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/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);
 }

src/modules/flight_mode_manager/FlightModeManager.hpp

@@ -65,9 +65,11 @@ enum class FlightTaskError : int {
 	ActivationFailed = -2
 };
 
-class FlightModeManager : public ModuleBase<FlightModeManager>, public ModuleParams, public px4::WorkItem
+class FlightModeManager : public ModuleBase, public ModuleParams, public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	FlightModeManager();
 	~FlightModeManager() override;
 

src/modules/fw_att_control/FixedwingAttitudeControl.cpp

@@ -39,6 +39,8 @@ using namespace matrix;
 using math::constrain;
 using math::radians;
 
+ModuleBase::Descriptor FixedwingAttitudeControl::desc{task_spawn, custom_command, print_usage};
+
 FixedwingAttitudeControl::FixedwingAttitudeControl(bool vtol) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -171,7 +173,7 @@ void FixedwingAttitudeControl::Run()
 {
 	if (should_exit()) {
 		_att_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -427,8 +429,8 @@ int FixedwingAttitudeControl::task_spawn(int argc, char *argv[])
 	FixedwingAttitudeControl *instance = new FixedwingAttitudeControl(vtol);
 
 	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;
@@ -439,8 +441,8 @@ int FixedwingAttitudeControl::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;
 }
@@ -473,5 +475,5 @@ fw_att_control is the fixed wing attitude controller.
 
 extern "C" __EXPORT int fw_att_control_main(int argc, char *argv[])
 {
-	return FixedwingAttitudeControl::main(argc, argv);
+	return ModuleBase::main(FixedwingAttitudeControl::desc, argc, argv);
 }

src/modules/fw_att_control/FixedwingAttitudeControl.hpp

@@ -74,10 +74,12 @@ using uORB::SubscriptionData;
 
 using namespace time_literals;
 
-class FixedwingAttitudeControl final : public ModuleBase<FixedwingAttitudeControl>, public ModuleParams,
+class FixedwingAttitudeControl final : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FixedwingAttitudeControl(bool vtol = false);
 	~FixedwingAttitudeControl() override;
 

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp

@@ -41,6 +41,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor FwAutotuneAttitudeControl::desc{task_spawn, custom_command, print_usage};
+
 FwAutotuneAttitudeControl::FwAutotuneAttitudeControl(bool is_vtol) :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -77,7 +79,7 @@ void FwAutotuneAttitudeControl::Run()
 	if (should_exit()) {
 		_parameter_update_sub.unregisterCallback();
 		_vehicle_torque_setpoint_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -906,8 +908,8 @@ int FwAutotuneAttitudeControl::task_spawn(int argc, char *argv[])
 	FwAutotuneAttitudeControl *instance = new FwAutotuneAttitudeControl(is_vtol);
 
 	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;
@@ -918,8 +920,8 @@ int FwAutotuneAttitudeControl::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;
 }
@@ -958,5 +960,5 @@ int FwAutotuneAttitudeControl::print_usage(const char *reason)
 
 extern "C" __EXPORT int fw_autotune_attitude_control_main(int argc, char *argv[])
 {
-	return FwAutotuneAttitudeControl::main(argc, argv);
+	return ModuleBase::main(FwAutotuneAttitudeControl::desc, argc, argv);
 }

src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.hpp

@@ -72,10 +72,12 @@ enum class SignalType : uint8_t {
 	kLogSineSweep
 };
 
-class FwAutotuneAttitudeControl : public ModuleBase<FwAutotuneAttitudeControl>, public ModuleParams,
+class FwAutotuneAttitudeControl : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	FwAutotuneAttitudeControl(bool is_vtol);
 	~FwAutotuneAttitudeControl() override;
 

src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp

@@ -43,6 +43,8 @@ using matrix::Eulerf;
 using matrix::Quatf;
 using matrix::Vector2f;
 
+ModuleBase::Descriptor FwLateralLongitudinalControl::desc{task_spawn, custom_command, print_usage};
+
 // [m/s] maximum reference altitude rate threshhold
 static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f;
 // [us] time after which the wind estimate is disabled if no longer updating
@@ -122,7 +124,7 @@ void FwLateralLongitudinalControl::Run()
 {
 	if (should_exit()) {
 		_local_pos_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -490,8 +492,8 @@ int FwLateralLongitudinalControl::task_spawn(int argc, char *argv[])
 	FwLateralLongitudinalControl *instance = new FwLateralLongitudinalControl(is_vtol);
 
 	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;
@@ -502,8 +504,8 @@ int FwLateralLongitudinalControl::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;
 }
@@ -863,5 +865,5 @@ float FwLateralLongitudinalControl::getLoadFactor() const
 
 extern "C" __EXPORT int fw_lat_lon_control_main(int argc, char *argv[])
 {
-	return FwLateralLongitudinalControl::main(argc, argv);
+	return ModuleBase::main(FwLateralLongitudinalControl::desc, argc, argv);
 }

src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.hpp

@@ -84,10 +84,12 @@
 static constexpr fixed_wing_lateral_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course = NAN, .airspeed_direction = NAN, .lateral_acceleration = NAN};
 static constexpr fixed_wing_longitudinal_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude = NAN, .height_rate = NAN, .equivalent_airspeed = NAN, .pitch_direct = NAN, .throttle_direct = NAN};
 
-class FwLateralLongitudinalControl final : public ModuleBase<FwLateralLongitudinalControl>, public ModuleParams,
+class FwLateralLongitudinalControl final : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	FwLateralLongitudinalControl(bool is_vtol);
 
 	~FwLateralLongitudinalControl() override;

src/modules/fw_mode_manager/FixedWingModeManager.cpp

@@ -46,6 +46,8 @@ using matrix::Vector2d;
 using matrix::Vector3f;
 using matrix::wrap_pi;
 
+ModuleBase::Descriptor FixedWingModeManager::desc{task_spawn, custom_command, print_usage};
+
 const fixed_wing_lateral_setpoint_s empty_lateral_control_setpoint = {.timestamp = 0, .course = NAN, .airspeed_direction = NAN, .lateral_acceleration = NAN};
 const fixed_wing_longitudinal_setpoint_s empty_longitudinal_control_setpoint = {.timestamp = 0, .altitude = NAN, .height_rate = NAN, .equivalent_airspeed = NAN, .pitch_direct = NAN, .throttle_direct = NAN};
 
@@ -1991,7 +1993,7 @@ FixedWingModeManager::Run()
 {
 	if (should_exit()) {
 		_local_pos_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -2746,8 +2748,8 @@ int FixedWingModeManager::task_spawn(int argc, char *argv[])
 	FixedWingModeManager *instance = new FixedWingModeManager();
 
 	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;
@@ -2758,8 +2760,8 @@ int FixedWingModeManager::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;
 }
@@ -2793,5 +2795,5 @@ lateral-longitudinal controller and and controllers below that (attitude, rate).
 
 extern "C" __EXPORT int fw_mode_manager_main(int argc, char *argv[])
 {
-	return FixedWingModeManager::main(argc, argv);
+	return ModuleBase::main(FixedWingModeManager::desc, argc, argv);
 }

src/modules/fw_mode_manager/FixedWingModeManager.hpp

@@ -151,10 +151,12 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f;
 // [] Stick deadzon
 static constexpr float kStickDeadBand = 0.06f;
 
-class FixedWingModeManager final : public ModuleBase<FixedWingModeManager>, public ModuleParams,
+class FixedWingModeManager final : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	FixedWingModeManager();
 	~FixedWingModeManager() override;
 

src/modules/fw_rate_control/FixedwingRateControl.cpp

@@ -39,6 +39,8 @@ using namespace matrix;
 using math::interpolate;
 using math::radians;
 
