module_base: remove CRTP template pattern to reduce flash bloat (#26476)

* module_base: claude rewrite to remove CRTP bloat

* module_base: apply to all drivers/modules

* format

* fix build errors

* fix missing syntax

* remove reference to module.h in files that need module_base.h

* remove old ModuleBase<T>

* add module_base.cpp to px4_protected_layers.cmake

* fix IridiumSBD can_stop()

* fix IridiumSBD.cpp

* clang-tidy: downcast static cast

* get_instance() template accessor, revert clang-tidy global

* rename module_base.h to module.h

* revert changes in zenoh/Kconfig.topics

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -37,6 +37,8 @@
 
 #include "voxl_esc.hpp"
 
+ModuleBase::Descriptor VoxlEsc::desc{task_spawn, custom_command, print_usage};
+
 // future use:
 #define MODALAI_PUBLISH_ESC_STATUS	0
 
@@ -425,8 +427,8 @@ int VoxlEsc::task_spawn(int argc, char *argv[])
 	}
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -439,8 +441,8 @@ int VoxlEsc::task_spawn(int argc, char *argv[])
 	// This will cause a crash on SLPI DSP
 	// delete instance;
 
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -693,12 +695,12 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	/* start the driver if not running */
 	if (!strcmp(verb, "start")) {
-		if (!is_running()) {
+		if (!is_running(desc)) {
 			return VoxlEsc::task_spawn(argc, argv);
 		}
 	}
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("Not running");
 		return -1;
 
@@ -761,7 +763,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			PX4_ERR("Reset ESC: %i", esc_id);
 			cmd.len = qc_esc_create_reset_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = false;
-			return get_instance()->send_cmd_thread_safe(&cmd);
+			return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
 
 		} else {
 			print_usage("Invalid ESC ID, use 0-3");
@@ -774,7 +776,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			cmd.len = qc_esc_create_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = true;
 			cmd.resp_delay_us = 2000;
-			return get_instance()->send_cmd_thread_safe(&cmd);
+			return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
 
 		} else {
 			print_usage("Invalid ESC ID, use 0-3");
@@ -787,7 +789,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			cmd.len = qc_esc_create_extended_version_request_packet(esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = true;
 			cmd.resp_delay_us = 5000;
-			return get_instance()->send_cmd_thread_safe(&cmd);
+			return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
 
 		} else {
 			print_usage("Invalid ESC ID, use 0-3");
@@ -799,7 +801,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			PX4_ERR("Request tone for ESC mask: %i", esc_id);
 			cmd.len = qc_esc_create_sound_packet(period, duration, power, esc_id, cmd.buf, sizeof(cmd.buf));
 			cmd.response = false;
-			return get_instance()->send_cmd_thread_safe(&cmd);
+			return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
 
 		} else {
 			print_usage("Invalid ESC ID, use 0-3");
@@ -808,14 +810,14 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 
 	} else if (!strcmp(verb, "led")) {
 		if (led_mask <= 0x0FFF) {
-			get_instance()->_led_rsc.test = true;
-			get_instance()->_led_rsc.breath_en = false;
+			get_instance<VoxlEsc>(desc)->_led_rsc.test = true;
+			get_instance<VoxlEsc>(desc)->_led_rsc.breath_en = false;
 			PX4_ERR("Request LED control for ESCs with mask: %i", led_mask);
 
-			get_instance()->_esc_chans[0].led = (led_mask & 0x0007);
-			get_instance()->_esc_chans[1].led = (led_mask & 0x0038) >> 3;
-			get_instance()->_esc_chans[2].led = (led_mask & 0x01C0) >> 6;
-			get_instance()->_esc_chans[3].led = (led_mask & 0x0E00) >> 9;
+			get_instance<VoxlEsc>(desc)->_esc_chans[0].led = (led_mask & 0x0007);
+			get_instance<VoxlEsc>(desc)->_esc_chans[1].led = (led_mask & 0x0038) >> 3;
+			get_instance<VoxlEsc>(desc)->_esc_chans[2].led = (led_mask & 0x01C0) >> 6;
+			get_instance<VoxlEsc>(desc)->_esc_chans[3].led = (led_mask & 0x0E00) >> 9;
 			return 0;
 
 		} else {
@@ -851,7 +853,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 							       id_fb,
 							       cmd.buf,
 							       sizeof(cmd.buf),
-							       get_instance()->_extended_rpm);
+							       get_instance<VoxlEsc>(desc)->_extended_rpm);
 
 			cmd.response        = true;
 			cmd.repeats         = repeat_count;
@@ -862,7 +864,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			PX4_ERR("Feedback id debug: %i", id_fb);
 			PX4_ERR("Sending UART ESC RPM command %i", rate);
 
-			return get_instance()->send_cmd_thread_safe(&cmd);
+			return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
 
 		} else {
 			print_usage("Invalid ESC ID, use 0-3");
@@ -907,7 +909,7 @@ int VoxlEsc::custom_command(int argc, char *argv[])
 			PX4_ERR("Feedback id debug: %i", id_fb);
 			PX4_ERR("Sending UART ESC power command %i", rate);
 
-			return get_instance()->send_cmd_thread_safe(&cmd);
+			return get_instance<VoxlEsc>(desc)->send_cmd_thread_safe(&cmd);
 
 		} else {
 			print_usage("Invalid ESC ID, use 0-3");
@@ -1422,7 +1424,7 @@ void VoxlEsc::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1446,7 +1448,7 @@ void VoxlEsc::Run()
 		PX4_ERR("Failed to initialize device, exiting the module");
 		ScheduleClear();
 		_mixing_output.unregister();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1767,5 +1769,5 @@ extern "C" __EXPORT int voxl_esc_main(int argc, char *argv[]);
 
 int voxl_esc_main(int argc, char *argv[])
 {
-	return VoxlEsc::main(argc, argv);
+	return ModuleBase::main(VoxlEsc::desc, argc, argv);
 }

src/drivers/actuators/voxl_esc/voxl_esc.hpp

@@ -58,9 +58,11 @@
 
 using namespace device;
 
-class VoxlEsc : public ModuleBase<VoxlEsc>, public OutputModuleInterface
+class VoxlEsc : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	VoxlEsc();
 	virtual ~VoxlEsc();
 

src/drivers/adc/board_adc/ADC.cpp

@@ -39,6 +39,8 @@
 #include <nuttx/ioexpander/gpio.h>
 #endif
 
+ModuleBase::Descriptor ADC::desc{task_spawn, custom_command, print_usage};
+
 ADC::ADC(uint32_t base_address, uint32_t channels, bool publish_adc_report) :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
 	_publish_adc_report(publish_adc_report),
@@ -362,8 +364,8 @@ int ADC::custom_command(int argc, char *argv[])
 	const char *verb = argv[0];
 
 	if (!strcmp(verb, "test")) {
-		if (is_running()) {
-			return _object.load()->test();
+		if (is_running(desc)) {
+			return get_instance<ADC>(desc)->test();
 		}
 
 		return PX4_ERROR;
@@ -378,8 +380,8 @@ int ADC::task_spawn(int argc, char *argv[])
 	ADC *instance = new ADC(SYSTEM_ADC_BASE, ADC_CHANNELS, publish_adc_report);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -390,8 +392,8 @@ int ADC::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -421,5 +423,5 @@ ADC driver.
 
 extern "C" __EXPORT int board_adc_main(int argc, char *argv[])
 {
-	return ADC::main(argc, argv);
+	return ModuleBase::main(ADC::desc, argc, argv);
 }

src/drivers/adc/board_adc/ADC.hpp

@@ -62,9 +62,11 @@ using namespace time_literals;
 
 #define ADC_TOTAL_CHANNELS 		32
 
-class ADC : public ModuleBase<ADC>, public px4::ScheduledWorkItem
+class ADC : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	ADC(uint32_t base_address = SYSTEM_ADC_BASE, uint32_t channels = ADC_CHANNELS, bool publish_adc_report = true);
 
 	~ADC() override;

src/drivers/auterion_autostarter/AuterionAutostarter.cpp

@@ -41,6 +41,8 @@
 #include <builtin/builtin.h>
 #include <sys/wait.h>
 
+ModuleBase::Descriptor AuterionAutostarter::desc{task_spawn, custom_command, print_usage};
+
 AuterionAutostarter::AuterionAutostarter() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -57,7 +59,7 @@ bool AuterionAutostarter::init()
 void AuterionAutostarter::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -65,7 +67,7 @@ void AuterionAutostarter::Run()
 	_actuator_armed_sub.copy(&actuator_armed);
 
 	if (actuator_armed.armed) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -510,8 +512,8 @@ int AuterionAutostarter::task_spawn(int argc, char *argv[])
 	AuterionAutostarter *instance = new AuterionAutostarter();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -522,8 +524,8 @@ int AuterionAutostarter::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -555,5 +557,5 @@ Driver for starting and auto-detecting different power monitors.
 
 extern "C" __EXPORT int auterion_autostarter_main(int argc, char *argv[])
 {
-	return AuterionAutostarter::main(argc, argv);
+	return ModuleBase::main(AuterionAutostarter::desc, argc, argv);
 }

src/drivers/auterion_autostarter/AuterionAutostarter.h

@@ -71,10 +71,12 @@ private:
 	struct i2c_master_s *_i2c {nullptr};
 };
 
-class AuterionAutostarter : public ModuleBase<AuterionAutostarter>, public px4::ScheduledWorkItem
+class AuterionAutostarter : public ModuleBase, public px4::ScheduledWorkItem
 {
 
 public:
+	static Descriptor desc;
+
 	AuterionAutostarter();
 	virtual ~AuterionAutostarter();
 

src/drivers/cdcacm_autostart/cdcacm_autostart.cpp

@@ -45,6 +45,8 @@ __END_DECLS
 
 #include <px4_platform_common/shutdown.h>
 
+ModuleBase::Descriptor CdcAcmAutostart::desc{task_spawn, custom_command, print_usage};
+
 #define USB_DEVICE_PATH "/dev/ttyACM0"
 
 #if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
@@ -95,7 +97,7 @@ int CdcAcmAutostart::Start()
 void CdcAcmAutostart::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -566,8 +568,8 @@ int CdcAcmAutostart::task_spawn(int argc, char *argv[])
 		return ret;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	return ret;
 }
@@ -660,7 +662,7 @@ and continue to check for VBUS and start mavlink once it is detected.
 extern "C" __EXPORT int cdcacm_autostart_main(int argc, char *argv[])
 {
 #if defined(CONFIG_SYSTEM_CDCACM)
-	return CdcAcmAutostart::main(argc, argv);
+	return ModuleBase::main(CdcAcmAutostart::desc, argc, argv);
 #endif
 	return 1;
 }

src/drivers/cdcacm_autostart/cdcacm_autostart.h

@@ -44,9 +44,11 @@
 
 using namespace time_literals;
 
-class CdcAcmAutostart : public ModuleBase<CdcAcmAutostart>, public ModuleParams, public px4::ScheduledWorkItem
+class CdcAcmAutostart : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	CdcAcmAutostart();
 	~CdcAcmAutostart() override;
 

src/drivers/distance_sensor/pga460/pga460.cpp

@@ -40,6 +40,8 @@
 
 #include "pga460.h"
 
+ModuleBase::Descriptor PGA460::desc{task_spawn, custom_command, print_usage};
+
 
 PGA460::PGA460(const char *port)
 {
@@ -751,6 +753,13 @@ int PGA460::take_measurement(const uint8_t mode)
 	return PX4_OK;
 }
 
+int PGA460::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return PGA460::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int PGA460::task_spawn(int argc, char *argv[])
 {
 	px4_main_t entry_point = (px4_main_t)&run_trampoline;
@@ -765,7 +774,7 @@ int PGA460::task_spawn(int argc, char *argv[])
 		return -errno;
 	}
 
