_close(fd);
 
 	if (result == PX4_ERROR) {
diff --git a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
index f8631fa04d..b40b60ad47 100644
--- a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
+++ b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp
@@ -574,8 +574,8 @@ int uORBTest::UnitTest::test_wrap_around()
 	bool updated{false};
 
 	// Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation
-	const int queue_size = 16;
-	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size);
+	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_wrap_around));
+	ptopic = orb_advertise(ORB_ID(orb_test_medium_wrap_around), nullptr);
 
 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -828,9 +828,9 @@ int uORBTest::UnitTest::test_queue()
 		return test_fail("subscribe failed: %d", errno);
 	}
 
-	const int queue_size = 16;
+	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue));
 	orb_test_medium_s t{};
-	ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size);
+	ptopic = orb_advertise(ORB_ID(orb_test_medium_queue), &t);
 
 	if (ptopic == nullptr) {
 		return test_fail("advertise failed: %d", errno);
@@ -935,9 +935,9 @@ int uORBTest::UnitTest::pub_test_queue_main()
 {
 	orb_test_medium_s t{};
 	orb_advert_t ptopic{nullptr};
-	const int queue_size = 50;
+	const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue_poll));
 
-	if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) {
+	if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) {
 		_thread_should_exit = true;
 		return test_fail("advertise failed: %d", errno);
 	}
diff --git a/platforms/ros2/include/uORB/Publication.hpp b/platforms/ros2/include/uORB/Publication.hpp
index 3b53424e0b..b7f1d0768d 100644
--- a/platforms/ros2/include/uORB/Publication.hpp
+++ b/platforms/ros2/include/uORB/Publication.hpp
@@ -45,28 +45,10 @@
 namespace uORB
 {
 
-template <typename U> class DefaultQueueSize
-{
-private:
-	template <typename T>
-	static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *)
-	{
-		return T::ORB_QUEUE_LENGTH;
-	}
-
-	template <typename T> static constexpr uint8_t get_queue_size(...)
-	{
-		return 1;
-	}
-
-public:
-	static constexpr unsigned value = get_queue_size<U>(nullptr);
-};
-
 /**
  * uORB publication wrapper class
  */
-template<typename T, uint8_t ORB_QSIZE = DefaultQueueSize<T>::value>
+template<typename T>
 class Publication
 {
 public:
diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp
index c03e63aca4..4f49e5692b 100644
--- a/src/drivers/camera_trigger/camera_trigger.cpp
+++ b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -314,7 +314,7 @@ CameraTrigger::CameraTrigger() :
 	// Advertise critical publishers here, because we cannot advertise in interrupt context
 	camera_trigger_s trigger{};
 
-	_trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH);
+	_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
 }
 
 CameraTrigger::~CameraTrigger()
diff --git a/src/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h
index 042dbe2097..42f361d439 100644
--- a/src/drivers/drv_orb_dev.h
+++ b/src/drivers/drv_orb_dev.h
@@ -64,13 +64,10 @@
 /** Get the priority for the topic */
 #define ORBIOCGPRIORITY		_ORBIOC(14)
 
-/** Set the queue size of the topic */
-#define ORBIOCSETQUEUESIZE	_ORBIOC(15)
-
 /** Get the minimum interval at which the topic can be seen to be updated for this subscription */
-#define ORBIOCGETINTERVAL	_ORBIOC(16)
+#define ORBIOCGETINTERVAL	_ORBIOC(15)
 
 /** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */
-#define ORBIOCISADVERTISED	_ORBIOC(17)
+#define ORBIOCISADVERTISED	_ORBIOC(16)
 
 #endif /* _DRV_UORB_H */
diff --git a/src/drivers/tone_alarm/ToneAlarm.cpp b/src/drivers/tone_alarm/ToneAlarm.cpp
index 5893f9018f..256f218b76 100644
--- a/src/drivers/tone_alarm/ToneAlarm.cpp
+++ b/src/drivers/tone_alarm/ToneAlarm.cpp
@@ -45,8 +45,6 @@ using namespace time_literals;
 ToneAlarm::ToneAlarm() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
-	// ensure ORB_ID(tune_control) is advertised with correct queue depth
-	orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH);
 }
 
 ToneAlarm::~ToneAlarm()
diff --git a/src/lib/adsb/AdsbConflict.h b/src/lib/adsb/AdsbConflict.h
index 84ed38287d..b00d04f4db 100644
--- a/src/lib/adsb/AdsbConflict.h
+++ b/src/lib/adsb/AdsbConflict.h
@@ -151,7 +151,7 @@ private:
 
 	transponder_report_s tr{};
 
-	orb_advert_t fake_traffic_report_publisher = orb_advertise_queue(ORB_ID(transponder_report), &tr, (unsigned int)20);
+	orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr);
 
 	TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT};
 
diff --git a/src/lib/events/events.cpp b/src/lib/events/events.cpp
index c4d6867020..9bb215d356 100644
--- a/src/lib/events/events.cpp
+++ b/src/lib/events/events.cpp
@@ -61,7 +61,7 @@ void send(EventType &event)
 		orb_publish(ORB_ID(event), orb_event_pub, &event);
 
 	} else {
-		orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH);
+		orb_event_pub = orb_advertise(ORB_ID(event), &event);
 	}
 
 	pthread_mutex_unlock(&publish_event_mutex);
diff --git a/src/lib/systemlib/mavlink_log.cpp b/src/lib/systemlib/mavlink_log.cpp
index d31136f215..94870af7ae 100644
--- a/src/lib/systemlib/mavlink_log.cpp
+++ b/src/lib/systemlib/mavlink_log.cpp
@@ -73,6 +73,6 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
 		orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg);
 
 	} else {
-		*mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH);
+		*mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg);
 	}
 }
diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp
index bc919080bf..912d3bb129 100644
--- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp
+++ b/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);
 	}
 
 };
diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp
index f642541fb7..48c9398249 100644
--- a/src/modules/commander/commander_helper.cpp
+++ b/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);
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index bb26398ba9..2467554e97 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/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();
diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em
index c664d87a9f..cade47b5fd 100644
--- a/src/modules/uxrce_dds_client/dds_topics.h.em
+++ b/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]@
diff --git a/src/modules/uxrce_dds_client/vehicle_command_srv.cpp b/src/modules/uxrce_dds_client/vehicle_command_srv.cpp
index aac0bd2c58..c25d6757d4 100644
--- a/src/modules/uxrce_dds_client/vehicle_command_srv.cpp
+++ b/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);
 };
diff --git a/src/modules/zenoh/subscribers/uorb_subscriber.hpp b/src/modules/zenoh/subscribers/uorb_subscriber.hpp
index bd16b64398..550c1a3f45 100644
--- a/src/modules/zenoh/subscribers/uorb_subscriber.hpp
+++ b/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;