+ModuleBase::Descriptor FixedwingRateControl::desc{task_spawn, custom_command, print_usage};
+
 FixedwingRateControl::FixedwingRateControl(bool vtol) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -204,7 +206,7 @@ void FixedwingRateControl::Run()
 {
 	if (should_exit()) {
 		_vehicle_angular_velocity_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -550,8 +552,8 @@ int FixedwingRateControl::task_spawn(int argc, char *argv[])
 	FixedwingRateControl *instance = new FixedwingRateControl(vtol);
 
 	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;
@@ -562,8 +564,8 @@ int FixedwingRateControl::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;
 }
@@ -596,5 +598,5 @@ fw_rate_control is the fixed-wing rate controller.
 
 extern "C" __EXPORT int fw_rate_control_main(int argc, char *argv[])
 {
-	return FixedwingRateControl::main(argc, argv);
+	return ModuleBase::main(FixedwingRateControl::desc, argc, argv);
 }

src/modules/fw_rate_control/FixedwingRateControl.hpp

@@ -79,10 +79,12 @@ using uORB::SubscriptionData;
 
 using namespace time_literals;
 
-class FixedwingRateControl final : public ModuleBase<FixedwingRateControl>, public ModuleParams,
+class FixedwingRateControl final : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	FixedwingRateControl(bool vtol = false);
 	~FixedwingRateControl() override;
 

src/modules/gyro_calibration/GyroCalibration.cpp

@@ -38,6 +38,8 @@
 using namespace time_literals;
 using matrix::Vector3f;
 
+ModuleBase::Descriptor GyroCalibration::desc{task_spawn, custom_command, print_usage};
+
 GyroCalibration::GyroCalibration() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
@@ -60,7 +62,7 @@ void GyroCalibration::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -285,8 +287,8 @@ int GyroCalibration::task_spawn(int argc, char *argv[])
 	GyroCalibration *instance = new GyroCalibration();
 
 	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;
@@ -297,8 +299,8 @@ int GyroCalibration::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;
 }
@@ -347,5 +349,5 @@ Simple online gyroscope calibration.
 
 extern "C" __EXPORT int gyro_calibration_main(int argc, char *argv[])
 {
-	return GyroCalibration::main(argc, argv);
+	return ModuleBase::main(GyroCalibration::desc, argc, argv);
 }

src/modules/gyro_calibration/GyroCalibration.hpp

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

src/modules/gyro_fft/GyroFFT.cpp

@@ -39,6 +39,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor GyroFFT::desc{task_spawn, custom_command, print_usage};
+
 GyroFFT::GyroFFT() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -304,7 +306,7 @@ void GyroFFT::Run()
 	if (should_exit()) {
 		_sensor_gyro_sub.unregisterCallback();
 		_sensor_gyro_fifo_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -682,8 +684,8 @@ int GyroFFT::task_spawn(int argc, char *argv[])
 	GyroFFT *instance = new GyroFFT();
 
 	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;
@@ -694,8 +696,8 @@ int GyroFFT::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;
 }
@@ -737,5 +739,5 @@ int GyroFFT::print_usage(const char *reason)
 
 extern "C" __EXPORT int gyro_fft_main(int argc, char *argv[])
 {
-	return GyroFFT::main(argc, argv);
+	return ModuleBase::main(GyroFFT::desc, argc, argv);
 }

src/modules/gyro_fft/GyroFFT.hpp

@@ -58,9 +58,11 @@
 
 using namespace time_literals;
 
-class GyroFFT : public ModuleBase<GyroFFT>, public ModuleParams, public px4::ScheduledWorkItem
+class GyroFFT : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	GyroFFT();
 	~GyroFFT() override;
 

src/modules/hardfault_stream/HardfaultStream.cpp

@@ -38,6 +38,8 @@ using namespace time_literals;
 namespace hardfault_stream
 {
 
+ModuleBase::Descriptor HardfaultStream::desc{task_spawn, custom_command, print_usage};
+
 HardfaultStream::HardfaultStream() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -62,8 +64,8 @@ int HardfaultStream::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_object.store(obj);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(obj);
+	desc.task_id = task_id_is_work_queue;
 
 	/* Schedule a cycle to start things. */
 	obj->start();
@@ -154,7 +156,7 @@ void HardfaultStream::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 	}
 
 	switch (_state) {
@@ -218,7 +220,7 @@ high enough frequency. The recommended frequency is 10 Hz or higher.
 
 extern "C" __EXPORT int hardfault_stream_main(int argc, char *argv[])
 {
-	return HardfaultStream::main(argc, argv);
+	return ModuleBase::main(HardfaultStream::desc, argc, argv);
 }
 
 } // namespace hardfault_stream

src/modules/hardfault_stream/HardfaultStream.hpp

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

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.cpp

@@ -40,6 +40,8 @@ using namespace time_literals;
 namespace internal_combustion_engine_control
 {
 
+ModuleBase::Descriptor InternalCombustionEngineControl::desc{task_spawn, custom_command, print_usage};
+
 InternalCombustionEngineControl::InternalCombustionEngineControl() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
@@ -62,8 +64,8 @@ int InternalCombustionEngineControl::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_object.store(obj);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(obj);
+	desc.task_id = task_id_is_work_queue;
 
 	/* Schedule a cycle to start things. */
 	obj->start();
@@ -80,7 +82,7 @@ void InternalCombustionEngineControl::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 	}
 
 	// check for parameter updates
@@ -423,7 +425,7 @@ The architecture is as shown below:
 
 extern "C" __EXPORT int internal_combustion_engine_control_main(int argc, char *argv[])
 {
-	return InternalCombustionEngineControl::main(argc, argv);
+	return ModuleBase::main(InternalCombustionEngineControl::desc, argc, argv);
 }
 
 } // namespace internal_combustion_engine_control

src/modules/internal_combustion_engine_control/InternalCombustionEngineControl.hpp

@@ -53,10 +53,12 @@
 namespace internal_combustion_engine_control
 {
 
-class InternalCombustionEngineControl : public ModuleBase<InternalCombustionEngineControl>, public ModuleParams,
+class InternalCombustionEngineControl : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	InternalCombustionEngineControl();
 	~InternalCombustionEngineControl() override;
 

src/modules/land_detector/LandDetector.cpp

@@ -45,6 +45,8 @@ using namespace time_literals;
 namespace land_detector
 {
 
+ModuleBase::Descriptor LandDetector::desc{task_spawn, custom_command, print_usage};
+
 LandDetector::LandDetector() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
@@ -205,7 +207,7 @@ void LandDetector::Run()
 
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 	}
 }
 

src/modules/land_detector/LandDetector.h

@@ -72,9 +72,11 @@ using namespace time_literals;
 namespace land_detector
 {
 
-class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::ScheduledWorkItem
+class LandDetector : public ModuleBase, ModuleParams, px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	LandDetector();
 	virtual ~LandDetector();
 

src/modules/land_detector/land_detector_main.cpp

@@ -95,8 +95,8 @@ int LandDetector::task_spawn(int argc, char *argv[])
 	strncpy(_currentMode, argv[1], sizeof(_currentMode) - 1);
 	_currentMode[sizeof(_currentMode) - 1] = '\0';
 
-	_object.store(obj);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(obj);
+	desc.task_id = task_id_is_work_queue;
 
 	obj->start();
 
@@ -149,7 +149,7 @@ The module runs periodically on the HP work queue.
 
