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

boards/cuav/x25-evo/core_heater/core_heater.cpp

@@ -43,6 +43,8 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
 
+ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
+
 #  ifndef GPIO_CORE_HEATER_OUTPUT
 #  error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
 #  endif
@@ -62,7 +64,7 @@ Core_Heater::~Core_Heater()
 int Core_Heater::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -117,7 +119,7 @@ bool Core_Heater::initialize_topics()
 void Core_Heater::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -216,8 +218,8 @@ int Core_Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(core_heater);
+	desc.object.store(core_heater);
-	_task_id = task_id_is_work_queue;
+	desc.task_id = task_id_is_work_queue;
 
 	core_heater->start();
 	return 0;
@@ -257,5 +259,5 @@ Background process running periodically on the LP work queue to regulate IMU tem
 
 extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
 {
-	return Core_Heater::main(argc, argv);
+	return ModuleBase::main(Core_Heater::desc, argc, argv);
 }

boards/cuav/x25-evo/core_heater/core_heater.h

@@ -56,9 +56,11 @@ using namespace time_literals;
 #define CONTROLLER_PERIOD_DEFAULT    10000
 #define TEMPERATURE_TARGET_THRESHOLD 2.5f
 
-class Core_Heater : public ModuleBase<Core_Heater>, public ModuleParams, public px4::ScheduledWorkItem
+class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	Core_Heater();
 
 	virtual ~Core_Heater();

boards/emlid/navio2/navio_rgbled/NavioRGBLed.cpp

@@ -33,6 +33,8 @@
 
 #include "NavioRGBLed.hpp"
 
+ModuleBase::Descriptor NavioRGBLed::desc{task_spawn, custom_command, print_usage};
+
 NavioRGBLed::NavioRGBLed() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
@@ -130,8 +132,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();
 
 	if (instance) {
-		_object.store(instance);
+		desc.object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -142,8 +144,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
+	desc.object.store(nullptr);
-	_task_id = -1;
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -170,5 +172,5 @@ Emlid Navio2 RGB LED driver.
 
 extern "C" __EXPORT int navio_rgbled_main(int argc, char *argv[])
 {
-	return NavioRGBLed::main(argc, argv);
+	return ModuleBase::main(NavioRGBLed::desc, argc, argv);
 }

boards/emlid/navio2/navio_rgbled/NavioRGBLed.hpp

@@ -40,9 +40,11 @@
 
 #include <lib/led/led.h>
 
-class NavioRGBLed : public ModuleBase<NavioRGBLed>, public px4::ScheduledWorkItem
+class NavioRGBLed : public ModuleBase, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	NavioRGBLed();
 	~NavioRGBLed() override;
 

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp

@@ -49,6 +49,8 @@
 
 using namespace time_literals;
 
+ModuleBase::Descriptor GhstRc::desc{task_spawn, custom_command, print_usage};
+
 uint32_t GhstRc::baudrate = GHST_BAUDRATE;
 
 GhstRc::GhstRc(const char *device) :
@@ -114,8 +116,8 @@ int GhstRc::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	_object.store(instance);
+	desc.object.store(instance);
-	_task_id = task_id_is_work_queue;
+	desc.task_id = task_id_is_work_queue;
 
 	instance->ScheduleNow();
 
@@ -174,7 +176,7 @@ void GhstRc::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		_rc_fd = -1;
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -308,5 +310,5 @@ This module parses the GHST RC uplink protocol and can generate GHST downlink te
 
 extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
 {
-	return GhstRc::main(argc, argv);
+	return ModuleBase::main(GhstRc::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp

@@ -54,9 +54,11 @@
 
 #define GHST_MAX_NUM_CHANNELS			(16)
 
-class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
+class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
+	static Descriptor desc;
+
 	GhstRc(const char *device);
 	~GhstRc() override;
 

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.cpp

@@ -59,6 +59,8 @@
 
 #include "rc_controller.hpp"
 
+ModuleBase::Descriptor RC_ControllerModule::desc{task_spawn, custom_command, print_usage};
+
 int RC_ControllerModule::print_status()
 {
 	PX4_INFO("Running");
@@ -69,35 +71,35 @@ int RC_ControllerModule::print_status()
 
 int RC_ControllerModule::custom_command(int argc, char *argv[])
 {
-	if (!is_running()) {
+	if (!is_running(desc)) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "throttle")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_throttle(val);
+		get_instance<RC_ControllerModule>(desc)->set_throttle(val);
 		PX4_INFO("Setting throttle to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "yaw")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_yaw(val);
+		get_instance<RC_ControllerModule>(desc)->set_yaw(val);
 		PX4_INFO("Setting yaw to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "pitch")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_pitch(val);
+		get_instance<RC_ControllerModule>(desc)->set_pitch(val);
 		PX4_INFO("Setting pitch to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "roll")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance()->set_roll(val);
+		get_instance<RC_ControllerModule>(desc)->set_roll(val);
 		PX4_INFO("Setting roll to %u", val);
 		return 0;
 	}
@@ -106,17 +108,24 @@ int RC_ControllerModule::custom_command(int argc, char *argv[])
 }
 