-	_task_id = task_id;
+	desc.task_id = task_id;
 
 	return PX4_OK;
 }
@@ -905,5 +914,5 @@ int PGA460::write_register(const uint8_t reg, const uint8_t val)
 
 extern "C" __EXPORT int pga460_main(int argc, char *argv[])
 {
-	return PGA460::main(argc, argv);
+	return ModuleBase::main(PGA460::desc, argc, argv);
 }

src/drivers/distance_sensor/pga460/pga460.h

@@ -207,10 +207,12 @@
 #define P2_THR_15       0x0     //reg addr      0x7E
 #define THR_CRC         0x1D    //reg addr      0x7F
 
-class PGA460 : public ModuleBase<PGA460>
+class PGA460 : public ModuleBase
 {
 public:
 
+	static Descriptor desc;
+
 	PGA460(const char *port = PGA460_DEFAULT_PORT);
 
 	virtual ~PGA460();
@@ -245,6 +247,11 @@ public:
 	 */
 	static int task_spawn(int argc, char *argv[]);
 
+	/**
+	 * @see ModuleBase
+	 */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/**
 	 * @brief Closes the serial port.
 	 * @return Returns 0 if success or ERRNO.

src/drivers/distance_sensor/srf05/SR05.hpp

@@ -67,9 +67,11 @@ static constexpr uint32_t HXSRX0X_CONVERSION_INTERVAL{50_ms};
 // Maximum time to wait for a conversion to complete.
 static constexpr uint32_t HXSRX0X_CONVERSION_TIMEOUT{30_ms};
 
-class SRF05 : public ModuleBase<SRF05>, public px4::ScheduledWorkItem
+class SRF05 : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SRF05(const uint8_t rotation = distance_sensor_s::ROTATION_DOWNWARD_FACING);
 	virtual ~SRF05() override;
 

src/drivers/distance_sensor/srf05/SRF05.cpp

@@ -46,6 +46,8 @@
 
 #include <px4_arch/micro_hal.h>
 
+ModuleBase::Descriptor SRF05::desc{task_spawn, custom_command, print_usage};
+
 SRF05::SRF05(const uint8_t rotation) :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
 	_px4_rangefinder(0 /* no device type for GPIO input */, rotation)
@@ -114,7 +116,7 @@ SRF05::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -195,8 +197,8 @@ int SRF05::task_spawn(int argc, char *argv[])
 	SRF05 *instance = new SRF05(rotation);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -207,8 +209,8 @@ int SRF05::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -251,7 +253,7 @@ SRF05::print_status()
 
 extern "C" __EXPORT int srf05_main(int argc, char *argv[])
 {
-	return SRF05::main(argc, argv);
+	return ModuleBase::main(SRF05::desc, argc, argv);
 }
 #else
 # error ("GPIO_ULTRASOUND_xxx not defined. Driver not supported.");

src/drivers/dshot/DShot.cpp

@@ -37,6 +37,8 @@
 
 #include <px4_platform_common/sem.hpp>
 
+ModuleBase::Descriptor DShot::desc{task_spawn, custom_command, print_usage};
+
 char DShot::_telemetry_device[] {};
 bool DShot::_telemetry_swap_rxtx{false};
 px4::atomic_bool DShot::_request_telemetry_init{false};
@@ -81,8 +83,8 @@ int DShot::task_spawn(int argc, char *argv[])
 	DShot *instance = new DShot();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -93,8 +95,8 @@ int DShot::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -466,7 +468,7 @@ void DShot::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -698,16 +700,16 @@ int DShot::custom_command(int argc, char *argv[])
 
 	for (unsigned i = 0; i < sizeof(commands) / sizeof(commands[0]); ++i) {
 		if (!strcmp(verb, commands[i].name)) {
-			if (!is_running()) {
+			if (!is_running(desc)) {
 				PX4_ERR("module not running");
 				return -1;
 			}
 
-			return get_instance()->send_command_thread_safe(commands[i].command, commands[i].num_repetitions, motor_index);
+			return get_instance<DShot>(desc)->send_command_thread_safe(commands[i].command, commands[i].num_repetitions, motor_index);
 		}
 	}
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = DShot::task_spawn(argc, argv);
 
 		if (ret) {
@@ -805,5 +807,5 @@ After saving, the reversed direction will be regarded as the normal one. So to r
 
 extern "C" __EXPORT int dshot_main(int argc, char *argv[])
 {
-	return DShot::main(argc, argv);
+	return ModuleBase::main(DShot::desc, argc, argv);
 }

src/drivers/dshot/DShot.h

@@ -57,9 +57,11 @@ static constexpr int DSHOT_DISARM_VALUE = 0;
 static constexpr int DSHOT_MIN_THROTTLE = 1;
 static constexpr int DSHOT_MAX_THROTTLE = 1999;
 
-class DShot final : public ModuleBase<DShot>, public OutputModuleInterface
+class DShot final : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	DShot();
 	~DShot() override;
 

src/drivers/gnss/septentrio/septentrio.cpp

@@ -67,6 +67,8 @@ using namespace device;
 namespace septentrio
 {
 
+ModuleBase::Descriptor SeptentrioDriver::desc{task_spawn, custom_command, print_usage};
+
 /**
  * RTC drift time when time synchronization is needed (in seconds).
 */
@@ -347,6 +349,13 @@ void SeptentrioDriver::run()
 
 }
 
+int SeptentrioDriver::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return SeptentrioDriver::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int SeptentrioDriver::task_spawn(int argc, char *argv[])
 {
 	return task_spawn(argc, argv, Instance::Main);
@@ -372,14 +381,14 @@ int SeptentrioDriver::task_spawn(int argc, char *argv[], Instance instance)
 						(char *const *)argv);
 
 	if (task_id < 0) {
-		// `_task_id` of module that hasn't been started before or has been stopped should already be -1.
+		// `desc.task_id` of module that hasn't been started before or has been stopped should already be -1.
 		// This is just to make sure.
-		_task_id = -1;
+		desc.task_id = -1;
 		return -errno;
 	}
 
 	if (instance == Instance::Main) {
-		_task_id = task_id;
+		desc.task_id = task_id;
 	}
 
 	return 0;
@@ -489,12 +498,12 @@ int SeptentrioDriver::custom_command(int argc, char *argv[])
 	const char *failure_reason {"unknown command"};
 	SeptentrioDriver *driver_instance;
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return -1;
 	}
 
-	driver_instance = get_instance();
+	driver_instance = get_instance<SeptentrioDriver>(desc);
 
 	if (argc >= 1 && strcmp(argv[0], "reset") == 0) {
 		if (argc == 2) {
@@ -1861,5 +1870,5 @@ uint32_t SeptentrioDriver::get_parameter(const char *name, float *value)
 
 extern "C" __EXPORT int septentrio_main(int argc, char *argv[])
 {
-	return septentrio::SeptentrioDriver::main(argc, argv);
+	return ModuleBase::main(septentrio::SeptentrioDriver::desc, argc, argv);
 }

src/drivers/gnss/septentrio/septentrio.h

@@ -227,9 +227,11 @@ enum class ReceiverOutputTracker {
 	PositioningMessages      = DOP + PVTGeodetic + VelCovGeodetic + AttEuler + AttCovEuler,
 };
 
-class SeptentrioDriver : public ModuleBase<SeptentrioDriver>, public device::Device
+class SeptentrioDriver : public ModuleBase, public device::Device
 {
 public:
+	static Descriptor desc;
+
 	SeptentrioDriver(const char *device_path, Instance instance, uint32_t baud_rate);
 	~SeptentrioDriver() override;
 
@@ -244,6 +246,9 @@ public:
 
 	static int task_spawn(int argc, char *argv[], Instance instance);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/**
 	 * @brief Secondary run trampoline to support two driver instances.
 	 */

src/drivers/gps/gps.cpp

@@ -117,7 +117,7 @@ struct GPS_Sat_Info {
 static constexpr int TASK_STACK_SIZE = PX4_STACK_ADJUSTED(2040);
 
 
-class GPS : public ModuleBase<GPS>, public device::Device
+class GPS : public ModuleBase, public device::Device
 {
 public:
 
@@ -133,6 +133,8 @@ public:
 	    unsigned configured_baudrate);
 	~GPS() override;
 
+	static Descriptor desc;
+
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
@@ -150,6 +152,11 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
+	/**
+	 * task spawn trampoline for the primary GPS
+	 */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/**
 	 * task spawn trampoline for the secondary GPS
 	 */
@@ -302,6 +309,7 @@ private:
 
 px4::atomic_bool GPS::_is_gps_main_advertised{false};
 px4::atomic<GPS *> GPS::_secondary_instance{nullptr};
+ModuleBase::Descriptor GPS::desc{task_spawn, custom_command, print_usage};
 
 /*
  * Driver 'main' command.
@@ -1418,12 +1426,12 @@ int
 GPS::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
 
-	GPS *_instance = get_instance();
+	GPS *_instance = get_instance<GPS>(desc);
 
 	bool res = false;
 
@@ -1517,17 +1525,24 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance)
 				   entry_point, (char *const *)argv);
 
 	if (task_id < 0) {
-		_task_id = -1;
+		desc.task_id = -1;
 		return -errno;
 	}
 
 	if (instance == Instance::Main) {
-		_task_id = task_id;
+		desc.task_id = task_id;
 	}
 
 	return 0;
 }
 
+int GPS::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return GPS::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int GPS::run_trampoline_secondary(int argc, char *argv[])
 {
 	// the task name is the first argument
@@ -1693,5 +1708,5 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance)
 int
 gps_main(int argc, char *argv[])
 {
-	return GPS::main(argc, argv);
+	return ModuleBase::main(GPS::desc, argc, argv);
 }

src/drivers/heater/heater.cpp

@@ -48,6 +48,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
 
+ModuleBase::Descriptor Heater::desc{task_spawn, custom_command, print_usage};
+
 #if defined(BOARD_USES_PX4IO_VERSION) and defined(PX4IO_HEATER_ENABLED)
 // Heater on some boards is on IO MCU
 // Use ioctl calls to IO driver to turn heater on/off
@@ -75,7 +77,7 @@ Heater::~Heater()
 int Heater::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -180,7 +182,7 @@ void Heater::Run()
 		}
 
 #endif
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -292,8 +294,8 @@ int Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(heater);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(heater);
+	desc.task_id = task_id_is_work_queue;
 
 	heater->start();
 	return 0;
@@ -334,5 +336,5 @@ This task can be started at boot from the startup scripts by setting SENS_EN_THE
 
 extern "C" __EXPORT int heater_main(int argc, char *argv[])
 {
-	return Heater::main(argc, argv);
+	return ModuleBase::main(Heater::desc, argc, argv);
 }

src/drivers/heater/heater.h

@@ -60,9 +60,11 @@ using namespace time_literals;
 #define CONTROLLER_PERIOD_DEFAULT    10000
 #define TEMPERATURE_TARGET_THRESHOLD 2.5f
 
-class Heater : public ModuleBase<Heater>, public ModuleParams, public px4::ScheduledWorkItem
+class Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	Heater();
 
 	virtual ~Heater();

src/drivers/ins/eulernav_bahrs/eulernav_bahrs_main.cpp

@@ -43,6 +43,6 @@
 
 extern "C" __EXPORT int eulernav_bahrs_main(int argc, char *argv[])
 {
-	EulerNavDriver::main(argc, argv);
+	ModuleBase::main(EulerNavDriver::desc, argc, argv);
 	return OK;
 }

src/drivers/ins/eulernav_bahrs/eulernav_driver.cpp

@@ -52,20 +52,27 @@ EulerNavDriver::~EulerNavDriver()
 	deinitialize();
 }
 
+int EulerNavDriver::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return EulerNavDriver::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int EulerNavDriver::task_spawn(int argc, char *argv[])
 {
 	int task_id = px4_task_spawn_cmd("bahrs", SCHED_DEFAULT, SCHED_PRIORITY_FAST_DRIVER,
 					 Config::TASK_STACK_SIZE, (px4_main_t)&run_trampoline, argv);
 
 	if (task_id < 0) {
-		_task_id = -1;
+		desc.task_id = -1;
 		PX4_ERR("Failed to spawn task.");
 