 extern "C" __EXPORT int land_detector_main(int argc, char *argv[])
 {
-	return LandDetector::main(argc, argv);
+	return ModuleBase::main(LandDetector::desc, argc, argv);
 }
 
 } // namespace land_detector

src/modules/load_mon/LoadMon.cpp

@@ -49,6 +49,8 @@ using namespace time_literals;
 namespace load_mon
 {
 
+ModuleBase::Descriptor LoadMon::desc{task_spawn, custom_command, print_usage};
+
 LoadMon::LoadMon() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
@@ -70,8 +72,8 @@ int LoadMon::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_object.store(obj);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(obj);
+	desc.task_id = task_id_is_work_queue;
 
 	/* Schedule a cycle to start things. */
 	obj->start();
@@ -114,7 +116,7 @@ void LoadMon::Run()
 #if defined (__PX4_LINUX)
 		fclose(_proc_fd);
 #endif
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 	}
 
 	perf_end(_cycle_perf);
@@ -327,7 +329,7 @@ which will also appear in the log file.
 
 extern "C" __EXPORT int load_mon_main(int argc, char *argv[])
 {
-	return LoadMon::main(argc, argv);
+	return ModuleBase::main(LoadMon::desc, argc, argv);
 }
 
 } // namespace load_mon

src/modules/load_mon/LoadMon.hpp

@@ -55,12 +55,14 @@
 namespace load_mon
 {
 
-class LoadMon : public ModuleBase<LoadMon>, public ModuleParams, public px4::ScheduledWorkItem
+class LoadMon : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
 	LoadMon();
 	~LoadMon() override;
 
+	static Descriptor desc;
+
 	static int task_spawn(int argc, char *argv[]);
 
 	/** @see ModuleBase */

src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp

@@ -5,6 +5,8 @@
 #include <matrix/math.hpp>
 #include <cstdlib>
 
+ModuleBase::Descriptor BlockLocalPositionEstimator::desc{task_spawn, custom_command, print_usage};
+
 orb_advert_t mavlink_log_pub = nullptr;
 
 // required standard deviation of estimate for estimator to publish data
@@ -165,7 +167,7 @@ void BlockLocalPositionEstimator::Run()
 {
 	if (should_exit()) {
 		_sensors_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -1029,8 +1031,8 @@ BlockLocalPositionEstimator::task_spawn(int argc, char *argv[])
 	BlockLocalPositionEstimator *instance = new BlockLocalPositionEstimator();
 
 	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;
@@ -1041,8 +1043,8 @@ BlockLocalPositionEstimator::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;
 }
@@ -1070,5 +1072,5 @@ Attitude and position estimator using an Extended Kalman Filter.
 
 extern "C" __EXPORT int local_position_estimator_main(int argc, char *argv[])
 {
-	return BlockLocalPositionEstimator::main(argc, argv);
+	return ModuleBase::main(BlockLocalPositionEstimator::desc, argc, argv);
 }

src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp

@@ -60,7 +60,7 @@ static const float BETA_TABLE[7] = {0,
 				    19.6465647819,
 				   };
 
-class BlockLocalPositionEstimator : public ModuleBase<BlockLocalPositionEstimator>, public ModuleParams,
+class BlockLocalPositionEstimator : public ModuleBase, public ModuleParams,
 	public px4::WorkItem, public control::SuperBlock
 {
 // dynamics:
@@ -110,6 +110,8 @@ class BlockLocalPositionEstimator : public ModuleBase<BlockLocalPositionEstimato
 //      land (detects when landed)): pz (always measures agl = 0)
 //
 public:
+	static Descriptor desc;
+
 
 	BlockLocalPositionEstimator();
 	~BlockLocalPositionEstimator() override = default;

src/modules/logger/logger.cpp

@@ -132,7 +132,7 @@ int logger_main(int argc, char *argv[])
 		return 1;
 	}
 
-	return Logger::main(argc, argv);
+	return ModuleBase::main(Logger::desc, argc, argv);
 }
 
 namespace px4
@@ -140,11 +140,13 @@ namespace px4
 namespace logger
 {
 
+ModuleBase::Descriptor Logger::desc{task_spawn, custom_command, print_usage};
+
 constexpr const char *Logger::LOG_ROOT[(int)LogType::Count];
 
 int Logger::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("logger not running");
 		return 1;
 	}
@@ -152,36 +154,43 @@ int Logger::custom_command(int argc, char *argv[])
 #ifdef __PX4_NUTTX
 
 	if (!strcmp(argv[0], "trigger_watchdog")) {
-		get_instance()->trigger_watchdog_now();
+		get_instance<Logger>(desc)->trigger_watchdog_now();
 		return 0;
 	}
 
 #endif
 
 	if (!strcmp(argv[0], "on")) {
-		get_instance()->set_arm_override(true);
+		get_instance<Logger>(desc)->set_arm_override(true);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "off")) {
-		get_instance()->set_arm_override(false);
+		get_instance<Logger>(desc)->set_arm_override(false);
 		return 0;
 	}
 
 	return print_usage("unknown command");
 }
 
+int Logger::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return Logger::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int Logger::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("logger",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_LOG_CAPTURE,
-				      PX4_STACK_ADJUSTED(CONFIG_LOGGER_STACK_SIZE),
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("logger",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_LOG_CAPTURE,
+					  PX4_STACK_ADJUSTED(CONFIG_LOGGER_STACK_SIZE),
+					  (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;
 	}
 
@@ -433,8 +442,8 @@ void Logger::update_params()
 
 bool Logger::request_stop_static()
 {
-	if (is_running()) {
-		get_instance()->request_stop();
+	if (is_running(desc)) {
+		get_instance<Logger>(desc)->request_stop();
 		return false;
 	}
 

src/modules/logger/logger.h

@@ -81,9 +81,11 @@ struct LoggerSubscription : public uORB::SubscriptionInterval {
 	uint8_t msg_id{MSG_ID_INVALID};
 };
 
-class Logger : public ModuleBase<Logger>, public ModuleParams
+class Logger : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	enum class LogMode {
 		while_armed = 0,
 		boot_until_disarm,
@@ -114,6 +116,9 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static Logger *instantiate(int argc, char *argv[]);
 

src/modules/mag_bias_estimator/MagBiasEstimator.cpp

@@ -39,6 +39,8 @@ using matrix::Vector3f;
 namespace mag_bias_estimator
 {
 
+ModuleBase::Descriptor MagBiasEstimator::desc{task_spawn, custom_command, print_usage};
+
 MagBiasEstimator::MagBiasEstimator() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
@@ -60,8 +62,8 @@ int MagBiasEstimator::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_object.store(obj);
-	_task_id = task_id_is_work_queue;
+	desc.object.store(obj);
+	desc.task_id = task_id_is_work_queue;
 
 	/* Schedule a cycle to start things. */
 	obj->start();
@@ -78,7 +80,7 @@ void MagBiasEstimator::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 	}
 
 	if (_vehicle_status_sub.updated()) {
@@ -293,7 +295,7 @@ Online magnetometer bias estimator.
 
 extern "C" __EXPORT int mag_bias_estimator_main(int argc, char *argv[])
 {
-	return MagBiasEstimator::main(argc, argv);
+	return ModuleBase::main(MagBiasEstimator::desc, argc, argv);
 }
 
 } // namespace load_mon

src/modules/mag_bias_estimator/MagBiasEstimator.hpp

@@ -55,9 +55,11 @@
 namespace mag_bias_estimator
 {
 
-class MagBiasEstimator : public ModuleBase<MagBiasEstimator>, public ModuleParams, public px4::ScheduledWorkItem
+class MagBiasEstimator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	MagBiasEstimator();
 	~MagBiasEstimator() override;
 

src/modules/manual_control/ManualControl.cpp

@@ -37,6 +37,8 @@
 #include <lib/systemlib/mavlink_log.h>
 #include <uORB/topics/vehicle_command.h>
 