 
+int RC_ControllerModule::run_trampoline(int argc, char *argv[])
+{
+	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
+		return RC_ControllerModule::instantiate(ac, av);
+	}, argc, argv);
+}
+
 int RC_ControllerModule::task_spawn(int argc, char *argv[])
 {
-	_task_id = px4_task_spawn_cmd("RC_ControllerModule",
+	desc.task_id = px4_task_spawn_cmd("RC_ControllerModule",
-				      SCHED_DEFAULT,
+					  SCHED_DEFAULT,
-				      SCHED_PRIORITY_MAX,
+					  SCHED_PRIORITY_MAX,
-				      1024,
+					  1024,
-				      (px4_main_t)&run_trampoline,
+					  (px4_main_t)&run_trampoline,
-				      (char *const *)argv);
+					  (char *const *)argv);
 
-	if (_task_id < 0) {
+	if (desc.task_id < 0) {
-		_task_id = -1;
+		desc.task_id = -1;
 		return -errno;
 	}
 
@@ -252,5 +261,5 @@ int RC_ControllerModule::print_usage(const char *reason)
 
 int rc_controller_main(int argc, char *argv[])
 {
-	return RC_ControllerModule::main(argc, argv);
+	return ModuleBase::main(RC_ControllerModule::desc, argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.hpp

@@ -41,9 +41,11 @@
 
 extern "C" __EXPORT int rc_controller_main(int argc, char *argv[]);
 
-class RC_ControllerModule : public ModuleBase<RC_ControllerModule>, public ModuleParams
+class RC_ControllerModule : public ModuleBase, public ModuleParams
 {
 public:
+	static Descriptor desc;
+
 	RC_ControllerModule();
 
 	virtual ~RC_ControllerModule() = default;
@@ -51,6 +53,9 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
+	/** @see ModuleBase */
+	static int run_trampoline(int argc, char *argv[]);
+
 	/** @see ModuleBase */
 	static RC_ControllerModule *instantiate(int argc, char *argv[]);
 

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.cpp

@@ -41,6 +41,8 @@
 
 using namespace std;
 
+ModuleBase::Descriptor VoxlSaveCalParams::desc{task_spawn, custom_command, print_usage};
+
 static bool debug = false;
 
 VoxlSaveCalParams::VoxlSaveCalParams() :
@@ -145,7 +147,7 @@ VoxlSaveCalParams::Run()
 {
 	if (should_exit()) {
 		_parameter_primary_set_value_request_sub.unregisterCallback();
-		exit_and_cleanup();
+		exit_and_cleanup(desc);
 		return;
 	}
 
@@ -186,8 +188,8 @@ int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
 	VoxlSaveCalParams *instance = new VoxlSaveCalParams();
 
 	if (instance) {
-		_object.store(instance);
+		desc.object.store(instance);
-		_task_id = task_id_is_work_queue;
+		desc.task_id = task_id_is_work_queue;
 
 		if (instance->init()) {
 			return PX4_OK;
@@ -198,8 +200,8 @@ int VoxlSaveCalParams::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	_object.store(nullptr);
+	desc.object.store(nullptr);
-	_task_id = -1;
+	desc.task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -230,5 +232,5 @@ This implements autosaving of calibration parameters on VOXL2 platform.
 
 extern "C" __EXPORT int voxl_save_cal_params_main(int argc, char *argv[])
 {
-	return VoxlSaveCalParams::main(argc, argv);
+	return ModuleBase::main(VoxlSaveCalParams::desc, argc, argv);
 }

boards/modalai/voxl2/src/modules/voxl_save_cal_params/VoxlSaveCalParams.hpp

@@ -46,10 +46,12 @@
 
 using namespace time_literals;
 
-class VoxlSaveCalParams : public ModuleBase<VoxlSaveCalParams>, public ModuleParams,
+class VoxlSaveCalParams : public ModuleBase, public ModuleParams,
 	public px4::WorkItem
 {
 public:
+	static Descriptor desc;
+
 	VoxlSaveCalParams();
 	~VoxlSaveCalParams() = default;
 

platforms/common/include/px4_platform_common/module.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2017-2025 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,23 +33,27 @@
 
 /**
  * @file module.h
+ *
+ * Non-template base class for modules. Replaces the CRTP ModuleBase<T>
+ * pattern with a descriptor-based approach that shares a single copy of the
+ * common static methods (main, start, stop, status, etc.) across all modules.
  */
 
 #pragma once
 
-#include <pthread.h>
-#include <unistd.h>
-#include <stdbool.h>
-
-#include <px4_platform_common/atomic.h>
-#include <px4_platform_common/time.h>
 #include <px4_platform_common/log.h>
+#include <px4_platform_common/time.h>
 #include <px4_platform_common/tasks.h>
 #include <systemlib/px4_macros.h>
 