 	} else {
-		_task_id = task_id;
+		desc.task_id = task_id;
 	}
 
-	return (_task_id < 0) ? 1 : 0;
+	return (desc.task_id < 0) ? 1 : 0;
 }
 
 EulerNavDriver *EulerNavDriver::instantiate(int argc, char *argv[])
@@ -232,6 +239,8 @@ void EulerNavDriver::deinitialize()
 	_is_initialized = false;
 }
 
+ModuleBase::Descriptor EulerNavDriver::desc{task_spawn, custom_command, print_usage};
+
 void EulerNavDriver::processDataBuffer()
 {
 	static_assert(Config::MIN_MESSAGE_LENGTH >= (sizeof(CSerialProtocol::SMessageHeader) + sizeof(CSerialProtocol::CrcType_t)));

src/drivers/ins/eulernav_bahrs/eulernav_driver.h

@@ -45,9 +45,11 @@
 #include <containers/Array.hpp>
 #include "CSerialProtocol.h"
 
-class EulerNavDriver : public ModuleBase<EulerNavDriver>, public ModuleParams
+class EulerNavDriver : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	/// @brief Class constructor
 	/// @param device_name Serial port to open
 	EulerNavDriver(const char *device_name);
@@ -57,6 +59,9 @@ public:
 	/// @brief Required by ModuleBase
 	static int task_spawn(int argc, char *argv[]);
 
+	/// @brief Required by ModuleBase
+	static int run_trampoline(int argc, char *argv[]);
+
 	/// @brief Required by ModuleBase
 	static EulerNavDriver *instantiate(int argc, char *argv[]);
 

src/drivers/ins/ilabs/ILabs.cpp

@@ -44,6 +44,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor ILabs::desc{task_spawn, custom_command, print_usage};
+
 // GPS epoch: 1980-01-06 00:00:00 UTC
 constexpr uint64_t GPS_EPOCH_SECS = 315964800ULL;
 
@@ -152,8 +154,8 @@ int ILabs::task_spawn(int argc, char *argv[]) {
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleNow();
 
@@ -227,7 +229,7 @@ int ILabs::print_status() {
 void ILabs::Run() {
 	if (should_exit()) {
 		_sensor.deinit();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -530,5 +532,5 @@ void ILabs::processData(InertialLabs::SensorsData *data) {
 }
 
 extern "C" __EXPORT int ilabs_main(int argc, char *argv[]) {
-	return ILabs::main(argc, argv);
+	return ModuleBase::main(ILabs::desc, argc, argv);
 }

src/drivers/ins/ilabs/ILabs.h

@@ -59,8 +59,10 @@
 
 #include "sensor.h"
 
-class ILabs : public ModuleBase<ILabs>, public ModuleParams, public px4::ScheduledWorkItem {
+class ILabs : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem {
 public:
+	static Descriptor desc;
+
 	ILabs(const char *port);
 	~ILabs() override;
 

src/drivers/ins/microstrain/MicroStrain.cpp

@@ -35,6 +35,8 @@
 
 #include "MicroStrain.hpp"
 
+ModuleBase::Descriptor MicroStrain::desc{task_spawn, custom_command, print_usage};
+
 device::Serial device_uart{};
 
 MicroStrain::MicroStrain(const char *uart_port) :
@@ -1851,7 +1853,7 @@ void MicroStrain::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1911,8 +1913,8 @@ int MicroStrain::task_spawn(int argc, char *argv[])
 
 	if (dev == nullptr || strlen(dev) == 0) {
 		print_usage("no device specified");
-		_object.store(nullptr);
-		_task_id = -1;
+		desc.object.store(nullptr);
+		desc.task_id = -1;
 
 		return PX4_ERROR;
 	}
@@ -1921,8 +1923,8 @@ int MicroStrain::task_spawn(int argc, char *argv[])
 	MicroStrain *instance = new MicroStrain(dev);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -1933,8 +1935,8 @@ int MicroStrain::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -1995,5 +1997,5 @@ $ microstrain stop
 
 extern "C" __EXPORT int microstrain_main(int argc, char *argv[])
 {
-	return MicroStrain::main(argc, argv);
+	return ModuleBase::main(MicroStrain::desc, argc, argv);
 }

src/drivers/ins/microstrain/MicroStrain.hpp

@@ -86,9 +86,11 @@ using matrix::Vector2f;
 
 static constexpr float sq(float x) { return x * x; };
 
-class MicroStrain : public ModuleBase<MicroStrain>, public ModuleParams, public px4::ScheduledWorkItem
+class MicroStrain : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	MicroStrain(const char *_device);
 	~MicroStrain() override;
 

src/drivers/ins/sbgecom/sbgecom.cpp

@@ -72,6 +72,8 @@
 
 using matrix::Vector2f;
 
+ModuleBase::Descriptor SbgEcom::desc{task_spawn, custom_command, print_usage};
+
 SbgEcom::SbgEcom(const char *device_name, uint32_t baudrate, const char *config_file, const char *config_string):
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device_name)),
@@ -952,7 +954,7 @@ void SbgEcom::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1065,8 +1067,8 @@ int SbgEcom::task_spawn(int argc, char **argv)
 			return PX4_ERROR;
 		}
 
-		_task_id = task_id_is_work_queue;
-		_object.store(instance);
+		desc.task_id = task_id_is_work_queue;
+		desc.object.store(instance);
 		instance->ScheduleNow();
 		return PX4_OK;
 
@@ -1121,5 +1123,5 @@ int SbgEcom::print_status()
 
 extern "C" __EXPORT int sbgecom_main(int argc, char **argv)
 {
-	return SbgEcom::main(argc, argv);
+	return ModuleBase::main(SbgEcom::desc, argc, argv);
 }

src/drivers/ins/sbgecom/sbgecom.hpp

@@ -63,10 +63,12 @@
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_magnetometer.h>
 
-class SbgEcom : public ModuleBase<SbgEcom>, public ModuleParams, public px4::ScheduledWorkItem
+class SbgEcom : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	SbgEcom(const char *port, uint32_t baudrate, const char *config_file, const char *config_string);
 	~SbgEcom() override;
 

src/drivers/ins/vectornav/VectorNav.cpp

@@ -40,6 +40,8 @@
 
 using matrix::Vector2f;
 
+ModuleBase::Descriptor VectorNav::desc{task_spawn, custom_command, print_usage};
+
 VectorNav::VectorNav(const char *port) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(port)),
@@ -682,7 +684,7 @@ void VectorNav::Run()
 	if (should_exit()) {
 		VnSensor_unregisterAsyncPacketReceivedHandler(&_vs);
 		VnSensor_disconnect(&_vs);
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 
 	} else if (!_initialized) {
@@ -797,8 +799,8 @@ int VectorNav::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleNow();
 
@@ -858,5 +860,5 @@ $ vectornav stop
 
 extern "C" __EXPORT int vectornav_main(int argc, char *argv[])
 {
-	return VectorNav::main(argc, argv);
+	return ModuleBase::main(VectorNav::desc, argc, argv);
 }

src/drivers/ins/vectornav/VectorNav.hpp

@@ -75,9 +75,11 @@ extern "C" {
 
 using namespace time_literals;
 
-class VectorNav : public ModuleBase<VectorNav>, public ModuleParams, public px4::ScheduledWorkItem
+class VectorNav : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	VectorNav(const char *port);
 	~VectorNav() override;
 

src/drivers/lights/neopixel/neopixel.cpp

@@ -49,9 +49,11 @@
 #include <px4_platform_common/module.h>
 #include <drivers/drv_neopixel.h>
 
-class NEOPIXEL : public px4::ScheduledWorkItem,  public ModuleBase<NEOPIXEL>
+class NEOPIXEL : public px4::ScheduledWorkItem,  public ModuleBase
 {
 public:
+	static Descriptor desc;
+
 	NEOPIXEL(unsigned int number_of_packages);
 	virtual ~NEOPIXEL();
 
@@ -84,6 +86,8 @@ private:
 	neopixel::NeoLEDData *_leds;
 };
 
+ModuleBase::Descriptor NEOPIXEL::desc{task_spawn, custom_command, print_usage};
+
 NEOPIXEL::NEOPIXEL(unsigned int number_of_packages) :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
 	_number_of_packages(number_of_packages)
@@ -131,8 +135,8 @@ int NEOPIXEL::task_spawn(int argc, char *argv[])
 	NEOPIXEL *instance = new NEOPIXEL(number_of_packages);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -143,8 +147,8 @@ int NEOPIXEL::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 	return PX4_ERROR;
 }
 
@@ -190,7 +194,7 @@ void NEOPIXEL::Run()
 {
   if (should_exit()) {
       ScheduleClear();
-      exit_and_cleanup();
+      exit_and_cleanup(desc);
       return;
     }
 
@@ -246,5 +250,5 @@ void NEOPIXEL::Run()
 
 extern "C" __EXPORT int neopixel_main(int argc, char *argv[])
 {
-  return NEOPIXEL::main(argc, argv);
+  return ModuleBase::main(NEOPIXEL::desc, argc, argv);
 }

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -40,6 +40,8 @@
 
 using namespace pwm_out;
 
+ModuleBase::Descriptor LinuxPWMOut::desc{task_spawn, custom_command, print_usage};
+
 LinuxPWMOut::LinuxPWMOut() :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
@@ -77,8 +79,8 @@ int LinuxPWMOut::task_spawn(int argc, char *argv[])
 	LinuxPWMOut *instance = new LinuxPWMOut();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -89,8 +91,8 @@ int LinuxPWMOut::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -108,7 +110,7 @@ void LinuxPWMOut::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -166,5 +168,5 @@ Linux PWM output driver with board-specific backend implementation.
 
 extern "C" __EXPORT int linux_pwm_out_main(int argc, char *argv[])
 {
-	return LinuxPWMOut::main(argc, argv);
+	return ModuleBase::main(LinuxPWMOut::desc, argc, argv);
 }

src/drivers/linux_pwm_out/linux_pwm_out.hpp

@@ -49,9 +49,11 @@
 
 using namespace time_literals;
 
-class LinuxPWMOut : public ModuleBase<LinuxPWMOut>, public OutputModuleInterface
+class LinuxPWMOut : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	LinuxPWMOut();
 	virtual ~LinuxPWMOut();
 

src/drivers/osd/msp_osd/msp_osd.cpp

@@ -66,6 +66,8 @@
 
 #include "MspV1.hpp"
 
+ModuleBase::Descriptor MspOsd::desc{task_spawn, custom_command, print_usage};
+
 //OSD elements positions
 //in betaflight configurator set OSD elements to your desired positions and in CLI type "set osd" to retreieve the numbers.
 //234 -> not visible. Horizontally 2048-2074(spacing 1), vertically 2048-2528(spacing 32). 26 characters X 15 lines
@@ -246,7 +248,7 @@ void MspOsd::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -588,8 +590,8 @@ int MspOsd::task_spawn(int argc, char *argv[])
 	MspOsd *instance = new MspOsd(device);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -600,8 +602,8 @@ int MspOsd::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -700,8 +702,8 @@ int MspOsd::custom_command(int argc, char *argv[])
 		if (argc == 1) {
 			PX4_INFO("Please provide a channel");
 
-		} else if (is_running() && _object.load()) {
-			MspOsd *object = _object.load();
+		} else if (is_running(desc) && desc.object.load()) {
+			MspOsd *object = get_instance<MspOsd>(desc);
 			int ret = object->set_channel(argv[1]);
 
 			if (ret == -1) {
@@ -748,5 +750,5 @@ $ msp_osd
 
 extern "C" __EXPORT int msp_osd_main(int argc, char *argv[])
 {
-	return MspOsd::main(argc, argv);
+	return ModuleBase::main(MspOsd::desc, argc, argv);
 }

src/drivers/osd/msp_osd/msp_osd.hpp

@@ -100,9 +100,11 @@ enum SymbolIndex : uint8_t {
 	POWER			= 21
 };
 