+ModuleBase::Descriptor ManualControl::desc{task_spawn, custom_command, print_usage};
+
 ManualControl::ManualControl() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -69,7 +71,7 @@ void ManualControl::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -541,8 +543,8 @@ int ManualControl::task_spawn(int argc, char *argv[])
 	ManualControl *instance = new ManualControl();
 
 	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;
@@ -553,8 +555,8 @@ int ManualControl::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;
 }
@@ -627,5 +629,5 @@ int8_t ManualControl::navStateFromParam(int32_t param_value)
 
 extern "C" __EXPORT int manual_control_main(int argc, char *argv[])
 {
-	return ManualControl::main(argc, argv);
+	return ModuleBase::main(ManualControl::desc, argc, argv);
 }

src/modules/manual_control/ManualControl.hpp

@@ -55,9 +55,11 @@
 
 using namespace time_literals;
 
-class ManualControl : public ModuleBase<ManualControl>, public ModuleParams, public px4::ScheduledWorkItem
+class ManualControl : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	ManualControl();
 	~ManualControl() override;
 

src/modules/mc_att_control/mc_att_control.hpp

@@ -63,10 +63,12 @@
 
 using namespace time_literals;
 
-class MulticopterAttitudeControl : public ModuleBase<MulticopterAttitudeControl>, public ModuleParams,
+class MulticopterAttitudeControl : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	MulticopterAttitudeControl(bool vtol = false);
 	~MulticopterAttitudeControl() override;
 

src/modules/mc_att_control/mc_att_control_main.cpp

@@ -53,6 +53,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor MulticopterAttitudeControl::desc{task_spawn, custom_command, print_usage};
+
 MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -94,6 +96,7 @@ MulticopterAttitudeControl::parameters_updated()
 
 	// angular rate limits
 	using math::radians;
+
 	_attitude_control.setRateLimit(Vector3f(radians(_param_mc_rollrate_max.get()), radians(_param_mc_pitchrate_max.get()),
 						radians(_param_mc_yawrate_max.get())));
 
@@ -206,7 +209,7 @@ MulticopterAttitudeControl::Run()
 {
 	if (should_exit()) {
 		_vehicle_attitude_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -405,8 +408,8 @@ int MulticopterAttitudeControl::task_spawn(int argc, char *argv[])
 	MulticopterAttitudeControl *instance = new MulticopterAttitudeControl(vtol);
 
 	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;
@@ -417,8 +420,8 @@ int MulticopterAttitudeControl::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;
 }
@@ -465,5 +468,5 @@ https://www.research-collection.ethz.ch/bitstream/handle/20.500.11850/154099/eth
  */
 extern "C" __EXPORT int mc_att_control_main(int argc, char *argv[])
 {
-	return MulticopterAttitudeControl::main(argc, argv);
+	return ModuleBase::main(MulticopterAttitudeControl::desc, argc, argv);
 }

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp

@@ -41,6 +41,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor McAutotuneAttitudeControl::desc{task_spawn, custom_command, print_usage};
+
 McAutotuneAttitudeControl::McAutotuneAttitudeControl() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -71,7 +73,7 @@ void McAutotuneAttitudeControl::Run()
 	if (should_exit()) {
 		_parameter_update_sub.unregisterCallback();
 		_vehicle_torque_setpoint_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -645,8 +647,8 @@ int McAutotuneAttitudeControl::task_spawn(int argc, char *argv[])
 	McAutotuneAttitudeControl *instance = new McAutotuneAttitudeControl();
 
 	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;
@@ -657,8 +659,8 @@ int McAutotuneAttitudeControl::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;
 }
@@ -696,5 +698,5 @@ int McAutotuneAttitudeControl::print_usage(const char *reason)
 
 extern "C" __EXPORT int mc_autotune_attitude_control_main(int argc, char *argv[])
 {
-	return McAutotuneAttitudeControl::main(argc, argv);
+	return ModuleBase::main(McAutotuneAttitudeControl::desc, argc, argv);
 }

src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.hpp

@@ -63,10 +63,12 @@
 
 using namespace time_literals;
 
-class McAutotuneAttitudeControl : public ModuleBase<McAutotuneAttitudeControl>, public ModuleParams,
+class McAutotuneAttitudeControl : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	McAutotuneAttitudeControl();
 	~McAutotuneAttitudeControl() override;
 

src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp

@@ -43,6 +43,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor MulticopterHoverThrustEstimator::desc{task_spawn, custom_command, print_usage};
+
 MulticopterHoverThrustEstimator::MulticopterHoverThrustEstimator() :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers)
@@ -97,7 +99,7 @@ void MulticopterHoverThrustEstimator::Run()
 {
 	if (should_exit()) {
 		_vehicle_local_position_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -265,8 +267,8 @@ int MulticopterHoverThrustEstimator::task_spawn(int argc, char *argv[])
 	MulticopterHoverThrustEstimator *instance = new MulticopterHoverThrustEstimator();
 
 	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;
@@ -277,8 +279,8 @@ int MulticopterHoverThrustEstimator::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;
 }
@@ -316,5 +318,5 @@ int MulticopterHoverThrustEstimator::print_usage(const char *reason)
 
 extern "C" __EXPORT int mc_hover_thrust_estimator_main(int argc, char *argv[])
 {
-	return MulticopterHoverThrustEstimator::main(argc, argv);
+	return ModuleBase::main(MulticopterHoverThrustEstimator::desc, argc, argv);
 }

src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp

@@ -65,10 +65,12 @@
 
 using namespace time_literals;
 
-class MulticopterHoverThrustEstimator : public ModuleBase<MulticopterHoverThrustEstimator>, public ModuleParams,
+class MulticopterHoverThrustEstimator : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	MulticopterHoverThrustEstimator();
 	~MulticopterHoverThrustEstimator() override;
 

src/modules/mc_nn_control/mc_nn_control.cpp

@@ -45,6 +45,8 @@
 #include <chrono>
 #endif
 
+ModuleBase::Descriptor MulticopterNeuralNetworkControl::desc{task_spawn, custom_command, print_usage};
+
 namespace
 {
 // This number should be the number of operations in the model, like tanh and fully connected
@@ -412,8 +414,8 @@ int MulticopterNeuralNetworkControl::task_spawn(int argc, char *argv[])
 	MulticopterNeuralNetworkControl *instance = new MulticopterNeuralNetworkControl();
 
 	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() and instance->InitializeNetwork() == PX4_OK) {
 			return PX4_OK;
@@ -427,8 +429,8 @@ int MulticopterNeuralNetworkControl::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;
 }
@@ -442,7 +444,7 @@ void MulticopterNeuralNetworkControl::Run()
 			UnregisterNeuralFlightMode(_arming_check_id, _mode_id);
 		}
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -624,5 +626,5 @@ Outputs: [Actuator motors(4)]
 
 extern "C" __EXPORT int mc_nn_control_main(int argc, char *argv[])
 {
-	return MulticopterNeuralNetworkControl::main(argc, argv);
+	return ModuleBase::main(MulticopterNeuralNetworkControl::desc, argc, argv);
 }

src/modules/mc_nn_control/mc_nn_control.hpp

@@ -80,11 +80,13 @@
 #include <uORB/topics/arming_check_reply.h>
 
 using namespace time_literals; // For the 1_s in the subscription interval
-class MulticopterNeuralNetworkControl : public ModuleBase<MulticopterNeuralNetworkControl>, public ModuleParams,
+class MulticopterNeuralNetworkControl : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
 