+#include <pthread.h>
+#include <unistd.h>
+#include <stdbool.h>
+#include <stdint.h>
+
 #ifdef __cplusplus
 
-#include <cstring>
+#include <px4_platform_common/atomic.h>
 
 /**
  * @brief This mutex protects against race conditions during startup & shutdown of modules.
@@ -61,527 +65,153 @@ extern pthread_mutex_t px4_modules_mutex;
 
 /**
  * @class ModuleBase
- *      Base class for modules, implementing common functionality,
+ *      Non-template base class for modules, implementing common functionality
  *      such as 'start', 'stop' and 'status' commands.
- *      Currently does not support modules which allow multiple instances,
- *      such as mavlink.
  *
- *      The class is implemented as curiously recurring template pattern (CRTP).
+ *      Each module provides a static Descriptor instance that holds
- *      It allows to have a static object in the base class that is different for
+ *      module-specific function pointers and per-module storage (object
- *      each module type, and call static methods from the base class.
+ *      pointer and task ID). The shared static methods operate on the
- *
+ *      descriptor instead of CRTP template statics.
- * @note Required methods for a derived class:
- * When running in its own thread:
- *      static int task_spawn(int argc, char *argv[])
- *      {
- *              // call px4_task_spawn_cmd() with &run_trampoline as startup method
- *              // optional: wait until _object is not null, which means the task got initialized (use a timeout)
- *              // set _task_id and return 0
- *              // on error return != 0 (and _task_id must be -1)
- *      }
- *
- *      static T *instantiate(int argc, char *argv[])
- *      {
- *              // this is called from within the new thread, from run_trampoline()
- *              // parse the arguments
- *              // create a new object T & return it
- *              // or return nullptr on error
- *      }
- *
- *      static int custom_command(int argc, char *argv[])
- *      {
- *              // support for custom commands
- *              // if none are supported, just do:
- *              return print_usage("unrecognized command");
- *      }
- *
- *      static int print_usage(const char *reason = nullptr)
- *      {
- *              // use the PRINT_MODULE_* methods...
- *      }
- *
- * When running on the work queue:
- * - custom_command & print_usage as above
- *      static int task_spawn(int argc, char *argv[]) {
- *              // parse the arguments
- *              // set _object (here or from the work_queue() callback)
- *              // call work_queue() (with a custom cycle trampoline)
- *              // optional: wait until _object is not null, which means the task got initialized (use a timeout)
- *              // set _task_id to task_id_is_work_queue and return 0
- *              // on error return != 0 (and _task_id must be -1)
- *      }
  */
-template<class T>
 class ModuleBase
 {
 public:
-	ModuleBase() : _task_should_exit{false} {}
+	/**
-	virtual ~ModuleBase() {}
+	 * Per-module descriptor providing module-specific function pointers
+	 * and storage (object pointer, task ID).
+	 */
+	struct Descriptor {
+		Descriptor(int (*ts)(int, char **), int (*cc)(int, char **), int (*pu)(const char *))
+			: task_spawn(ts), custom_command(cc), print_usage(pu) {}
+
+		int (*task_spawn)(int argc, char *argv[]);
+		int (*custom_command)(int argc, char *argv[]);
+		int (*print_usage)(const char *reason);
+		px4::atomic<ModuleBase *> object{nullptr};
+		int task_id{-1};
+	};
+
+	ModuleBase() = default;
+	virtual ~ModuleBase() = default;
 
 	/**
-	 * @brief main Main entry point to the module that should be
+	 * @brief Main entry point to the module that should be called directly
-	 *        called directly from the module's main method.
+	 *        from the module's main method.
-	 * @param argc The task argument count.
-	 * @param argc Pointer to the task argument variable array.
-	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
-	static int main(int argc, char *argv[])
+	static int main(Descriptor &desc, int argc, char *argv[]);
-	{
-		if (argc <= 1 ||
-		    strcmp(argv[1], "-h")    == 0 ||
-		    strcmp(argv[1], "help")  == 0 ||
-		    strcmp(argv[1], "info")  == 0 ||
-		    strcmp(argv[1], "usage") == 0) {
-			return T::print_usage();
-		}
-
-		if (strcmp(argv[1], "start") == 0) {
-			// Pass the 'start' argument too, because later on px4_getopt() will ignore the first argument.
-			return start_command_base(argc - 1, argv + 1);
-		}
-
-		if (strcmp(argv[1], "status") == 0) {
-			return status_command();
-		}
-
-		if (strcmp(argv[1], "stop") == 0) {
-			return stop_command();
-		}
-
-		lock_module(); // Lock here, as the method could access _object.
-		int ret = T::custom_command(argc - 1, argv + 1);
-		unlock_module();
-
-		return ret;
-	}
 
