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

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* 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
This commit is contained in:
Jacob Dahl
2026-02-18 17:17:17 -09:00
committed by GitHub
parent 657854ae1b
commit ce3e62841f
227 changed files with 1741 additions and 1496 deletions
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src/modules/fw_lateral_longitudinal_control/FwLateralLongitudinalControl.cpp
+8 -6
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@@ -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);
}