-class MspOsd : public ModuleBase<MspOsd>, public ModuleParams, public px4::ScheduledWorkItem
+class MspOsd : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	MspOsd(const char *device);
 
 	~MspOsd() override;

src/drivers/pca9685_pwm_out/main.cpp

@@ -57,9 +57,11 @@
 using namespace drv_pca9685_pwm;
 using namespace time_literals;
 
-class PCA9685Wrapper : public ModuleBase<PCA9685Wrapper>, public OutputModuleInterface
+class PCA9685Wrapper : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	PCA9685Wrapper();
 	~PCA9685Wrapper() override;
 	PCA9685Wrapper(const PCA9685Wrapper &) = delete;
@@ -113,6 +115,8 @@ private:
 	int registers_check();
 };
 
+ModuleBase::Descriptor PCA9685Wrapper::desc{task_spawn, custom_command, print_usage};
+
 PCA9685Wrapper::PCA9685Wrapper() :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
@@ -187,7 +191,7 @@ void PCA9685Wrapper::Run()
 		delete pca9685;
 		pca9685 = nullptr;
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -415,8 +419,8 @@ int PCA9685Wrapper::task_spawn(int argc, char **argv) {
     auto *instance = new PCA9685Wrapper();
 
     if (instance) {
-        _object.store(instance);
-        _task_id = task_id_is_work_queue;
+        desc.object.store(instance);
+        desc.task_id = task_id_is_work_queue;
 
         instance->pca9685 = new PCA9685(iicbus, address);
         if(instance->pca9685==nullptr){
@@ -438,8 +442,8 @@ int PCA9685Wrapper::task_spawn(int argc, char **argv) {
 
     driverInstanceAllocFailed:
     delete instance;
-    _object.store(nullptr);
-    _task_id = -1;
+    desc.object.store(nullptr);
+    desc.task_id = -1;
 
     return PX4_ERROR;
 }
@@ -470,5 +474,5 @@ void PCA9685Wrapper::updateParams() {
 }
 
 extern "C" __EXPORT int pca9685_pwm_out_main(int argc, char *argv[]){
-	return PCA9685Wrapper::main(argc, argv);
+	return ModuleBase::main(PCA9685Wrapper::desc, argc, argv);
 }

src/drivers/pps_capture/PPSCapture.cpp

@@ -45,6 +45,8 @@
 #include <px4_platform_common/events.h>
 #include <systemlib/mavlink_log.h>
 
+ModuleBase::Descriptor PPSCapture::desc{task_spawn, custom_command, print_usage};
+
 PPSCapture::PPSCapture() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -109,7 +111,7 @@ bool PPSCapture::init()
 void PPSCapture::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -170,8 +172,8 @@ int PPSCapture::task_spawn(int argc, char *argv[])
 	PPSCapture *instance = new PPSCapture();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -182,8 +184,8 @@ int PPSCapture::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -215,14 +217,14 @@ This implements capturing PPS information from the GNSS module and calculates th
 
 void PPSCapture::stop()
 {
-	exit_and_cleanup();
+	exit_and_cleanup(desc);
 }
 
 extern "C" __EXPORT int pps_capture_main(int argc, char *argv[])
 {
-	if (argc >= 2 && !strcmp(argv[1], "stop") && PPSCapture::is_running()) {
+	if (argc >= 2 && !strcmp(argv[1], "stop") && PPSCapture::is_running(PPSCapture::desc)) {
 		PPSCapture::stop();
 	}
 
-	return PPSCapture::main(argc, argv);
+	return ModuleBase::main(PPSCapture::desc, argc, argv);
 }

src/drivers/pps_capture/PPSCapture.hpp

@@ -44,9 +44,11 @@
 
 using namespace time_literals;
 
-class PPSCapture : public ModuleBase<PPSCapture>, public px4::ScheduledWorkItem
+class PPSCapture : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	PPSCapture();
 	virtual ~PPSCapture();
 

src/drivers/pwm_input/pwm_input.cpp

@@ -34,6 +34,8 @@
 #include "pwm_input.h"
 #include <px4_arch/io_timer.h>
 
+ModuleBase::Descriptor PWMIN::desc{task_spawn, custom_command, print_usage};
+
 int
 PWMIN::task_spawn(int argc, char *argv[])
 {
@@ -44,8 +46,8 @@ PWMIN::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(pwmin);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(pwmin);
+	desc.task_id = task_id_is_work_queue;
 
 	pwmin->start();
 
@@ -148,7 +150,7 @@ PWMIN::pwmin_tim_isr(int irq, void *context, void *arg)
 	/* ack the interrupts we just read */
 	rSR = 0;
 
-	auto obj = get_instance();
+	auto obj = get_instance<PWMIN>(desc);
 
 	if (obj != nullptr) {
 		obj->publish(status, period, pulse_width);
@@ -218,5 +220,5 @@ PWMIN::custom_command(int argc, char *argv[])
 
 extern "C" __EXPORT int pwm_input_main(int argc, char *argv[])
 {
-	return PWMIN::main(argc, argv);
+	return ModuleBase::main(PWMIN::desc, argc, argv);
 }

src/drivers/pwm_input/pwm_input.h

@@ -120,9 +120,11 @@
 #error PWMIN_TIMER_CHANNEL must be either 1 and 2.
 #endif
 
-class PWMIN : public ModuleBase<PWMIN>
+class PWMIN : public ModuleBase
 {
 public:
+	static Descriptor desc;
+
 	void start();
 	void publish(uint16_t status, uint32_t period, uint32_t pulse_width);
 	int print_status() override;

src/drivers/pwm_out/PWMOut.cpp

@@ -35,6 +35,8 @@
 
 #include <px4_platform_common/sem.hpp>
 
+ModuleBase::Descriptor PWMOut::desc{task_spawn, custom_command, print_usage};
+
 PWMOut::PWMOut() :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -158,7 +160,7 @@ void PWMOut::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -202,8 +204,8 @@ int PWMOut::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 	instance->ScheduleNow();
 	return 0;
 }
@@ -332,5 +334,5 @@ px4io driver is used for main ones.
 
 extern "C" __EXPORT int pwm_out_main(int argc, char *argv[])
 {
-	return PWMOut::main(argc, argv);
+	return ModuleBase::main(PWMOut::desc, argc, argv);
 }

src/drivers/pwm_out/PWMOut.hpp

@@ -53,9 +53,11 @@
 
 using namespace time_literals;
 
-class PWMOut final : public ModuleBase<PWMOut>, public OutputModuleInterface
+class PWMOut final : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	PWMOut();
 	~PWMOut() override;
 

src/drivers/px4io/px4io.cpp

@@ -99,9 +99,11 @@ using namespace time_literals;
  *
  * Encapsulates PX4FMU to PX4IO communications modeled as file operations.
  */
-class PX4IO : public cdev::CDev, public ModuleBase<PX4IO>, public OutputModuleInterface
+class PX4IO : public cdev::CDev, public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	/**
 	 * Constructor.
 	 *
@@ -339,6 +341,8 @@ private:
 	)
 };
 
+ModuleBase::Descriptor PX4IO::desc{task_spawn, custom_command, print_usage};
+
 #define PX4IO_DEVICE_PATH	"/dev/px4io"
 
 PX4IO::PX4IO(device::Device *interface) :
@@ -512,7 +516,7 @@ void PX4IO::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1513,7 +1517,8 @@ int PX4IO::bind(int argc, char *argv[])
 		pulses = atoi(argv[1]);
 	}
 
-	get_instance()->ioctl(nullptr, DSM_BIND_START, pulses);
+	get_instance<PX4IO>(desc)->ioctl(nullptr, DSM_BIND_START, pulses);
+
 	return 0;
 }
 
@@ -1529,8 +1534,8 @@ int PX4IO::task_spawn(int argc, char *argv[])
 	PX4IO *instance = new PX4IO(interface);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -1541,8 +1546,8 @@ int PX4IO::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -1556,7 +1561,7 @@ int PX4IO::custom_command(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "checkcrc")) {
-		if (is_running()) {
+		if (is_running(desc)) {
 			PX4_ERR("io must be stopped");
 			return 1;
 		}
@@ -1566,7 +1571,7 @@ int PX4IO::custom_command(int argc, char *argv[])
 
 	if (!strcmp(verb, "update")) {
 
-		if (is_running()) {
+		if (is_running(desc)) {
 			PX4_ERR("io must be stopped");
 			return 1;
 		}
@@ -1656,7 +1661,7 @@ int PX4IO::custom_command(int argc, char *argv[])
 
 
 	/* commands below here require a started driver */
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_ERR("not running");
 		return 1;
 	}
@@ -1668,7 +1673,7 @@ int PX4IO::custom_command(int argc, char *argv[])
 		}
 
 		uint8_t level = atoi(argv[1]);
-		int ret = get_instance()->ioctl(nullptr, PX4IO_SET_DEBUG, level);
+		int ret = get_instance<PX4IO>(desc)->ioctl(nullptr, PX4IO_SET_DEBUG, level);
 
 		if (ret != 0) {
 			PX4_ERR("SET_DEBUG failed: %d", ret);
@@ -1680,7 +1685,7 @@ int PX4IO::custom_command(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "bind")) {
-		if (!is_running()) {
+		if (!is_running(desc)) {
 			PX4_ERR("io must be running");
 			return 1;
 		}
@@ -1689,7 +1694,7 @@ int PX4IO::custom_command(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "sbus1_out")) {
-		int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
+		int ret = get_instance<PX4IO>(desc)->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);
 
 		if (ret != 0) {
 			PX4_ERR("S.BUS v1 failed (%i)", ret);
@@ -1700,7 +1705,7 @@ int PX4IO::custom_command(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "sbus2_out")) {
-		int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
+		int ret = get_instance<PX4IO>(desc)->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 2);
 
 		if (ret != 0) {
 			PX4_ERR("S.BUS v2 failed (%i)", ret);
@@ -1711,12 +1716,12 @@ int PX4IO::custom_command(int argc, char *argv[])
 	}
 
 	if (!strcmp(verb, "test_fmu_fail")) {
-		get_instance()->test_fmu_fail(true);
+		get_instance<PX4IO>(desc)->test_fmu_fail(true);
 		return 0;
 	}
 
 	if (!strcmp(verb, "test_fmu_ok")) {
-		get_instance()->test_fmu_fail(false);
+		get_instance<PX4IO>(desc)->test_fmu_fail(false);
 		return 0;
 	}
 
@@ -1764,5 +1769,5 @@ extern "C" __EXPORT int px4io_main(int argc, char *argv[])
 		PX4_INFO("PX4IO Not Supported");
 		return -1;
 	}
-	return PX4IO::main(argc, argv);
+	return ModuleBase::main(PX4IO::desc, argc, argv);
 }

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -44,6 +44,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor CrsfRc::desc{task_spawn, custom_command, print_usage};
+
 #define CRSF_BAUDRATE 420000
 
 CrsfRc::CrsfRc(const char *device) :
@@ -109,8 +111,8 @@ int CrsfRc::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	instance->ScheduleNow();
 
@@ -128,7 +130,7 @@ void CrsfRc::Run()
 			_uart = nullptr;
 		}
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -548,7 +550,7 @@ int CrsfRc::custom_command(int argc, char *argv[])
 #ifdef CONFIG_RC_CRSF_INJECT
 
 	if (!strcmp(argv[0], "start")) {
-		if (is_running()) {
+		if (is_running(desc)) {
 			return print_usage("already running");
 		}
 
@@ -559,7 +561,7 @@ int CrsfRc::custom_command(int argc, char *argv[])
 		}
 	}
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		return print_usage("not running");
 	}
 
@@ -612,5 +614,5 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
 
 extern "C" __EXPORT int crsf_rc_main(int argc, char *argv[])
 {
-	return CrsfRc::main(argc, argv);
+	return ModuleBase::main(CrsfRc::desc, argc, argv);
 }

src/drivers/rc/crsf_rc/CrsfRc.hpp

@@ -56,9 +56,11 @@
 
 using namespace device;
 