 	/**
-	 * @brief Entry point for px4_task_spawn_cmd() if the module runs in its own thread.
+	 * @brief Start command: checks if running, calls desc.task_spawn().
-	 *        It does:
-	 *        - instantiate the object
-	 *        - call run() on it to execute the main loop
-	 *        - cleanup: delete the object
-	 * @param argc The task argument count.
-	 * @param argc Pointer to the task argument variable array.
-	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
-	static int run_trampoline(int argc, char *argv[])
+	static int start_command(Descriptor &desc, int argc, char *argv[]);
-	{
-		int ret = 0;
-
-		// We don't need the task name at this point.
-		argc -= 1;
-		argv += 1;
-
-		T *object = T::instantiate(argc, argv);
-		_object.store(object);
-
-		if (object) {
-			object->run();
-
-		} else {
-			PX4_ERR("failed to instantiate object");
-			ret = -1;
-		}
-
-		exit_and_cleanup();
-
-		return ret;
-	}
 
 	/**
-	 * @brief Stars the command, ('command start'), checks if if is already
+	 * @brief Stop command: request stop and wait for exit.
-	 *        running and calls T::task_spawn() if it's not.
-	 * @param argc The task argument count.
-	 * @param argc Pointer to the task argument variable array.
-	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
-	static int start_command_base(int argc, char *argv[])
+	static int stop_command(Descriptor &desc);
-	{
-		int ret = 0;
-		lock_module();
-
-		if (is_running()) {
-			ret = -1;
-			PX4_ERR("Task already running");
-
-		} else {
-			ret = T::task_spawn(argc, argv);
-
-			if (ret < 0) {
-				PX4_ERR("Task start failed (%i)", ret);
-			}
-		}
-
-		unlock_module();
-		return ret;
-	}
 
 	/**
-	 * @brief Stops the command, ('command stop'), checks if it is running and if it is, request the module to stop
+	 * @brief Status command: call print_status() on running instance.
-	 *        and waits for the task to complete.
-	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
-	static int stop_command()
+	static int status_command(Descriptor &desc);
-	{
-		int ret = 0;
-		lock_module();
-
-		if (is_running()) {
-			T *object = _object.load();
-
-			if (object) {
-				object->request_stop();
-
-				unsigned int i = 0;
-
-				do {
-					unlock_module();
-					px4_usleep(10000); // 10 ms
-					lock_module();
-
-					if (++i > 500 && _task_id != -1) { // wait at most 5 sec
-						PX4_ERR("timeout, forcing stop");
-
-						if (_task_id != task_id_is_work_queue) {
-							px4_task_delete(_task_id);
-						}
-
-						_task_id = -1;
-
-						delete _object.load();
-						_object.store(nullptr);
-
-						ret = -1;
-						break;
-					}
-				} while (_task_id != -1);
-
-			} else {
-				// In the very unlikely event that can only happen on work queues,
-				// if the starting thread does not wait for the work queue to initialize,
-				// and inside the work queue, the allocation of _object fails
-				// and exit_and_cleanup() is not called, set the _task_id as invalid.
-				_task_id = -1;
-			}
-		}
-
-		unlock_module();
-		return ret;
-	}
 
 	/**
-	 * @brief Handle 'command status': check if running and call print_status() if it is
+	 * @brief Cleanup: delete object, reset task_id. Called from module thread.
-	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
-	static int status_command()
+	static void exit_and_cleanup(Descriptor &desc);
-	{
-		int ret = -1;
-		lock_module();
-
-		if (is_running() && _object.load()) {
-			T *object = _object.load();
-			ret = object->print_status();
-
-		} else {
-			PX4_INFO("not running");
-		}
-
-		unlock_module();
-		return ret;
-	}
 
 	/**
-	 * @brief Print the status if the module is running. This can be overridden by the module to provide
+	 * @brief Check if the module is running.
-	 * more specific information.
-	 * @return Returns 0 iff successful, -1 otherwise.
 	 */
-	virtual int print_status()
+	static bool is_running(const Descriptor &desc) { return desc.task_id != -1; }
-	{
-		PX4_INFO("running");
-		return 0;
-	}
 
 	/**
-	 * @brief Main loop method for modules running in their own thread. Called from run_trampoline().
+	 * @brief Wait until the object is initialized (called from task_spawn).
-	 *        This method must return when should_exit() returns true.
 	 */
-	virtual void run()
+	static int wait_until_running(Descriptor &desc, int timeout_ms = 1000);
-	{
-	}
 