+	static Descriptor desc;
+
 	MulticopterNeuralNetworkControl();
 	~MulticopterNeuralNetworkControl() override;
 

src/modules/mc_pos_control/MulticopterPositionControl.cpp

@@ -41,6 +41,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor MulticopterPositionControl::desc{task_spawn, custom_command, print_usage};
+
 MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -379,7 +381,7 @@ void MulticopterPositionControl::Run()
 {
 	if (should_exit()) {
 		_local_pos_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -743,8 +745,8 @@ int MulticopterPositionControl::task_spawn(int argc, char *argv[])
 	MulticopterPositionControl *instance = new MulticopterPositionControl(vtol);
 
 	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;
@@ -755,8 +757,8 @@ int MulticopterPositionControl::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;
 }
@@ -793,5 +795,5 @@ logging.
 
 extern "C" __EXPORT int mc_pos_control_main(int argc, char *argv[])
 {
-	return MulticopterPositionControl::main(argc, argv);
+	return ModuleBase::main(MulticopterPositionControl::desc, argc, argv);
 }

src/modules/mc_pos_control/MulticopterPositionControl.hpp

@@ -70,10 +70,12 @@
 
 using namespace time_literals;
 
-class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>, public ModuleParams,
+class MulticopterPositionControl : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	MulticopterPositionControl(bool vtol = false);
 	~MulticopterPositionControl() override;
 

src/modules/mc_raptor/mc_raptor.cpp

@@ -6,6 +6,8 @@
 
 #include <sys/stat.h>
 
+ModuleBase::Descriptor Raptor::desc{task_spawn, custom_command, print_usage};
+
 Raptor::Raptor(): ModuleParams(nullptr), ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
 {
 	// node state
@@ -184,6 +186,7 @@ bool Raptor::init()
 			rewind(f);
 			bool successfully_loaded = false;
 			using SPEC = rlt::persist::backends::tar::ReaderGroupSpecification<TI, rlt::persist::backends::tar::PosixFileData<TI>>;
+
 			rlt::persist::backends::tar::ReaderGroup<SPEC> reader_group;
 			reader_group.data.f = f;
 			reader_group.data.size = size;
@@ -453,7 +456,7 @@ void Raptor::Run()
 		}
 
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -969,8 +972,8 @@ int Raptor::task_spawn(int argc, char *argv[])
 	Raptor *instance = new Raptor();
 
 	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;
@@ -981,8 +984,8 @@ int Raptor::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;
 }
@@ -1006,7 +1009,7 @@ int Raptor::custom_command(int argc, char *argv[])
 				return PX4_ERROR;
 			}
 
-			Raptor *instance = get_instance();
+			Raptor *instance = get_instance<Raptor>(desc);
 
 			if (instance == nullptr) {
 				PX4_ERR("mc_raptor is not running");
@@ -1073,5 +1076,5 @@ RAPTOR Policy Flight Mode
 
 extern "C" __EXPORT int mc_raptor_main(int argc, char *argv[])
 {
-	return Raptor::main(argc, argv);
+	return ModuleBase::main(Raptor::desc, argc, argv);
 }

src/modules/mc_raptor/mc_raptor.hpp

@@ -69,9 +69,11 @@ namespace rlt = rl_tools;
 
 using namespace time_literals;
 
-class Raptor : public ModuleBase<Raptor>, public ModuleParams, public px4::ScheduledWorkItem
+class Raptor : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	Raptor();
 	~Raptor() override;
 

src/modules/mc_rate_control/MulticopterRateControl.cpp

@@ -43,6 +43,8 @@ using namespace matrix;
 using namespace time_literals;
 using math::radians;
 
+ModuleBase::Descriptor MulticopterRateControl::desc{task_spawn, custom_command, print_usage};
+
 MulticopterRateControl::MulticopterRateControl(bool vtol) :
 	ModuleParams(nullptr),
 	WorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -104,7 +106,7 @@ MulticopterRateControl::Run()
 {
 	if (should_exit()) {
 		_vehicle_angular_velocity_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -308,8 +310,8 @@ int MulticopterRateControl::task_spawn(int argc, char *argv[])
 	MulticopterRateControl *instance = new MulticopterRateControl(vtol);
 
 	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;
@@ -320,8 +322,8 @@ int MulticopterRateControl::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;
 }
@@ -357,5 +359,5 @@ The controller has a PID loop for angular rate error.
 
 extern "C" __EXPORT int mc_rate_control_main(int argc, char *argv[])
 {
-	return MulticopterRateControl::main(argc, argv);
+	return ModuleBase::main(MulticopterRateControl::desc, argc, argv);
 }

src/modules/mc_rate_control/MulticopterRateControl.hpp

@@ -63,9 +63,11 @@
 
 using namespace time_literals;
 
-class MulticopterRateControl : public ModuleBase<MulticopterRateControl>, public ModuleParams, public px4::WorkItem
+class MulticopterRateControl : public ModuleBase, public ModuleParams, public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	MulticopterRateControl(bool vtol = false);
 	~MulticopterRateControl() override;
 

src/modules/navigator/loiter.cpp

@@ -42,6 +42,8 @@
 #include "loiter.h"
 #include "navigator.h"
 
+ModuleBase::Descriptor Navigator::desc{task_spawn, custom_command, print_usage};
+
 Loiter::Loiter(Navigator *navigator) :
 	MissionBlock(navigator, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER),
 	ModuleParams(navigator)

src/modules/navigator/navigator.h

@@ -97,9 +97,11 @@ using namespace time_literals;
  */
 #define NAVIGATOR_MODE_ARRAY_SIZE 8
 
-class Navigator : public ModuleBase<Navigator>, public ModuleParams
+class Navigator : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	Navigator();
 	~Navigator() override;
 
@@ -109,6 +111,9 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static Navigator *instantiate(int argc, char *argv[]);
 

src/modules/navigator/navigator_main.cpp

@@ -1097,17 +1097,24 @@ void Navigator::geofence_breach_check()
 	}
 }
 
+int Navigator::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return Navigator::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int Navigator::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("navigator",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_NAVIGATION,
-				      PX4_STACK_ADJUSTED(2230),
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("navigator",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_NAVIGATION,
+					  PX4_STACK_ADJUSTED(2230),
+					  (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;
 	}
 
@@ -1336,20 +1343,20 @@ bool Navigator::force_vtol()
 
 int Navigator::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "fencefile")) {
-		get_instance()->load_fence_from_file(GEOFENCE_FILENAME);
+		get_instance<Navigator>(desc)->load_fence_from_file(GEOFENCE_FILENAME);
 		return 0;
 
 #if CONFIG_NAVIGATOR_ADSB
 
 	} else if (!strcmp(argv[0], "fake_traffic")) {
 
-		get_instance()->run_fake_traffic();
+		get_instance<Navigator>(desc)->run_fake_traffic();
 
 		return 0;
 #endif // CONFIG_NAVIGATOR_ADSB
@@ -1717,5 +1724,5 @@ controller.
  */
 extern "C" __EXPORT int navigator_main(int argc, char *argv[])
 {
-	return Navigator::main(argc, argv);
+	return ModuleBase::main(Navigator::desc, argc, argv);
 }

src/modules/payload_deliverer/payload_deliverer.cpp

@@ -32,6 +32,8 @@
  ****************************************************************************/
 #include "payload_deliverer.h"
 