-class CrsfRc : public ModuleBase<CrsfRc>, public ModuleParams, public px4::ScheduledWorkItem
+class CrsfRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	CrsfRc(const char *device);
 	~CrsfRc() override;
 

src/drivers/rc/dsm_rc/DsmRc.cpp

@@ -39,6 +39,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor DsmRc::desc{task_spawn, custom_command, print_usage};
+
 DsmRc::DsmRc(const char *device) :
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
@@ -106,8 +108,8 @@ int DsmRc::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(_current_update_interval);
 
@@ -136,7 +138,7 @@ void DsmRc::Run()
 
 		dsm_deinit();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -362,7 +364,7 @@ int DsmRc::custom_command(int argc, char *argv[])
 
 #endif // SPEKTRUM_POWER
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = DsmRc::task_spawn(argc, argv);
 
 		if (ret) {
@@ -419,5 +421,5 @@ This module does Spektrum DSM RC input parsing.
 
 extern "C" __EXPORT int dsm_rc_main(int argc, char *argv[])
 {
-	return DsmRc::main(argc, argv);
+	return ModuleBase::main(DsmRc::desc, argc, argv);
 }

src/drivers/rc/dsm_rc/DsmRc.hpp

@@ -52,10 +52,12 @@
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_status.h>
 
-class DsmRc : public ModuleBase<DsmRc>, public px4::ScheduledWorkItem
+class DsmRc : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	DsmRc(const char *device);
 	virtual ~DsmRc();
 

src/drivers/rc/ghst_rc/GhstRc.cpp

@@ -36,6 +36,8 @@
 #include <termios.h>
 #include <math.h>
 
+ModuleBase::Descriptor GhstRc::desc{task_spawn, custom_command, print_usage};
+
 GhstRc::GhstRc(const char *device) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
@@ -101,8 +103,8 @@ int GhstRc::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(_current_update_interval);
 
@@ -129,7 +131,7 @@ void GhstRc::Run()
 
 		close(_rcs_fd);
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -255,7 +257,7 @@ void GhstRc::Run()
 
 int GhstRc::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = GhstRc::task_spawn(argc, argv);
 
 		if (ret) {
@@ -307,5 +309,5 @@ This module does Ghost (GHST) RC input parsing.
 
 extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
 {
-	return GhstRc::main(argc, argv);
+	return ModuleBase::main(GhstRc::desc, argc, argv);
 }

src/drivers/rc/ghst_rc/GhstRc.hpp

@@ -55,10 +55,12 @@
 
 using namespace time_literals;
 
-class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
+class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	GhstRc(const char *device);
 	virtual ~GhstRc();
 

src/drivers/rc/sbus_rc/SbusRc.cpp

@@ -35,6 +35,8 @@
 
 #include <termios.h>
 
+ModuleBase::Descriptor SbusRc::desc{task_spawn, custom_command, print_usage};
+
 SbusRc::SbusRc(const char *device) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
@@ -98,8 +100,8 @@ int SbusRc::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(_current_update_interval);
 
@@ -126,7 +128,7 @@ void SbusRc::Run()
 
 		close(_rcs_fd);
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -265,7 +267,7 @@ void SbusRc::Run()
 
 int SbusRc::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = SbusRc::task_spawn(argc, argv);
 
 		if (ret) {
@@ -317,5 +319,5 @@ This module does SBUS RC input parsing.
 
 extern "C" __EXPORT int sbus_rc_main(int argc, char *argv[])
 {
-	return SbusRc::main(argc, argv);
+	return ModuleBase::main(SbusRc::desc, argc, argv);
 }

src/drivers/rc/sbus_rc/SbusRc.hpp

@@ -53,10 +53,12 @@
 
 using namespace time_literals;
 
-class SbusRc : public ModuleBase<SbusRc>, public ModuleParams, public px4::ScheduledWorkItem
+class SbusRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	SbusRc(const char *device);
 	virtual ~SbusRc();
 

src/drivers/rc_input/RCInput.cpp

@@ -40,6 +40,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor RCInput::desc{task_spawn, custom_command, print_usage};
+
 constexpr char const *RCInput::RC_SCAN_STRING[];
 
 RCInput::RCInput(const char *device) :
@@ -181,8 +183,8 @@ RCInput::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(_current_update_interval);
 
@@ -338,7 +340,7 @@ void  RCInput::swap_rx_tx()
 void RCInput::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -348,7 +350,7 @@ void RCInput::Run()
 
 		} else {
 			PX4_ERR("init failed");
-			exit_and_cleanup();
+			exit_and_cleanup(desc);
 		}
 
 	} else {
@@ -919,7 +921,7 @@ int RCInput::custom_command(int argc, char *argv[])
 #endif /* SPEKTRUM_POWER */
 
 	/* start the FMU if not running */
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = RCInput::task_spawn(argc, argv);
 
 		if (ret) {
@@ -1033,5 +1035,5 @@ This module does the RC input parsing and auto-selecting the method. Supported m
 
 extern "C" __EXPORT int rc_input_main(int argc, char *argv[])
 {
-	return RCInput::main(argc, argv);
+	return ModuleBase::main(RCInput::desc, argc, argv);
 }

src/drivers/rc_input/RCInput.hpp

@@ -67,10 +67,12 @@
 # include <systemlib/ppm_decode.h>
 #endif
 
-class RCInput : public ModuleBase<RCInput>, public ModuleParams, public px4::ScheduledWorkItem
+class RCInput : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	RCInput(const char *device);
 	virtual ~RCInput();
 

src/drivers/roboclaw/Roboclaw.cpp

@@ -44,6 +44,8 @@
 #include "Roboclaw.hpp"
 #include <termios.h>
 
+ModuleBase::Descriptor Roboclaw::desc{task_spawn, custom_command, print_usage};
+
 Roboclaw::Roboclaw(const char *device_name, const char *bad_rate_parameter) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -170,7 +172,7 @@ void Roboclaw::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		_mixing_output.unregister();
 		return;
 	}
@@ -476,8 +478,8 @@ int Roboclaw::task_spawn(int argc, char *argv[])
 	Roboclaw *instance = new Roboclaw(device_name, baud_rate_parameter_value);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 		instance->ScheduleNow();
 		return OK;
 
@@ -486,8 +488,8 @@ int Roboclaw::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	printf("Ending task_spawn");
 
@@ -535,5 +537,5 @@ int Roboclaw::print_status()
 
 extern "C" __EXPORT int roboclaw_main(int argc, char *argv[])
 {
-	return Roboclaw::main(argc, argv);
+	return ModuleBase::main(Roboclaw::desc, argc, argv);
 }

src/drivers/roboclaw/Roboclaw.hpp

@@ -54,9 +54,11 @@
 #include <uORB/Publication.hpp>
 #include <uORB/topics/wheel_encoders.h>
 
-class Roboclaw : public ModuleBase<Roboclaw>, public OutputModuleInterface
+class Roboclaw : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	/**
 	 * @param device_name Name of the serial port e.g. "/dev/ttyS2"
 	 * @param bad_rate_parameter Name of the parameter that holds the baud rate of this serial port

src/drivers/rpm_capture/RPMCapture.cpp

@@ -39,6 +39,8 @@
 #include <px4_platform_common/events.h>
 #include <systemlib/mavlink_log.h>
 
+ModuleBase::Descriptor RPMCapture::desc{task_spawn, custom_command, print_usage};
+
 RPMCapture::RPMCapture() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
 	ModuleParams(nullptr)
@@ -98,7 +100,7 @@ bool RPMCapture::init()
 void RPMCapture::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -169,8 +171,8 @@ int RPMCapture::task_spawn(int argc, char *argv[])
 	RPMCapture *instance = new RPMCapture();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -181,8 +183,8 @@ int RPMCapture::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -207,14 +209,14 @@ int RPMCapture::print_usage(const char *reason)
 
 void RPMCapture::stop()
 {
-	exit_and_cleanup();
+	exit_and_cleanup(desc);
 }
 
 extern "C" __EXPORT int rpm_capture_main(int argc, char *argv[])
 {
-	if (argc >= 2 && !strcmp(argv[1], "stop") && RPMCapture::is_running()) {
+	if (argc >= 2 && !strcmp(argv[1], "stop") && RPMCapture::is_running(RPMCapture::desc)) {
 		RPMCapture::stop();
 	}
 
-	return RPMCapture::main(argc, argv);
+	return ModuleBase::main(RPMCapture::desc, argc, argv);
 }

src/drivers/rpm_capture/RPMCapture.hpp

@@ -47,9 +47,11 @@
 
 using namespace time_literals;
 
-class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem, public ModuleParams
+class RPMCapture : public ModuleBase, public px4::ScheduledWorkItem, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	RPMCapture();
 	virtual ~RPMCapture();
 

src/drivers/safety_button/SafetyButton.cpp

@@ -40,6 +40,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor SafetyButton::desc{task_spawn, custom_command, print_usage};
+
 static constexpr uint8_t CYCLE_COUNT{30}; /* safety switch must be held for 1 second to activate */
 
 // Define the various LED flash sequences for each system state.
@@ -150,7 +152,7 @@ void
 SafetyButton::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -183,8 +185,8 @@ SafetyButton::task_spawn(int argc, char *argv[])
 		return ret;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	return ret;
 }
@@ -230,5 +232,5 @@ extern "C" __EXPORT int safety_button_main(int argc, char *argv[]);
 int
 safety_button_main(int argc, char *argv[])
 {
-	return SafetyButton::main(argc, argv);
+	return ModuleBase::main(SafetyButton::desc, argc, argv);
 }

src/drivers/safety_button/SafetyButton.hpp

@@ -40,9 +40,11 @@
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <button/ButtonPublisher.hpp>
 
-class SafetyButton : public ModuleBase<SafetyButton>, public px4::ScheduledWorkItem
+class SafetyButton : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SafetyButton();
 	~SafetyButton() override;
 

src/drivers/tap_esc/TAP_ESC.cpp

@@ -35,6 +35,8 @@
 
 #include <px4_platform_common/sem.hpp>
 
+ModuleBase::Descriptor TAP_ESC::desc{task_spawn, custom_command, print_usage};
+
 TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count):
 	OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(device)),
 	_mixing_output{"TAP_ESC", channels_count, *this, MixingOutput::SchedulingPolicy::Auto, true},
@@ -333,7 +335,7 @@ void TAP_ESC::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -356,7 +358,7 @@ void TAP_ESC::Run()
 
 		} else {
 			PX4_ERR("init failed");
-			exit_and_cleanup();
+			exit_and_cleanup(desc);
 		}
 
 	} else {
@@ -456,8 +458,8 @@ int TAP_ESC::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 	instance->ScheduleNow();
 	return 0;
 }
@@ -510,5 +512,5 @@ tap_esc start -d /dev/ttyS2 -n <1-8>
 
 extern "C" __EXPORT int tap_esc_main(int argc, char *argv[])
 {
-	return TAP_ESC::main(argc, argv);
+	return ModuleBase::main(TAP_ESC::desc, argc, argv);
 }

src/drivers/tap_esc/TAP_ESC.hpp

@@ -79,9 +79,11 @@ using namespace time_literals;
 /*
  * This driver connects to TAP ESCs via serial.
  */
-class TAP_ESC : public ModuleBase<TAP_ESC>, public OutputModuleInterface
+class TAP_ESC : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	TAP_ESC(const char *device, uint8_t channels_count);
 	virtual ~TAP_ESC();
 

src/drivers/tattu_can/TattuCan.cpp

@@ -46,6 +46,8 @@
 
 #include "TattuCan.hpp"
 
+ModuleBase::Descriptor TattuCan::desc{task_spawn, custom_command, print_usage};
+
 extern orb_advert_t mavlink_log_pub;
 
 TattuCan::TattuCan() :
@@ -60,7 +62,7 @@ TattuCan::~TattuCan()
 void TattuCan::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -192,8 +194,8 @@ int TattuCan::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	instance->start();
 	return 0;
@@ -221,7 +223,7 @@ Driver for reading data from the Tattu 12S 16000mAh smart battery.
 