 	/**
-	 * @brief Returns the status of the module.
+	 * @brief Shared run-trampoline for thread-based modules.
-	 * @return Returns true if the module is running, false otherwise.
+	 *
+	 * Each thread-based module provides a thin per-module trampoline
+	 * that calls this with its descriptor + instantiate function.
 	 */
-	static bool is_running()
+	using instantiate_fn = ModuleBase * (*)(int argc, char *argv[]);
+	static int run_trampoline_impl(Descriptor &desc, instantiate_fn instantiate,
+				       int argc, char *argv[]);
+
+	/**
+	 * @brief Main loop method for modules running in their own thread.
+	 */
+	virtual void run() {}
+
+	/**
+	 * @brief Print the status of the module.
+	 */
+	virtual int print_status();
+
+	/**
+	 * @brief Tells the module to stop.
+	 */
+	virtual void request_stop() { _task_should_exit.store(true); }
+
+	/**
+	 * @brief Checks if the module should stop.
+	 */
+	bool should_exit() const { return _task_should_exit.load(); }
+
+	/**
+	 * @brief Typed accessor for the running module instance.
+	 *        Centralizes the ModuleBase* -> T* downcast in one place.
+	 */
+	template<typename T>
+	static T *get_instance(Descriptor &desc)
 	{
-		return _task_id != -1;
+		return static_cast<T *>(desc.object.load()); // NOLINT(cppcoreguidelines-pro-type-static-cast-downcast)
 	}
 
+	static constexpr int task_id_is_work_queue = -2;
+
 protected:
-
-	/**
-	 * @brief Tells the module to stop (used from outside or inside the module thread).
-	 */
-	virtual void request_stop()
-	{
-		_task_should_exit.store(true);
-	}
-
-	/**
-	 * @brief Checks if the module should stop (used within the module thread).
-	 * @return Returns True iff successful, false otherwise.
-	 */
-	bool should_exit() const
-	{
-		return _task_should_exit.load();
-	}
-
-	/**
-	 * @brief Exits the module and delete the object. Called from within the module's thread.
-	 *        For work queue modules, this needs to be called from the derived class in the
-	 *        cycle method, when should_exit() returns true.
-	 */
-	static void exit_and_cleanup()
-	{
-		// Take the lock here:
-		// - if startup fails and we're faster than the parent thread, it will set
-		//   _task_id and subsequently it will look like the task is running.
-		// - deleting the object must take place inside the lock.
-		lock_module();
-
-		delete _object.load();
-		_object.store(nullptr);
-
-		_task_id = -1; // Signal a potentially waiting thread for the module to exit that it can continue.
-		unlock_module();
-	}
-
-	/**
-	 * @brief Waits until _object is initialized, (from the new thread). This can be called from task_spawn().
-	 * @return Returns 0 iff successful, -1 on timeout or otherwise.
-	 */
-	static int wait_until_running(int timeout_ms = 1000)
-	{
-		int i = 0;
-
-		do {
-			px4_usleep(2000);
-
-		} while (!_object.load() && ++i < timeout_ms / 2);
-
-		if (i >= timeout_ms / 2) {
-			PX4_ERR("Timed out while waiting for thread to start");
-			return -1;
-		}
-
-		return 0;
-	}
-
-	/**
-	 * @brief Get the module's object instance, (this is null if it's not running).
-	 */
-	static T *get_instance()
-	{
-		return (T *)_object.load();
-	}
-
-	/**
-	 * @var _object Instance if the module is running.
-	 * @note There will be one instance for each template type.
-	 */
-	static px4::atomic<T *> _object;
-
-	/** @var _task_id The task handle: -1 = invalid, otherwise task is assumed to be running. */
-	static int _task_id;
-
-	/** @var task_id_is_work_queue Value to indicate if the task runs on the work queue. */
-	static constexpr const int task_id_is_work_queue = -2;
-
-private:
-	/**
-	 * @brief lock_module Mutex to lock the module thread.
-	 */
-	static void lock_module()
-	{
-		pthread_mutex_lock(&px4_modules_mutex);
-	}
-
-	/**
-	 * @brief unlock_module Mutex to unlock the module thread.
-	 */
-	static void unlock_module()
-	{
-		pthread_mutex_unlock(&px4_modules_mutex);
-	}
-
-	/** @var _task_should_exit Boolean flag to indicate if the task should exit. */
 	px4::atomic_bool _task_should_exit{false};
 };
 
-template<class T>
-px4::atomic<T *> ModuleBase<T>::_object{nullptr};
-
-template<class T>
-int ModuleBase<T>::_task_id = -1;
-
-
 #endif /* __cplusplus */
 
 
+/* -------- C-linkage declarations for PRINT_MODULE_* helpers -------- */
+
 __BEGIN_DECLS
 
-/**
- * @brief Module documentation and command usage help methods.
- *        These are extracted with the Tools/px_process_module_doc.py
- *        script and must be kept in sync.
- */
-
 #ifdef __PX4_NUTTX
-/**
- * @note Disable module description on NuttX to reduce Flash usage.
- *       There's a GCC bug (https://gcc.gnu.org/bugzilla/show_bug.cgi?id=55971), preventing us to use
- *       a macro, but GCC will remove the string as well with this empty inline method.
- * @param description The provided functionality of the module and potentially the most important parameters.
- */
 static inline void PRINT_MODULE_DESCRIPTION(const char *description) {}
 #else
-
-/**
- * @brief Prints module documentation (will also be used for online documentation). It uses Markdown syntax
- *        and should include these sections:
- * - ### Description
- *   Provided functionality of the module and potentially the most important parameters.
- * - ### Implementation
- *   High-level implementation overview
- * - ### Examples
- *   Examples how to use the CLI interface (if it's non-trivial)
- *
- * In addition to the Markdown syntax, a line beginning with '$ ' can be used to mark a command:
- * $ module start -p param
- */
 __EXPORT void PRINT_MODULE_DESCRIPTION(const char *description);
 #endif
 