+ModuleBase::Descriptor PayloadDeliverer::desc{task_spawn, custom_command, print_usage};
+
 PayloadDeliverer::PayloadDeliverer()
 	: ModuleParams(nullptr),
 	  ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
@@ -93,7 +95,7 @@ void PayloadDeliverer::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		_vehicle_command_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -317,15 +319,15 @@ int PayloadDeliverer::custom_command(int argc, char *argv[])
 	if (argc >= 1) {
 		// Tests the basic payload open / close ability
 		if (strcmp(argv[0], "gripper_test") == 0) {
-			get_instance()->gripper_test();
+			get_instance<PayloadDeliverer>(desc)->gripper_test();
 			return 0;
 
 		} else if (strcmp(argv[0], "gripper_open") == 0) {
-			get_instance()->gripper_open();
+			get_instance<PayloadDeliverer>(desc)->gripper_open();
 			return 0;
 
 		} else if (strcmp(argv[0], "gripper_close") == 0) {
-			get_instance()->gripper_close();
+			get_instance<PayloadDeliverer>(desc)->gripper_close();
 			return 0;
 		}
 	}
@@ -362,8 +364,8 @@ int PayloadDeliverer::task_spawn(int argc, char *argv[])
 	PayloadDeliverer *instance = new PayloadDeliverer();
 
 	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;
@@ -375,13 +377,13 @@ int PayloadDeliverer::task_spawn(int argc, char *argv[])
 
 	// Cleanup instance in memory and mark this module as invalid to run
 	delete instance;
-	_object.store(nullptr);
-	_task_id = -1;
+	desc.object.store(nullptr);
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
 
 int payload_deliverer_main(int argc, char *argv[])
 {
-	return PayloadDeliverer::main(argc, argv);
+	return ModuleBase::main(PayloadDeliverer::desc, argc, argv);
 }

src/modules/payload_deliverer/payload_deliverer.h

@@ -69,9 +69,11 @@ static constexpr int8_t GRIPPER_ACTION_NONE = -1;
  *
  * This module communicates with the Navigator which handles publishing such vehicle commands.
  */
-class PayloadDeliverer : public ModuleBase<PayloadDeliverer>, public ModuleParams, public px4::ScheduledWorkItem
+class PayloadDeliverer : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	PayloadDeliverer();
 
 	/** @see ModuleBase **/

src/modules/rc_update/rc_update.cpp

@@ -44,6 +44,8 @@ using namespace time_literals;
 namespace rc_update
 {
 
+ModuleBase::Descriptor RCUpdate::desc{task_spawn, custom_command, print_usage};
+
 // TODO: find a better home for this
 static bool operator ==(const manual_control_switches_s &a, const manual_control_switches_s &b)
 {
@@ -336,7 +338,7 @@ void RCUpdate::Run()
 {
 	if (should_exit()) {
 		_input_rc_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -691,8 +693,8 @@ int RCUpdate::task_spawn(int argc, char *argv[])
 	RCUpdate *instance = new RCUpdate();
 
 	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;
@@ -703,8 +705,8 @@ int RCUpdate::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;
 }
@@ -763,5 +765,5 @@ To reduce control latency, the module is scheduled on input_rc publications.
 
 extern "C" __EXPORT int rc_update_main(int argc, char *argv[])
 {
-	return rc_update::RCUpdate::main(argc, argv);
+	return ModuleBase::main(rc_update::RCUpdate::desc, argc, argv);
 }

src/modules/rc_update/rc_update.h

@@ -70,9 +70,11 @@ namespace rc_update
  *
  * Handling of RC updates
  */
-class RCUpdate : public ModuleBase<RCUpdate>, public ModuleParams, public px4::WorkItem
+class RCUpdate : public ModuleBase, public ModuleParams, public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	RCUpdate();
 	~RCUpdate() override;
 

src/modules/replay/Replay.cpp

@@ -74,6 +74,8 @@ using namespace time_literals;
 namespace px4
 {
 
+ModuleBase::Descriptor Replay::desc{task_spawn, custom_command, print_usage};
+
 char *Replay::_replay_file = nullptr;
 
 Replay::CompatSensorCombinedDtType::CompatSensorCombinedDtType(int gyro_integral_dt_offset_log,
@@ -1148,6 +1150,14 @@ Replay::custom_command(int argc, char *argv[])
 	return print_usage("unknown command");
 }
 
+int
+Replay::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return Replay::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int
 Replay::task_spawn(int argc, char *argv[])
 {
@@ -1161,15 +1171,15 @@ Replay::task_spawn(int argc, char *argv[])
 		return -1;
 	}
 
-	_task_id = px4_task_spawn_cmd("replay",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX - 5,
-				      4000,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("replay",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_MAX - 5,
+					  4000,
+					  (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;
 	}
 

src/modules/replay/Replay.hpp

@@ -55,9 +55,11 @@ namespace px4
  * to replay. This is necessary because data messages from different subscriptions don't need to be in
  * monotonic increasing order.
  */
-class Replay : public ModuleBase<Replay>
+class Replay : public ModuleBase
 {
 public:
+	static Descriptor desc;
+
 	Replay() = default;
 
 	virtual ~Replay();
@@ -65,6 +67,9 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static Replay *instantiate(int argc, char *argv[]);
 

src/modules/replay/ReplayEkf2.cpp

@@ -31,6 +31,7 @@
  *
  ****************************************************************************/
 
+#include <cstring>
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/defines.h>
 #include <px4_platform_common/posix.h>

src/modules/replay/replay_main.cpp

@@ -46,5 +46,5 @@ replay_main(int argc, char *argv[])
 		Replay::setupReplayFile(logfile);
 	}
 
-	return Replay::main(argc, argv);
+	return ModuleBase::main(Replay::desc, argc, argv);
 }

src/modules/rover_ackermann/RoverAckermann.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor RoverAckermann::desc{task_spawn, custom_command, print_usage};
+
 RoverAckermann::RoverAckermann() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
@@ -194,8 +196,8 @@ int RoverAckermann::task_spawn(int argc, char *argv[])
 	RoverAckermann *instance = new RoverAckermann();
 
 	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;
@@ -206,8 +208,8 @@ int RoverAckermann::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;
 }
@@ -237,5 +239,5 @@ Rover ackermann module.
 
 extern "C" __EXPORT int rover_ackermann_main(int argc, char *argv[])
 {
-	return RoverAckermann::main(argc, argv);
+	return ModuleBase::main(RoverAckermann::desc, argc, argv);
 }

src/modules/rover_ackermann/RoverAckermann.hpp

@@ -60,10 +60,12 @@
 #include "AckermannDriveModes/AckermannManualMode/AckermannManualMode.hpp"
 #include "AckermannDriveModes/AckermannOffboardMode/AckermannOffboardMode.hpp"
 
-class RoverAckermann : public ModuleBase<RoverAckermann>, public ModuleParams,
+class RoverAckermann : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	/**
 	 * @brief Constructor for RoverAckermann
 	 */

src/modules/rover_differential/RoverDifferential.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor RoverDifferential::desc{task_spawn, custom_command, print_usage};
+
 RoverDifferential::RoverDifferential() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
@@ -195,8 +197,8 @@ int RoverDifferential::task_spawn(int argc, char *argv[])
 	RoverDifferential *instance = new RoverDifferential();
 
 	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;
@@ -207,8 +209,8 @@ int RoverDifferential::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;
 }
@@ -238,5 +240,5 @@ Rover differential module.
 