 int TattuCan::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -231,5 +233,5 @@ int TattuCan::custom_command(int argc, char *argv[])
 
 extern "C" __EXPORT int tattu_can_main(int argc, char *argv[])
 {
-	return TattuCan::main(argc, argv);
+	return ModuleBase::main(TattuCan::desc, argc, argv);
 }

src/drivers/tattu_can/TattuCan.hpp

@@ -77,9 +77,11 @@ typedef struct {
 	const void *payload;
 } CanFrame;
 
-class TattuCan : public ModuleBase<TattuCan>, public px4::ScheduledWorkItem
+class TattuCan : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	TattuCan();
 
 	virtual ~TattuCan();

src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp

@@ -47,6 +47,8 @@
 #include <systemlib/err.h>
 #include <parameters/param.h>
 
+ModuleBase::Descriptor IridiumSBD::desc{task_spawn, custom_command, print_usage};
+
 static constexpr const char *satcom_state_string[4] = {"STANDBY", "SIGNAL CHECK", "SBD SESSION", "TEST"};
 
 #define VERBOSE_INFO(...) if (_verbose) { PX4_INFO(__VA_ARGS__); }
@@ -63,23 +65,30 @@ IridiumSBD::~IridiumSBD()
 	deinit();
 }
 
+int IridiumSBD::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return IridiumSBD::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int IridiumSBD::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("iridiumsbd",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_SLOW_DRIVER,
-				      1350,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("iridiumsbd",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_SLOW_DRIVER,
+					  1350,
+					  (px4_main_t)&run_trampoline,
+					  (char *const *)argv);
 
-	if (_task_id < 0) {
-		_task_id = -1;
+	if (desc.task_id < 0) {
+		desc.task_id = -1;
 		return -errno;
 	}
 
 	// wait until task is up & running (max 6 seconds)
-	if (wait_until_running(6000) < 0) {
-		_task_id = -1;
+	if (wait_until_running(desc, 6000) < 0) {
+		desc.task_id = -1;
 		return -1;
 	}
 
@@ -1080,13 +1089,13 @@ Creates a virtual serial port that another module can use for communication (e.g
 
 int IridiumSBD::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "test")) {
-		get_instance()->test(argc, argv);
+		get_instance<IridiumSBD>(desc)->test(argc, argv);
 		return 0;
 	}
 
@@ -1095,12 +1104,12 @@ int IridiumSBD::custom_command(int argc, char *argv[])
 
 extern "C" __EXPORT int iridiumsbd_main(int argc, char *argv[])
 {
-	if (argc >= 2 && !strcmp(argv[1], "stop") && IridiumSBD::is_running()) {
+	if (argc >= 2 && !strcmp(argv[1], "stop") && IridiumSBD::is_running(IridiumSBD::desc)) {
 		if (!IridiumSBD::can_stop()) {
 			PX4_ERR("Device is used. Stop all users first (mavlink stop-all)");
 			return -1;
 		}
 	}
 
-	return IridiumSBD::main(argc, argv);
+	return ModuleBase::main(IridiumSBD::desc, argc, argv);
 }

src/drivers/telemetry/iridiumsbd/IridiumSBD.h

@@ -99,15 +99,20 @@ typedef enum {
  * 	- Improve TX buffer handling:
  * 		- Do not reset the full TX buffer but delete the oldest HIGH_LATENCY2 message if one is in the buffer or delete the oldest message in general
  */
-class IridiumSBD : public cdev::CDev, public ModuleBase<IridiumSBD>
+class IridiumSBD : public cdev::CDev, public ModuleBase
 {
 public:
+	static Descriptor desc;
+
 	IridiumSBD();
 	~IridiumSBD();
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static IridiumSBD *instantiate(int argc, char *argv[]);
 
@@ -136,7 +141,7 @@ public:
 	 */
 	int ioctl(struct file *filp, int cmd, unsigned long arg);
 
-	static bool can_stop() { return !get_instance()->_cdev_used.load(); }
+	static bool can_stop() { return !get_instance<IridiumSBD>(desc)->_cdev_used.load(); }
 
 private:
 	int init(int argc, char *argv[]);

src/drivers/tone_alarm/ToneAlarm.cpp

@@ -42,6 +42,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor ToneAlarm::desc{task_spawn, custom_command, print_usage};
+
 ToneAlarm::ToneAlarm() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -87,7 +89,7 @@ void ToneAlarm::Run()
 
 	if (should_exit()) {
 		_tune_control_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -247,8 +249,8 @@ int ToneAlarm::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(instance);
+	desc.task_id = task_id_is_work_queue;
 
 	return PX4_OK;
 }
@@ -275,5 +277,5 @@ This module is responsible for the tone alarm.
 
 extern "C" __EXPORT int tone_alarm_main(int argc, char *argv[])
 {
-	return ToneAlarm::main(argc, argv);
+	return ModuleBase::main(ToneAlarm::desc, argc, argv);
 }

src/drivers/tone_alarm/ToneAlarm.h

@@ -55,12 +55,14 @@
 
 #include <string.h>
 
-class ToneAlarm : public ModuleBase<ToneAlarm>, public px4::ScheduledWorkItem
+class ToneAlarm : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
 	ToneAlarm();
 	~ToneAlarm() override;
 
+	static Descriptor desc;
+
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 

src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp

@@ -33,13 +33,15 @@
 
 #include "SagetechMXS.hpp"
 
+ModuleBase::Descriptor SagetechMXS::desc{task_spawn, custom_command, print_usage};
+
 /***************************************
  * Workqueue Functions
  * *************************************/
 
 extern "C" __EXPORT int sagetech_mxs_main(int argc, char *argv[])
 {
-	return SagetechMXS::main(argc, argv);
+	return ModuleBase::main(SagetechMXS::desc, argc, argv);
 }
 
 SagetechMXS::SagetechMXS(const char *port) :
@@ -90,8 +92,8 @@ int SagetechMXS::task_spawn(int argc, char *argv[])
 	}
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -99,8 +101,8 @@ int SagetechMXS::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 	return PX4_ERROR;
 }
 
@@ -137,7 +139,7 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 {
 	const char *verb = argv[0];
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = SagetechMXS::task_spawn(argc, argv);
 		return ret;
 
@@ -152,12 +154,12 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		return get_instance()->handle_fid(fid);
+		return get_instance<SagetechMXS>(desc)->handle_fid(fid);
 	}
 
 	if (!strcmp(verb, "ident")) {
-		get_instance()->_adsb_ident.set(1);
-		return get_instance()->_adsb_ident.commit();
+		get_instance<SagetechMXS>(desc)->_adsb_ident.set(1);
+		return get_instance<SagetechMXS>(desc)->_adsb_ident.commit();
 	}
 
 	if (!strcmp(verb, "opmode")) {
@@ -168,20 +170,20 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 			return PX4_ERROR;
 
 		} else if (!strcmp(opmode, "off") || !strcmp(opmode, "0")) {
-			get_instance()->_mxs_op_mode.set(0);
-			return get_instance()->_mxs_op_mode.commit();
+			get_instance<SagetechMXS>(desc)->_mxs_op_mode.set(0);
+			return get_instance<SagetechMXS>(desc)->_mxs_op_mode.commit();
 
 		} else if (!strcmp(opmode, "on") || !strcmp(opmode, "1")) {
-			get_instance()->_mxs_op_mode.set(1);
-			return get_instance()->_mxs_op_mode.commit();
+			get_instance<SagetechMXS>(desc)->_mxs_op_mode.set(1);
+			return get_instance<SagetechMXS>(desc)->_mxs_op_mode.commit();
 
 		} else if (!strcmp(opmode, "stby") || !strcmp(opmode, "2")) {
-			get_instance()->_mxs_op_mode.set(2);
-			return get_instance()->_mxs_op_mode.commit();
+			get_instance<SagetechMXS>(desc)->_mxs_op_mode.set(2);
+			return get_instance<SagetechMXS>(desc)->_mxs_op_mode.commit();
 
 		} else if (!strcmp(opmode, "alt") || !strcmp(opmode, "3")) {
-			get_instance()->_mxs_op_mode.set(3);
-			return get_instance()->_mxs_op_mode.commit();
+			get_instance<SagetechMXS>(desc)->_mxs_op_mode.set(3);
+			return get_instance<SagetechMXS>(desc)->_mxs_op_mode.commit();
 
 		} else {
 			print_usage("Invalid Op Mode");
@@ -200,13 +202,13 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 
 		sqk = atoi(squawk);
 
-		if (!get_instance()->check_valid_squawk(sqk)) {
+		if (!get_instance<SagetechMXS>(desc)->check_valid_squawk(sqk)) {
 			print_usage("Invalid Squawk");
 			return PX4_ERROR;
 
 		} else {
-			get_instance()->_adsb_squawk.set(sqk);
-			return get_instance()->_adsb_squawk.commit();
+			get_instance<SagetechMXS>(desc)->_adsb_squawk.set(sqk);
+			return get_instance<SagetechMXS>(desc)->_adsb_squawk.commit();
 		}
 	}
 
@@ -274,7 +276,7 @@ void SagetechMXS::Run()
 	// Thread Stop
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 

src/drivers/transponder/sagetech_mxs/SagetechMXS.hpp

@@ -65,9 +65,11 @@
 
 using namespace time_literals;
 
-class SagetechMXS : public ModuleBase<SagetechMXS>, public ModuleParams, public px4::ScheduledWorkItem
+class SagetechMXS : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SagetechMXS(const char *port);
 	~SagetechMXS() override;
 

src/drivers/uavcannode/Kconfig

@@ -38,6 +38,10 @@ if DRIVERS_UAVCANNODE
         bool "Include hardpoint commands"
         default n
 
+    config UAVCANNODE_GNSS_FIX2
+        bool "Include GNSS Fix2 publisher"
+        default y
+
     config UAVCANNODE_HYGROMETER_MEASUREMENT
         bool "Include hygrometer measurement"
         default n

src/drivers/uwb/uwb_sr150/uwb_sr150.cpp

@@ -49,6 +49,8 @@
 #include <ctype.h>
 #include <string.h>
 
+ModuleBase::Descriptor UWB_SR150::desc{task_spawn, custom_command, print_usage};
+
 // Timeout between bytes. If there is more time than this between bytes, then this driver assumes
 // that it is the boundary between messages.
 // See uwb_sr150::run() for more detailed explanation.
@@ -117,7 +119,7 @@ void UWB_SR150::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -248,8 +250,8 @@ int UWB_SR150::task_spawn(int argc, char *argv[])
 	UWB_SR150 *instance = new UWB_SR150(device_name);
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleOnInterval(5000_us);
 
@@ -262,15 +264,15 @@ int UWB_SR150::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
 
 int uwb_sr150_main(int argc, char *argv[])
 {
-	return UWB_SR150::main(argc, argv);
+	return ModuleBase::main(UWB_SR150::desc, argc, argv);
 }
 
 void UWB_SR150::parameters_update()

src/drivers/uwb/uwb_sr150/uwb_sr150.h

@@ -84,9 +84,11 @@ typedef struct {
 	uint8_t stop; 					// Should be 0x1B
 } __attribute__((packed)) distance_msg_t;
 
-class UWB_SR150 : public ModuleBase<UWB_SR150>, public ModuleParams, public px4::ScheduledWorkItem
+class UWB_SR150 : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	UWB_SR150(const char *port);
 	~UWB_SR150();
 

src/drivers/voxl2_io/voxl2_io.cpp

@@ -33,6 +33,8 @@
 
 #include "voxl2_io.hpp"
 
+ModuleBase::Descriptor Voxl2IO::desc{task_spawn, custom_command, print_usage};
+
 