-/**
- * @brief Prints the command name.
- * @param executable_name: command name used in scripts & CLI
- * @param category one of: driver, estimator, controller, system, communication, command, template
- */
 __EXPORT void PRINT_MODULE_USAGE_NAME(const char *executable_name, const char *category);
-
-/**
- * @brief Specify a subcategory (optional).
- * @param subcategory e.g. if the category is 'driver', subcategory can be 'distance_sensor'
- */
 __EXPORT void PRINT_MODULE_USAGE_SUBCATEGORY(const char *subcategory);
-
-/**
- * @brief Prints the name for a command without any sub-commands (@see PRINT_MODULE_USAGE_NAME()).
- */
 __EXPORT void PRINT_MODULE_USAGE_NAME_SIMPLE(const char *executable_name, const char *category);
-
-
-/**
- * @brief Prints a command with a short description what it does.
- */
 __EXPORT void PRINT_MODULE_USAGE_COMMAND_DESCR(const char *name, const char *description);
 
 #define PRINT_MODULE_USAGE_COMMAND(name) \
 	PRINT_MODULE_USAGE_COMMAND_DESCR(name, NULL);
 
-/**
- * @brief Prints the default commands: stop & status.
- */
 #define PRINT_MODULE_USAGE_DEFAULT_COMMANDS() \
 	PRINT_MODULE_USAGE_COMMAND("stop"); \
 	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "print status info");
 
-/**
- * Print default params for I2C or SPI drivers
- * @param i2c_support true if the driver supports I2C
- * @param spi_support true if the driver supports SPI
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(bool i2c_support, bool spi_support);
-
-/**
- * Configurable I2C address (via -a <address>)
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(uint8_t default_address);
-
-/**
- * -k flag
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAMS_I2C_KEEP_RUNNING_FLAG(void);
-
-/** @note Each of the PRINT_MODULE_USAGE_PARAM_* methods apply to the previous PRINT_MODULE_USAGE_COMMAND_DESCR(). */
-
-/**
- * @brief Prints an integer parameter.
- * @param option_char The option character.
- * @param default_val The parameter default value (set to -1 if not applicable).
- * @param min_val The parameter minimum value.
- * @param max_val The parameter value.
- * @param description Pointer to the usage description.
- * @param is_optional true if this parameter is optional
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAM_INT(char option_char, int default_val, int min_val, int max_val,
 		const char *description, bool is_optional);
-
-/**
- * @brief Prints a float parameter.
- * @note See PRINT_MODULE_USAGE_PARAM_INT().
- * @param default_val The parameter default value (set to NaN if not applicable).
- * @param min_val The parameter minimum value.
- * @param max_val The parameter maximum value.
- * @param description Pointer to the usage description. Pointer to the usage description.
- * @param is_optional true if this parameter is optional
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAM_FLOAT(char option_char, float default_val, float min_val, float max_val,
 		const char *description, bool is_optional);
-
-/**
- * @brief Prints a flag parameter, without any value.
- * @note See PRINT_MODULE_USAGE_PARAM_INT().
- * @param option_char The option character.
- * @param description Pointer to the usage description.
- * @param is_optional true if this parameter is optional
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAM_FLAG(char option_char, const char *description, bool is_optional);
-
-/**
- * @brief Prints a string parameter.
- * @param option_char The option character.
- * @param default_val The default value, can be nullptr.
- * @param values The valid values, it has one of the following forms:
- *               - nullptr: leave unspecified, or any value is valid
- *               - "<file>" or "<file:dev>": a file or more specifically a device file (eg. serial device)
- *               - "<topic_name>": uORB topic name
- *               - "<value1> [<value2>]": a list of values
- *               - "on|off": a concrete set of valid strings separated by "|".
- * @param description Pointer to the usage description.
- * @param is_optional True iff this parameter is optional.
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAM_STRING(char option_char, const char *default_val, const char *values,
 		const char *description, bool is_optional);
-
-/**
- * @brief Prints a comment, that applies to the next arguments or parameters. For example to indicate that
- *        a parameter applies to several or all commands.
- * @param comment
- */
 __EXPORT void PRINT_MODULE_USAGE_PARAM_COMMENT(const char *comment);
-
-
-/**
- * @brief Prints the definition for an argument, which does not have the typical -p <val> form,
- *        but for example 'param set <param> <value>'
- * @param values eg. "<file>", "<param> <value>" or "<value1> [<value2>]"
- * @param description Pointer to the usage description.
- * @param is_optional true if this parameter is optional
- */
 __EXPORT void PRINT_MODULE_USAGE_ARG(const char *values, const char *description, bool is_optional);
 
