From 113bee143762cd9fd2f8ab30d8536ca3f5227241 Mon Sep 17 00:00:00 2001
From: Balduin <balduin@auterion.com>
Date: Wed, 8 Jul 2026 09:07:11 +0200
Subject: [PATCH] refactor(uORB): out-line PublicationBase destructor to save
 flash

The ~PublicationBase() destructor was header-inline, so its null-check
plus the orb_get_queue_size()/unadvertise() branch was emitted at every
publication destruction site (PX4 links with bfd ld, no ICF, no LTO).

Move it into Publication.cpp alongside the already out-lined
advertise()/publish(), mirroring #27581.

Saves 2.4 kB of flash on px4_fmu-v6x_default.
---
 platforms/common/uORB/Publication.cpp | 10 ++++++++++
 platforms/common/uORB/Publication.hpp | 10 +---------
 2 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/platforms/common/uORB/Publication.cpp b/platforms/common/uORB/Publication.cpp
index b010815e6ea..4ceca227655 100644
--- a/platforms/common/uORB/Publication.cpp
+++ b/platforms/common/uORB/Publication.cpp
@@ -45,6 +45,16 @@
 namespace uORB
 {
 
+PublicationBase::~PublicationBase()
+{
+	if (_handle != nullptr) {
+		// don't automatically unadvertise queued publications (eg vehicle_command)
+		if (Manager::orb_get_queue_size(_handle) == 1) {
+			unadvertise();
+		}
+	}
+}
+
 bool PublicationBase::advertise()
 {
 	if (!advertised()) {
diff --git a/platforms/common/uORB/Publication.hpp b/platforms/common/uORB/Publication.hpp
index 03d274a0351..1def9c7fe3a 100644
--- a/platforms/common/uORB/Publication.hpp
+++ b/platforms/common/uORB/Publication.hpp
@@ -64,15 +64,7 @@ protected:
 
 	PublicationBase(ORB_ID id) : _orb_id(id) {}
 
-	~PublicationBase()
-	{
-		if (_handle != nullptr) {
-			// don't automatically unadvertise queued publications (eg vehicle_command)
-			if (Manager::orb_get_queue_size(_handle) == 1) {
-				unadvertise();
-			}
-		}
-	}
+	~PublicationBase();
 
 	// type-independent publish; data points to a message of the topic's type
 	bool publish(const void *data);