 Voxl2IO::Voxl2IO() :
 	OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(VOXL2_IO_DEFAULT_PORT)),
@@ -558,7 +560,7 @@ void Voxl2IO::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -603,35 +605,35 @@ int Voxl2IO::task_spawn(int argc, char *argv[])
 		int ch;
 		const char *myoptarg = nullptr;
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 		argv++;
 
 		while ((ch = px4_getopt(argc - 1, argv, "vdep:", &myoptind, &myoptarg)) != EOF) {
 			switch (ch) {
 			case 'v':
 				PX4_INFO("Verbose mode enabled");
-				get_instance()->_debug = true;
+				get_instance<Voxl2IO>(desc)->_debug = true;
 				break;
 
 			case 'd':
 				PX4_INFO("M0065 PWM outputs disabled");
-				get_instance()->_outputs_disabled = true;
+				get_instance<Voxl2IO>(desc)->_outputs_disabled = true;
 				break;
 
 			case 'e':
 				PX4_INFO("M0065 using external RC");
-				get_instance()->_rc_mode = RC_MODE::EXTERNAL;
+				get_instance<Voxl2IO>(desc)->_rc_mode = RC_MODE::EXTERNAL;
 				break;
 
 			case 'p':
 				if (valid_port(atoi(myoptarg))) {
-					snprintf(get_instance()->_device, 2, "%s", myoptarg);
+					snprintf(get_instance<Voxl2IO>(desc)->_device, 2, "%s", myoptarg);
 
 				} else {
 					PX4_ERR("Bad UART port number: %s (must be 2, 6, or 7).", myoptarg);
-					_object.store(nullptr);
-					_task_id = -1;
+					desc.object.store(nullptr);
+					desc.task_id = -1;
 					return PX4_ERROR;
 				}
 
@@ -651,8 +653,8 @@ int Voxl2IO::task_spawn(int argc, char *argv[])
 		PX4_ERR("alloc failed");
 	}
 
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -754,7 +756,7 @@ int Voxl2IO::custom_command(int argc, char *argv[])
 
 	/* start if not running */
 	if (!strcmp(verb, "start")) {
-		if (!is_running()) {
+		if (!is_running(desc)) {
 			return Voxl2IO::task_spawn(argc, argv);
 		}
 
@@ -762,27 +764,27 @@ int Voxl2IO::custom_command(int argc, char *argv[])
 		return 0;
 	}
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("Not running");
 		return -1;
 	}
 
 	if (!strcmp(verb, "status")) {
-		return get_instance()->print_status();
+		return get_instance<Voxl2IO>(desc)->print_status();
 	}
 
 
 	if (!strcmp(verb, "calibrate_escs")) {
-		if (get_instance()->_outputs_disabled) {
+		if (get_instance<Voxl2IO>(desc)->_outputs_disabled) {
 			PX4_WARN("Can't calibrate ESCs while outputs are disabled.");
 			return -1;
 		}
 
-		return get_instance()->calibrate_escs();
+		return get_instance<Voxl2IO>(desc)->calibrate_escs();
 	}
 
 	if (!strcmp(verb, "enable_debug")) {
-		get_instance()->_debug = true;
+		get_instance<Voxl2IO>(desc)->_debug = true;
 	}
 
 	return print_usage("unknown custom command");
@@ -881,5 +883,5 @@ extern "C" __EXPORT int voxl2_io_main(int argc, char *argv[]);
 
 int voxl2_io_main(int argc, char *argv[])
 {
-	return Voxl2IO::main(argc, argv);
+	return ModuleBase::main(Voxl2IO::desc, argc, argv);
 }

src/drivers/voxl2_io/voxl2_io.hpp

@@ -64,9 +64,11 @@ using namespace device;
 
 using namespace time_literals;
 
-class Voxl2IO final : public ModuleBase<Voxl2IO>, public OutputModuleInterface
+class Voxl2IO final : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	Voxl2IO();
 	~Voxl2IO() override;
 

src/drivers/vtx/VTX.cpp

@@ -41,6 +41,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor VTX::desc{task_spawn, custom_command, print_usage};
+
 VTX::VTX(const char *device) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::serial_port_to_wq(device)),
@@ -99,7 +101,7 @@ void VTX::Run()
 	static constexpr auto _INTERVAL{50_ms};
 
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -338,7 +340,7 @@ void VTX::handle_uorb()
 int VTX::custom_command(int argc, char *argv[])
 {
 	if (!strcmp(argv[0], "start")) {
-		if (is_running()) {
+		if (is_running(desc)) {
 			return print_usage("already running");
 		}
 
@@ -349,7 +351,7 @@ int VTX::custom_command(int argc, char *argv[])
 		}
 	}
 
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		return print_usage("not running");
 	}
 
@@ -393,8 +395,8 @@ int VTX::task_spawn(int argc, char *argv[])
 			return PX4_ERROR;
 		}
 
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		instance->ScheduleNow();
 
@@ -478,5 +480,5 @@ Supported protocols are:
 
 extern "C" __EXPORT int vtx_main(int argc, char *argv[])
 {
-	return VTX::main(argc, argv);
+	return ModuleBase::main(VTX::desc, argc, argv);
 }

src/drivers/vtx/VTX.hpp

@@ -56,10 +56,12 @@
 /**
  * @author Niklas Hauser <niklas@auterion.com>
  */
-class VTX : public ModuleBase<VTX>, public ModuleParams, public px4::ScheduledWorkItem
+class VTX : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	VTX(const char *device);
 	virtual ~VTX();
 

src/examples/fake_gps/FakeGps.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor FakeGps::desc{task_spawn, custom_command, print_usage};
+
 FakeGps::FakeGps(double latitude_deg, double longitude_deg, double altitude_m) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
@@ -54,7 +56,7 @@ void FakeGps::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -102,8 +104,8 @@ int FakeGps::task_spawn(int argc, char *argv[])
 	FakeGps *instance = new FakeGps();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -114,8 +116,8 @@ int FakeGps::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -145,5 +147,5 @@ int FakeGps::print_usage(const char *reason)
 
 extern "C" __EXPORT int fake_gps_main(int argc, char *argv[])
 {
-	return FakeGps::main(argc, argv);
+	return ModuleBase::main(FakeGps::desc, argc, argv);
 }

src/examples/fake_gps/FakeGps.hpp

@@ -43,9 +43,11 @@
 #include <uORB/topics/sensor_gps.h>
 #include <uORB/topics/sensor_gnss_status.h>
 
-class FakeGps : public ModuleBase<FakeGps>, public ModuleParams, public px4::ScheduledWorkItem
+class FakeGps : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, double altitude_m = 30.1);
 
 	~FakeGps() override = default;

src/examples/fake_imu/FakeImu.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor FakeImu::desc{task_spawn, custom_command, print_usage};
+
 FakeImu::FakeImu() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -60,7 +62,7 @@ void FakeImu::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -168,8 +170,8 @@ int FakeImu::task_spawn(int argc, char *argv[])
 	FakeImu *instance = new FakeImu();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -180,8 +182,8 @@ int FakeImu::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -211,5 +213,5 @@ int FakeImu::print_usage(const char *reason)
 
 extern "C" __EXPORT int fake_imu_main(int argc, char *argv[])
 {
-	return FakeImu::main(argc, argv);
+	return ModuleBase::main(FakeImu::desc, argc, argv);
 }

src/examples/fake_imu/FakeImu.hpp

@@ -51,9 +51,11 @@
 # include <uORB/topics/esc_status.h>
 #endif // FAKE_IMU_FAKE_ESC_STATUS
 
-class FakeImu : public ModuleBase<FakeImu>, public ModuleParams, public px4::ScheduledWorkItem
+class FakeImu : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FakeImu();
 	~FakeImu() override = default;
 

src/examples/fake_magnetometer/FakeMagnetometer.cpp

@@ -38,6 +38,8 @@
 using namespace matrix;
 using namespace time_literals;
 
+ModuleBase::Descriptor FakeMagnetometer::desc{task_spawn, custom_command, print_usage};
+
 FakeMagnetometer::FakeMagnetometer() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -56,7 +58,7 @@ void FakeMagnetometer::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -94,8 +96,8 @@ int FakeMagnetometer::task_spawn(int argc, char *argv[])
 	FakeMagnetometer *instance = new FakeMagnetometer();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -106,8 +108,8 @@ int FakeMagnetometer::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -138,5 +140,5 @@ Requires vehicle_attitude and vehicle_gps_position.
 
 extern "C" __EXPORT int fake_magnetometer_main(int argc, char *argv[])
 {
-	return FakeMagnetometer::main(argc, argv);
+	return ModuleBase::main(FakeMagnetometer::desc, argc, argv);
 }

src/examples/fake_magnetometer/FakeMagnetometer.hpp

@@ -52,9 +52,11 @@
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/sensor_gps.h>
 
-class FakeMagnetometer : public ModuleBase<FakeMagnetometer>, public ModuleParams, public px4::ScheduledWorkItem
+class FakeMagnetometer : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FakeMagnetometer();
 	~FakeMagnetometer() override = default;
 

src/examples/work_item/WorkItemExample.cpp

@@ -33,6 +33,8 @@
 
 #include "WorkItemExample.hpp"
 
+ModuleBase::Descriptor WorkItemExample::desc{task_spawn, custom_command, print_usage};
+
 WorkItemExample::WorkItemExample() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::test1)
@@ -63,7 +65,7 @@ void WorkItemExample::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -132,8 +134,8 @@ int WorkItemExample::task_spawn(int argc, char *argv[])
 	WorkItemExample *instance = new WorkItemExample();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -144,8 +146,8 @@ int WorkItemExample::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -184,5 +186,5 @@ Example of a simple module running out of a work queue.
 
 extern "C" __EXPORT int work_item_example_main(int argc, char *argv[])
 {
-	return WorkItemExample::main(argc, argv);
+	return ModuleBase::main(WorkItemExample::desc, argc, argv);
 }

src/examples/work_item/WorkItemExample.hpp

@@ -52,9 +52,11 @@
 
 using namespace time_literals;
 
-class WorkItemExample : public ModuleBase<WorkItemExample>, public ModuleParams, public px4::ScheduledWorkItem
+class WorkItemExample : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	WorkItemExample();
 	~WorkItemExample() override;
 

src/modules/airship_att_control/airship_att_control.hpp

@@ -45,10 +45,12 @@
 
 using namespace time_literals;
 
-class AirshipAttitudeControl : public ModuleBase<AirshipAttitudeControl>, public ModuleParams,
+class AirshipAttitudeControl : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	AirshipAttitudeControl();
 
 	virtual ~AirshipAttitudeControl();

src/modules/airship_att_control/airship_att_control_main.cpp

@@ -42,6 +42,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor AirshipAttitudeControl::desc{task_spawn, custom_command, print_usage};
+
 AirshipAttitudeControl::AirshipAttitudeControl() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -114,7 +116,7 @@ AirshipAttitudeControl::Run()
 {
 	if (should_exit()) {
 		_vehicle_angular_velocity_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -146,8 +148,8 @@ int AirshipAttitudeControl::task_spawn(int argc, char *argv[])
 	AirshipAttitudeControl *instance = new AirshipAttitudeControl();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -158,8 +160,8 @@ int AirshipAttitudeControl::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -210,5 +212,5 @@ To reduce control latency, the module directly polls on the gyro topic published
  */
 extern "C" __EXPORT int airship_att_control_main(int argc, char *argv[])
 {
-	return AirshipAttitudeControl::main(argc, argv);
+	return ModuleBase::main(AirshipAttitudeControl::desc, argc, argv);
 }

src/modules/airspeed_selector/airspeed_selector_main.cpp

@@ -80,11 +80,13 @@ using matrix::Quatf;
 using matrix::Vector2f;
 using matrix::Vector3f;
 
-class AirspeedModule : public ModuleBase<AirspeedModule>, public ModuleParams,
+class AirspeedModule : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	AirspeedModule();
 
 	~AirspeedModule() override;
@@ -228,6 +230,8 @@ private:
 	void update_throttle_filter(hrt_abstime t_now);
 };
 