-
 __END_DECLS

platforms/common/module_base.cpp

@@ -0,0 +1,229 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017-2025 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file module_base.cpp
+ *
+ * Shared implementations of ModuleBase static methods. One copy linked
+ * for all modules, replacing per-module CRTP template instantiations.
+ */
+
+#ifndef MODULE_NAME
+#define MODULE_NAME "module"
+#endif
+
+#include <px4_platform_common/module.h>
+
+#include <pthread.h>
+#include <cstring>
+
+extern pthread_mutex_t px4_modules_mutex;
+
+int ModuleBase::print_status()
+{
+	printf("running\n");
+	return 0;
+}
+
+int ModuleBase::main(Descriptor &desc, int argc, char *argv[])
+{
+	if (argc <= 1 ||
+	    strcmp(argv[1], "-h")    == 0 ||
+	    strcmp(argv[1], "help")  == 0 ||
+	    strcmp(argv[1], "info")  == 0 ||
+	    strcmp(argv[1], "usage") == 0) {
+		return desc.print_usage(nullptr);
+	}
+
+	if (strcmp(argv[1], "start") == 0) {
+		// Pass the 'start' argument too, because later on px4_getopt() will ignore the first argument.
+		return start_command(desc, argc - 1, argv + 1);
+	}
+
+	if (strcmp(argv[1], "status") == 0) {
+		return status_command(desc);
+	}
+
+	if (strcmp(argv[1], "stop") == 0) {
+		return stop_command(desc);
+	}
+
+	pthread_mutex_lock(&px4_modules_mutex);
+	int ret = desc.custom_command(argc - 1, argv + 1);
+	pthread_mutex_unlock(&px4_modules_mutex);
+
+	return ret;
+}
+
+int ModuleBase::start_command(Descriptor &desc, int argc, char *argv[])
+{
+	int ret = 0;
+	pthread_mutex_lock(&px4_modules_mutex);
+
+	if (is_running(desc)) {
+		ret = -1;
+		PX4_ERR("Task already running");
+
+	} else {
+		ret = desc.task_spawn(argc, argv);
+
+		if (ret < 0) {
+			PX4_ERR("Task start failed (%i)", ret);
+		}
+	}
+
+	pthread_mutex_unlock(&px4_modules_mutex);
+	return ret;
+}
+
+int ModuleBase::stop_command(Descriptor &desc)
+{
+	int ret = 0;
+	pthread_mutex_lock(&px4_modules_mutex);
+
+	if (is_running(desc)) {
+		ModuleBase *object = desc.object.load();
+
+		if (object) {
+			object->request_stop();
+
+			unsigned int i = 0;
+
+			do {
+				pthread_mutex_unlock(&px4_modules_mutex);
+				px4_usleep(10000); // 10 ms
+				pthread_mutex_lock(&px4_modules_mutex);
+
+				if (++i > 500 && desc.task_id != -1) { // wait at most 5 sec
+					PX4_ERR("timeout, forcing stop");
+
+					if (desc.task_id != task_id_is_work_queue) {
+						px4_task_delete(desc.task_id);
+					}
+
+					desc.task_id = -1;
+
+					delete desc.object.load();
+					desc.object.store(nullptr);
+
+					ret = -1;
+					break;
+				}
+			} while (desc.task_id != -1);
+
+		} else {
+			// In the very unlikely event that can only happen on work queues,
+			// if the starting thread does not wait for the work queue to initialize,
+			// and inside the work queue, the allocation of _object fails
+			// and exit_and_cleanup() is not called, set the task_id as invalid.
+			desc.task_id = -1;
+		}
+	}
+
+	pthread_mutex_unlock(&px4_modules_mutex);
+	return ret;
+}
+
+int ModuleBase::status_command(Descriptor &desc)
+{
+	int ret = -1;
+	pthread_mutex_lock(&px4_modules_mutex);
+
+	if (is_running(desc) && desc.object.load()) {
+		ModuleBase *object = desc.object.load();
+		ret = object->print_status();
+
+	} else {
+		PX4_INFO("not running");
+	}
+
+	pthread_mutex_unlock(&px4_modules_mutex);
+	return ret;
+}
+
+void ModuleBase::exit_and_cleanup(Descriptor &desc)
+{
+	// Take the lock here:
+	// - if startup fails and we're faster than the parent thread, it will set
+	//   task_id and subsequently it will look like the task is running.
+	// - deleting the object must take place inside the lock.
+	pthread_mutex_lock(&px4_modules_mutex);
+
+	delete desc.object.load();
+	desc.object.store(nullptr);
+
+	desc.task_id = -1; // Signal a potentially waiting thread for the module to exit that it can continue.
+	pthread_mutex_unlock(&px4_modules_mutex);
+}
+
+int ModuleBase::wait_until_running(Descriptor &desc, int timeout_ms)
+{
+	int i = 0;
+
+	do {
+		px4_usleep(2000);
+
+	} while (!desc.object.load() && ++i < timeout_ms / 2);
+
+	if (i >= timeout_ms / 2) {
+		PX4_ERR("Timed out while waiting for thread to start");
+		return -1;
+	}
+
+	return 0;
+}
+
+int ModuleBase::run_trampoline_impl(Descriptor &desc, instantiate_fn instantiate,
+				    int argc, char *argv[])
+{
+	int ret = 0;
+
+	// We don't need the task name at this point.
+	argc -= 1;
+	argv += 1;
+
+	ModuleBase *object = instantiate(argc, argv);
+	desc.object.store(object);
+
+	if (object) {
+		object->run();
+
+	} else {
+		PX4_ERR("failed to instantiate object");
+		ret = -1;
+	}
+
+	exit_and_cleanup(desc);
+
+	return ret;
+}