 extern "C" __EXPORT int rover_differential_main(int argc, char *argv[])
 {
-	return RoverDifferential::main(argc, argv);
+	return ModuleBase::main(RoverDifferential::desc, argc, argv);
 }

src/modules/rover_differential/RoverDifferential.hpp

@@ -59,10 +59,12 @@
 #include "DifferentialDriveModes/DifferentialManualMode/DifferentialManualMode.hpp"
 #include "DifferentialDriveModes/DifferentialOffboardMode/DifferentialOffboardMode.hpp"
 
-class RoverDifferential : public ModuleBase<RoverDifferential>, public ModuleParams,
+class RoverDifferential : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	/**
 	 * @brief Constructor for RoverDifferential
 	 */

src/modules/rover_mecanum/RoverMecanum.cpp

@@ -35,6 +35,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor RoverMecanum::desc{task_spawn, custom_command, print_usage};
+
 RoverMecanum::RoverMecanum() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl)
@@ -195,8 +197,8 @@ int RoverMecanum::task_spawn(int argc, char *argv[])
 	RoverMecanum *instance = new RoverMecanum();
 
 	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;
@@ -207,8 +209,8 @@ int RoverMecanum::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;
 }
@@ -238,5 +240,5 @@ Rover mecanum module.
 
 extern "C" __EXPORT int rover_mecanum_main(int argc, char *argv[])
 {
-	return RoverMecanum::main(argc, argv);
+	return ModuleBase::main(RoverMecanum::desc, argc, argv);
 }

src/modules/rover_mecanum/RoverMecanum.hpp

@@ -59,10 +59,12 @@
 #include "MecanumDriveModes/MecanumManualMode/MecanumManualMode.hpp"
 #include "MecanumDriveModes/MecanumOffboardMode/MecanumOffboardMode.hpp"
 
-class RoverMecanum : public ModuleBase<RoverMecanum>, public ModuleParams,
+class RoverMecanum : public ModuleBase, public ModuleParams,
 	public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	/**
 	 * @brief Constructor for RoverMecanum
 	 */

src/modules/sensors/sensors.cpp

@@ -43,6 +43,8 @@
 
 #include "sensors.hpp"
 
+ModuleBase::Descriptor Sensors::desc{task_spawn, custom_command, print_usage};
+
 Sensors::Sensors(bool hil_enabled) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -502,7 +504,7 @@ void Sensors::Run()
 			sub.unregisterCallback();
 		}
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -647,8 +649,8 @@ int Sensors::task_spawn(int argc, char *argv[])
 	Sensors *instance = new Sensors(hil_enabled);
 
 	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;
@@ -659,8 +661,8 @@ int Sensors::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;
 }
@@ -775,5 +777,5 @@ It runs in its own thread and polls on the currently selected gyro topic.
 
 extern "C" __EXPORT int sensors_main(int argc, char *argv[])
 {
-	return Sensors::main(argc, argv);
+	return ModuleBase::main(Sensors::desc, argc, argv);
 }

src/modules/sensors/sensors.hpp

@@ -91,9 +91,11 @@
 using namespace sensors;
 using namespace time_literals;
 
-class Sensors : public ModuleBase<Sensors>, public ModuleParams, public px4::ScheduledWorkItem
+class Sensors : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	explicit Sensors(bool hil_enabled);
 	~Sensors() override;
 

src/modules/simulation/battery_simulator/BatterySimulator.cpp

@@ -33,6 +33,8 @@
 
 #include "BatterySimulator.hpp"
 
+ModuleBase::Descriptor BatterySimulator::desc{task_spawn, custom_command, print_usage};
+
 BatterySimulator::BatterySimulator() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default),
@@ -55,7 +57,7 @@ void BatterySimulator::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -175,8 +177,8 @@ int BatterySimulator::task_spawn(int argc, char *argv[])
 	BatterySimulator *instance = new BatterySimulator();
 
 	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;
@@ -187,8 +189,8 @@ int BatterySimulator::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;
 }
@@ -220,5 +222,5 @@ int BatterySimulator::print_usage(const char *reason)
 
 extern "C" __EXPORT int battery_simulator_main(int argc, char *argv[])
 {
-	return BatterySimulator::main(argc, argv);
+	return ModuleBase::main(BatterySimulator::desc, argc, argv);
 }

src/modules/simulation/battery_simulator/BatterySimulator.hpp

@@ -50,9 +50,11 @@
 
 using namespace time_literals;
 
-class BatterySimulator : public ModuleBase<BatterySimulator>, public ModuleParams, public px4::ScheduledWorkItem
+class BatterySimulator : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	BatterySimulator();
 	~BatterySimulator() override;
 

src/modules/simulation/gz_bridge/GZBridge.cpp

@@ -43,6 +43,8 @@
 #include <iostream>
 #include <string>
 
+ModuleBase::Descriptor GZBridge::desc{task_spawn, custom_command, print_usage};
+
 GZBridge::GZBridge(const std::string &world, const std::string &model_name) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
@@ -170,7 +172,7 @@ void GZBridge::Run()
 		_mixing_interface_wheel.stop();
 		_gimbal.stop();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -983,13 +985,13 @@ int GZBridge::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;
 
 	if (instance->init() != PX4_OK) {
 		delete instance;
-		_object.store(nullptr);
-		_task_id = -1;
+		desc.object.store(nullptr);
+		desc.task_id = -1;
 		return PX4_ERROR;
 	}
 
@@ -1038,5 +1040,5 @@ int GZBridge::print_usage(const char *reason)
 
 extern "C" __EXPORT int gz_bridge_main(int argc, char *argv[])
 {
-	return GZBridge::main(argc, argv);
+	return ModuleBase::main(GZBridge::desc, argc, argv);
 }

src/modules/simulation/gz_bridge/GZBridge.hpp

@@ -84,9 +84,11 @@
 
 using namespace time_literals;
 
-class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::ScheduledWorkItem
+class GZBridge : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	GZBridge(const std::string &world, const std::string &model_name);
 	~GZBridge() override;
 

src/modules/simulation/pwm_out_sim/PWMSim.cpp

@@ -41,6 +41,8 @@
 
 #include <px4_platform_common/sem.hpp>
 
+ModuleBase::Descriptor PWMSim::desc{task_spawn, custom_command, print_usage};
+
 PWMSim::PWMSim(bool hil_mode_enabled) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -103,7 +105,7 @@ void PWMSim::Run()
 		ScheduleClear();
 		_mixing_output.unregister();
 
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -146,8 +148,8 @@ int PWMSim::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;
 }
@@ -195,5 +197,5 @@ It is used in SITL and HITL.
 
 extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[])
 {
-	return PWMSim::main(argc, argv);
+	return ModuleBase::main(PWMSim::desc, argc, argv);
 }

src/modules/simulation/pwm_out_sim/PWMSim.hpp

@@ -52,9 +52,11 @@
 
 using namespace time_literals;
 
-class PWMSim : public ModuleBase<PWMSim>, public OutputModuleInterface
+class PWMSim : public ModuleBase, public OutputModuleInterface
 {
 public:
+	static Descriptor desc;
+
 	PWMSim(bool hil_mode_enabled);
 	~PWMSim() override;
 

src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp

@@ -39,6 +39,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorAgpSim::desc{task_spawn, custom_command, print_usage};
+
 SensorAgpSim::SensorAgpSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -87,7 +89,7 @@ void SensorAgpSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -153,8 +155,8 @@ int SensorAgpSim::task_spawn(int argc, char *argv[])
 	SensorAgpSim *instance = new SensorAgpSim();
 