+ModuleBase::Descriptor AirspeedModule::desc{task_spawn, custom_command, print_usage};
+
 AirspeedModule::AirspeedModule():
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
@@ -261,10 +265,10 @@ AirspeedModule::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(dev);
+	desc.object.store(dev);
 
 	dev->ScheduleOnInterval(SCHEDULE_INTERVAL, 10000);
-	_task_id = task_id_is_work_queue;
+	desc.task_id = task_id_is_work_queue;
 	return PX4_OK;
 
 }
@@ -478,7 +482,7 @@ AirspeedModule::Run()
 	perf_end(_perf_elapsed);
 
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 	}
 }
 
@@ -867,7 +871,7 @@ void AirspeedModule::update_throttle_filter(hrt_abstime now)
 
 int AirspeedModule::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		int ret = AirspeedModule::task_spawn(argc, argv);
 
 		if (ret) {
@@ -906,5 +910,5 @@ and also publishes those.
 
 extern "C" __EXPORT int airspeed_selector_main(int argc, char *argv[])
 {
-	return AirspeedModule::main(argc, argv);
+	return ModuleBase::main(AirspeedModule::desc, argc, argv);
 }

src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp

@@ -70,10 +70,12 @@ using matrix::wrap_pi;
 
 using namespace time_literals;
 
-class AttitudeEstimatorQ : public ModuleBase<AttitudeEstimatorQ>, public ModuleParams, public px4::WorkItem
+class AttitudeEstimatorQ : public ModuleBase, public ModuleParams, public px4::WorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	AttitudeEstimatorQ();
 	~AttitudeEstimatorQ() override = default;
 
@@ -171,6 +173,8 @@ private:
 	)
 };
 
+ModuleBase::Descriptor AttitudeEstimatorQ::desc{task_spawn, custom_command, print_usage};
+
 AttitudeEstimatorQ::AttitudeEstimatorQ() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
@@ -200,7 +204,7 @@ void AttitudeEstimatorQ::Run()
 {
 	if (should_exit()) {
 		_sensors_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -594,8 +598,8 @@ int AttitudeEstimatorQ::task_spawn(int argc, char *argv[])
 	AttitudeEstimatorQ *instance = new AttitudeEstimatorQ();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -606,8 +610,8 @@ int AttitudeEstimatorQ::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -634,5 +638,5 @@ Attitude estimator q.
 
 extern "C" __EXPORT int attitude_estimator_q_main(int argc, char *argv[])
 {
-	return AttitudeEstimatorQ::main(argc, argv);
+	return ModuleBase::main(AttitudeEstimatorQ::desc, argc, argv);
 }

src/modules/battery_status/battery_status.cpp

@@ -79,9 +79,11 @@ using namespace time_literals;
 #error "battery_status module requires power bricks"
 #endif
 
-class BatteryStatus : public ModuleBase<BatteryStatus>, public ModuleParams, public px4::ScheduledWorkItem
+class BatteryStatus : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	BatteryStatus();
 	~BatteryStatus() override;
 
@@ -134,6 +136,8 @@ private:
 	void		adc_poll();
 };
 
+ModuleBase::Descriptor BatteryStatus::desc{task_spawn, custom_command, print_usage};
+
 BatteryStatus::BatteryStatus() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -237,7 +241,7 @@ void
 BatteryStatus::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -258,8 +262,8 @@ BatteryStatus::task_spawn(int argc, char *argv[])
 	BatteryStatus *instance = new BatteryStatus();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -270,8 +274,8 @@ BatteryStatus::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -315,5 +319,5 @@ It runs in its own thread and polls on the currently selected gyro topic.
 
 extern "C" __EXPORT int battery_status_main(int argc, char *argv[])
 {
-	return BatteryStatus::main(argc, argv);
+	return ModuleBase::main(BatteryStatus::desc, argc, argv);
 }

src/modules/camera_feedback/CameraFeedback.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor CameraFeedback::desc{task_spawn, custom_command, print_usage};
+
 CameraFeedback::CameraFeedback() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -64,7 +66,7 @@ CameraFeedback::Run()
 {
 	if (should_exit()) {
 		_trigger_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -159,8 +161,8 @@ CameraFeedback::task_spawn(int argc, char *argv[])
 	CameraFeedback *instance = new CameraFeedback();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -171,8 +173,8 @@ CameraFeedback::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -225,5 +227,5 @@ from the `CameraTrigger` and position information from the vehicle.
 
 extern "C" __EXPORT int camera_feedback_main(int argc, char *argv[])
 {
-	return CameraFeedback::main(argc, argv);
+	return ModuleBase::main(CameraFeedback::desc, argc, argv);
 }

src/modules/camera_feedback/CameraFeedback.hpp

@@ -57,9 +57,11 @@
 #include <uORB/topics/vehicle_global_position.h>
 #include <uORB/topics/gimbal_device_attitude_status.h>
 
-class CameraFeedback : public ModuleBase<CameraFeedback>, public ModuleParams, public px4::WorkItem
+class CameraFeedback : public ModuleBase, public ModuleParams, public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	CameraFeedback();
 	~CameraFeedback() override = default;
 

src/modules/commander/Commander.cpp

@@ -74,6 +74,8 @@
 #include <uORB/topics/mavlink_log.h>
 #include <uORB/topics/tune_control.h>
 
+ModuleBase::Descriptor Commander::desc{task_spawn, custom_command, print_usage};
+
 typedef enum VEHICLE_MODE_FLAG {
 	VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED  = 1,   /* 0b00000001 Reserved for future use. | */
 	VEHICLE_MODE_FLAG_TEST_ENABLED         = 2,   /* 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. | */
@@ -232,7 +234,7 @@ static bool broadcast_vehicle_command(const uint32_t cmd, const float param1 = N
 
 int Commander::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
@@ -527,7 +529,7 @@ int Commander::print_status()
 
 extern "C" __EXPORT int commander_main(int argc, char *argv[])
 {
-	return Commander::main(argc, argv);
+	return ModuleBase::main(Commander::desc, argc, argv);
 }
 
 static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_reason)
@@ -2721,23 +2723,30 @@ void Commander::answer_command(const vehicle_command_s &cmd, uint8_t result)
 	_vehicle_command_ack_pub.publish(command_ack);
 }
 
+int Commander::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return Commander::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int Commander::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("commander",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_DEFAULT + 40,
-				      PX4_STACK_ADJUSTED(3250),
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("commander",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_DEFAULT + 40,
+					  PX4_STACK_ADJUSTED(3250),
+					  (px4_main_t)&run_trampoline,
+					  (char *const *)argv);
 
-	if (_task_id < 0) {
-		_task_id = -1;
+	if (desc.task_id < 0) {
+		desc.task_id = -1;
 		return -errno;
 	}
 
 	// wait until task is up & running
-	if (wait_until_running() < 0) {
-		_task_id = -1;
+	if (wait_until_running(desc) < 0) {
+		desc.task_id = -1;
 		return -1;
 	}
 

src/modules/commander/Commander.hpp

@@ -95,15 +95,20 @@ using arm_disarm_reason_t = events::px4::enums::arm_disarm_reason_t;
 
 using namespace time_literals;
 
-class Commander : public ModuleBase<Commander>, public ModuleParams
+class Commander : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	Commander();
 	~Commander();
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static Commander *instantiate(int argc, char *argv[]);
 

src/modules/control_allocator/ControlAllocator.cpp

@@ -49,6 +49,8 @@
 using namespace matrix;
 using namespace time_literals;
 
+ModuleBase::Descriptor ControlAllocator::desc{task_spawn, custom_command, print_usage};
+
 ControlAllocator::ControlAllocator() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -306,7 +308,7 @@ ControlAllocator::Run()
 {
 	if (should_exit()) {
 		_vehicle_torque_setpoint_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -818,8 +820,8 @@ int ControlAllocator::task_spawn(int argc, char *argv[])
 	ControlAllocator *instance = new ControlAllocator();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -830,8 +832,8 @@ int ControlAllocator::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -1021,5 +1023,5 @@ extern "C" __EXPORT int control_allocator_main(int argc, char *argv[]);
 
 int control_allocator_main(int argc, char *argv[])
 {
-	return ControlAllocator::main(argc, argv);
+	return ModuleBase::main(ControlAllocator::desc, argc, argv);
 }

src/modules/control_allocator/ControlAllocator.hpp

@@ -80,9 +80,11 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/failure_detector_status.h>
 
-class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
+class ControlAllocator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	static constexpr int NUM_ACTUATORS = ControlAllocation::NUM_ACTUATORS;
 	static constexpr int NUM_AXES = ControlAllocation::NUM_AXES;
 

src/modules/esc_battery/EscBattery.cpp

@@ -37,6 +37,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor EscBattery::desc{task_spawn, custom_command, print_usage};
+
 EscBattery::EscBattery() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
@@ -68,7 +70,7 @@ EscBattery::Run()
 {
 	if (should_exit()) {
 		_esc_status_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -120,8 +122,8 @@ int EscBattery::task_spawn(int argc, char *argv[])
 	EscBattery *instance = new EscBattery();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -132,8 +134,8 @@ int EscBattery::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -165,5 +167,5 @@ This implements using information from the ESC status and publish it as battery
 
 extern "C" __EXPORT int esc_battery_main(int argc, char *argv[])
 {
-	return EscBattery::main(argc, argv);
+	return ModuleBase::main(EscBattery::desc, argc, argv);
 }

src/modules/esc_battery/EscBattery.hpp

@@ -48,12 +48,14 @@
 
 using namespace time_literals;
 
-class EscBattery : public ModuleBase<EscBattery>, public ModuleParams, public px4::WorkItem
+class EscBattery : public ModuleBase, public ModuleParams, public px4::WorkItem
 {
 public:
 	EscBattery();
 	~EscBattery() = default;
 
+	static Descriptor desc;
+
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 

src/modules/events/send_event.cpp

@@ -44,6 +44,8 @@ using namespace time_literals;
 namespace events
 {
 
+ModuleBase::Descriptor SendEvent::desc{task_spawn, custom_command, print_usage};
+
 // Run it at 30 Hz.
 static constexpr uint32_t SEND_EVENT_INTERVAL_US{1_s / 30};
 
@@ -56,8 +58,8 @@ int SendEvent::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(send_event);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(send_event);
+	desc.task_id = task_id_is_work_queue;
 
 	send_event->start();
 
@@ -95,7 +97,7 @@ int SendEvent::start()
 void SendEvent::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -162,7 +164,7 @@ int SendEvent::custom_command(int argc, char *argv[])
 
 int send_event_main(int argc, char *argv[])
 {
-	return SendEvent::main(argc, argv);
+	return ModuleBase::main(SendEvent::desc, argc, argv);
 }
 
 } /* namespace events */

src/modules/events/send_event.h

@@ -49,10 +49,12 @@ namespace events
 extern "C" __EXPORT int send_event_main(int argc, char *argv[]);
 
 /** @class SendEvent The SendEvent class manages the RC loss audible alarm, LED status display, and thermal calibration. */
-class SendEvent : public ModuleBase<SendEvent>, public ModuleParams, public px4::ScheduledWorkItem
+class SendEvent : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	SendEvent();
 
 	~SendEvent();

src/modules/flight_mode_manager/FlightModeManager.cpp

@@ -38,6 +38,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor FlightModeManager::desc{task_spawn, custom_command, print_usage};
+
 FlightModeManager::FlightModeManager() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
@@ -80,7 +82,7 @@ void FlightModeManager::Run()
 {
 	if (should_exit()) {
 		_vehicle_local_position_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -443,8 +445,8 @@ int FlightModeManager::task_spawn(int argc, char *argv[])
 	FlightModeManager *instance = new FlightModeManager();
 
 	if (instance) {
-		_object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.object.store(instance);
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -455,8 +457,8 @@ int FlightModeManager::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -502,5 +504,5 @@ and outputs setpoints for controllers.
 
 extern "C" __EXPORT int flight_mode_manager_main(int argc, char *argv[])
 {
-	return FlightModeManager::main(argc, argv);
+	return ModuleBase::main(FlightModeManager::desc, argc, argv);
 }