 	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;
@@ -165,8 +167,8 @@ int SensorAgpSim::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;
 }
@@ -198,5 +200,5 @@ Module to simulate auxiliary global position measurements with optional failure
 
 extern "C" __EXPORT int sensor_agp_sim_main(int argc, char *argv[])
 {
-	return SensorAgpSim::main(argc, argv);
+	return ModuleBase::main(SensorAgpSim::desc, argc, argv);
 }

src/modules/simulation/sensor_agp_sim/SensorAgpSim.hpp

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

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp

@@ -39,6 +39,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorAirspeedSim::desc{task_spawn, custom_command, print_usage};
+
 SensorAirspeedSim::SensorAirspeedSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -91,7 +93,7 @@ void SensorAirspeedSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -159,8 +161,8 @@ int SensorAirspeedSim::task_spawn(int argc, char *argv[])
 	SensorAirspeedSim *instance = new SensorAirspeedSim();
 
 	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 @@ int SensorAirspeedSim::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;
 }
@@ -204,5 +206,5 @@ int SensorAirspeedSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_airspeed_sim_main(int argc, char *argv[])
 {
-	return SensorAirspeedSim::main(argc, argv);
+	return ModuleBase::main(SensorAirspeedSim::desc, argc, argv);
 }

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp

@@ -55,9 +55,11 @@ static constexpr float PRESSURE_MSL = 101325.0; // pressure at MSL [Pa]
 static constexpr float LAPSE_RATE = 0.0065; // reduction in temperature with altitude for troposphere [K/m]
 static constexpr float AIR_DENSITY_MSL = 1.225; // air density at MSL [kg/m^3]
 
-class SensorAirspeedSim : public ModuleBase<SensorAirspeedSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorAirspeedSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorAirspeedSim();
 	~SensorAirspeedSim() override;
 

src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp

@@ -37,6 +37,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorBaroSim::desc{task_spawn, custom_command, print_usage};
+
 SensorBaroSim::SensorBaroSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -90,7 +92,7 @@ void SensorBaroSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -183,8 +185,8 @@ int SensorBaroSim::task_spawn(int argc, char *argv[])
 	SensorBaroSim *instance = new SensorBaroSim();
 
 	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;
@@ -195,8 +197,8 @@ int SensorBaroSim::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;
 }
@@ -228,5 +230,5 @@ int SensorBaroSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_baro_sim_main(int argc, char *argv[])
 {
-	return SensorBaroSim::main(argc, argv);
+	return ModuleBase::main(SensorBaroSim::desc, argc, argv);
 }

src/modules/simulation/sensor_baro_sim/SensorBaroSim.hpp

@@ -48,9 +48,11 @@
 
 using namespace time_literals;
 
-class SensorBaroSim : public ModuleBase<SensorBaroSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorBaroSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorBaroSim();
 	~SensorBaroSim() override;
 

src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp

@@ -39,6 +39,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorGpsSim::desc{task_spawn, custom_command, print_usage};
+
 SensorGpsSim::SensorGpsSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -91,7 +93,7 @@ void SensorGpsSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -187,8 +189,8 @@ int SensorGpsSim::task_spawn(int argc, char *argv[])
 	SensorGpsSim *instance = new SensorGpsSim();
 
 	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;
@@ -199,8 +201,8 @@ int SensorGpsSim::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;
 }
@@ -232,5 +234,5 @@ int SensorGpsSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_gps_sim_main(int argc, char *argv[])
 {
-	return SensorGpsSim::main(argc, argv);
+	return ModuleBase::main(SensorGpsSim::desc, argc, argv);
 }

src/modules/simulation/sensor_gps_sim/SensorGpsSim.hpp

@@ -48,9 +48,11 @@
 
 using namespace time_literals;
 
-class SensorGpsSim : public ModuleBase<SensorGpsSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorGpsSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorGpsSim();
 	~SensorGpsSim() override;
 

src/modules/simulation/sensor_mag_sim/SensorMagSim.cpp

@@ -38,6 +38,8 @@
 
 using namespace matrix;
 
+ModuleBase::Descriptor SensorMagSim::desc{task_spawn, custom_command, print_usage};
+
 SensorMagSim::SensorMagSim() :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
@@ -91,7 +93,7 @@ void SensorMagSim::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -147,8 +149,8 @@ int SensorMagSim::task_spawn(int argc, char *argv[])
 	SensorMagSim *instance = new SensorMagSim();
 
 	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;
@@ -159,8 +161,8 @@ int SensorMagSim::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;
 }
@@ -192,5 +194,5 @@ int SensorMagSim::print_usage(const char *reason)
 
 extern "C" __EXPORT int sensor_mag_sim_main(int argc, char *argv[])
 {
-	return SensorMagSim::main(argc, argv);
+	return ModuleBase::main(SensorMagSim::desc, argc, argv);
 }

src/modules/simulation/sensor_mag_sim/SensorMagSim.hpp

@@ -48,9 +48,11 @@
 
 using namespace time_literals;
 
-class SensorMagSim : public ModuleBase<SensorMagSim>, public ModuleParams, public px4::ScheduledWorkItem
+class SensorMagSim : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	SensorMagSim();
 	~SensorMagSim() override;
 

src/modules/simulation/simulator_sih/sih.cpp

@@ -53,6 +53,8 @@ using namespace math;
 using namespace matrix;
 using namespace time_literals;
 
+ModuleBase::Descriptor Sih::desc{task_spawn, custom_command, print_usage};
+
 Sih::Sih() :
 	ModuleParams(nullptr)
 {}
@@ -84,7 +86,7 @@ void Sih::run()
 #else
 	realtime_loop();
 #endif
-	exit_and_cleanup();
+	exit_and_cleanup(desc);
 }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
@@ -845,17 +847,24 @@ int Sih::print_status()
 	return 0;
 }
 
+int Sih::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return Sih::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int Sih::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("sih",
-				      SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX,
-				      1560,
-				      (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+	desc.task_id = px4_task_spawn_cmd("sih",
+					  SCHED_DEFAULT,
+					  SCHED_PRIORITY_MAX,
+					  1560,
+					  (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;
 	}
 
@@ -914,5 +923,5 @@ Most of the variables are declared global in the .hpp file to avoid stack overfl
 
 extern "C" __EXPORT int simulator_sih_main(int argc, char *argv[])
 {
-	return Sih::main(argc, argv);
+	return ModuleBase::main(Sih::desc, argc, argv);
 }

src/modules/simulation/simulator_sih/sih.hpp

@@ -86,15 +86,20 @@
 
 using namespace time_literals;
 
-class Sih : public ModuleBase<Sih>, public ModuleParams
+class Sih : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	Sih();
 	virtual ~Sih();
 
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static Sih *instantiate(int argc, char *argv[]);
 

src/modules/simulation/system_power_simulator/SystemPowerSimulator.cpp

@@ -33,6 +33,8 @@
 
 #include "SystemPowerSimulator.hpp"
 
+ModuleBase::Descriptor SystemPowerSimulator::desc{task_spawn, custom_command, print_usage};
+
 SystemPowerSimulator::SystemPowerSimulator() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
@@ -53,7 +55,7 @@ void SystemPowerSimulator::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -81,8 +83,8 @@ int SystemPowerSimulator::task_spawn(int argc, char *argv[])
 	SystemPowerSimulator *instance = new SystemPowerSimulator();
 
 	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;
@@ -93,8 +95,8 @@ int SystemPowerSimulator::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;
 }
@@ -127,5 +129,5 @@ int SystemPowerSimulator::print_usage(const char *reason)
 
 extern "C" __EXPORT int system_power_simulator_main(int argc, char *argv[])
 {
-	return SystemPowerSimulator::main(argc, argv);
+	return ModuleBase::main(SystemPowerSimulator::desc, argc, argv);
 }