platforms/nuttx/src/px4/common/px4_layer.cmake

@@ -3,6 +3,7 @@
 add_library(px4_layer
 		${KERNEL_SRCS}
 		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
+		${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 		SerialImpl.cpp
 	)
 

platforms/nuttx/src/px4/common/px4_protected_layers.cmake

@@ -5,6 +5,7 @@ add_library(px4_layer
 	board_dma_alloc.c
 	board_fat_dma_alloc.c
 	tasks.cpp
+	${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 	console_buffer_usr.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
@@ -45,6 +46,7 @@ target_link_libraries(px4_layer
 
 add_library(px4_kernel_layer
 	${KERNEL_SRCS}
+	${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 	SerialImpl.cpp
 )
 

platforms/posix/src/px4/common/CMakeLists.txt

@@ -40,6 +40,7 @@ set(EXTRA_DEPENDS)
 add_library(px4_layer
 	px4_posix_impl.cpp
 	tasks.cpp
+	${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 	px4_sem.cpp
 	px4_init.cpp
 	lib_crc32.c

platforms/qurt/src/px4/CMakeLists.txt

@@ -35,6 +35,7 @@
 set(QURT_LAYER_SRCS
 	drv_hrt.cpp
 	tasks.cpp
+	${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 	px4_qurt_impl.cpp
 	main.cpp
 	qurt_log.cpp

platforms/ros2/include/px4_platform_common/module.h

@@ -43,220 +43,6 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-/**
- * @class ModuleBase
- *      Base class for modules, implementing common functionality,
- *      such as 'start', 'stop' and 'status' commands.
- *      Currently does not support modules which allow multiple instances,
- *      such as mavlink.
- *
- *      The class is implemented as curiously recurring template pattern (CRTP).
- *      It allows to have a static object in the base class that is different for
- *      each module type, and call static methods from the base class.
- *
- * @note Required methods for a derived class:
- * When running in its own thread:
- *      static int task_spawn(int argc, char *argv[])
- *      {
- *              // call px4_task_spawn_cmd() with &run_trampoline as startup method
- *              // optional: wait until _object is not null, which means the task got initialized (use a timeout)
- *              // set _task_id and return 0
- *              // on error return != 0 (and _task_id must be -1)
- *      }
- *
- *      static T *instantiate(int argc, char *argv[])
- *      {
- *              // this is called from within the new thread, from run_trampoline()
- *              // parse the arguments
- *              // create a new object T & return it
- *              // or return nullptr on error
- *      }
- *
- *      static int custom_command(int argc, char *argv[])
- *      {
- *              // support for custom commands
- *              // if none are supported, just do:
- *              return print_usage("unrecognized command");
- *      }
- *
- *      static int print_usage(const char *reason = nullptr)
- *      {
- *              // use the PRINT_MODULE_* methods...
- *      }
- *
- * When running on the work queue:
- * - custom_command & print_usage as above
- *      static int task_spawn(int argc, char *argv[]) {
- *              // parse the arguments
- *              // set _object (here or from the work_queue() callback)
- *              // call work_queue() (with a custom cycle trampoline)
- *              // optional: wait until _object is not null, which means the task got initialized (use a timeout)
- *              // set _task_id to task_id_is_work_queue and return 0
- *              // on error return != 0 (and _task_id must be -1)
- *      }
- */
-template<class T>
-class ModuleBase : public rclcpp::Node
-{
-public:
-	ModuleBase() : Node(MODULE_NAME)
-	{
-
-		RCLCPP_INFO(get_logger(), "constructing %lu", hrt_absolute_time());
-	}
-
-	virtual ~ModuleBase() {}
-
-	/**
-	 * @brief main Main entry point to the module that should be
-	 *        called directly from the module's main method.
-	 * @param argc The task argument count.
-	 * @param argc Pointer to the task argument variable array.
-	 * @return Returns 0 iff successful, -1 otherwise.
-	 */
-	static int main(int argc, char *argv[])
-	{
-
-
-		return ret;
-	}
-
-	/**
-	 * @brief Print the status if the module is running. This can be overridden by the module to provide
-	 * more specific information.
-	 * @return Returns 0 iff successful, -1 otherwise.
-	 */
-	virtual int print_status()
-	{
-		PX4_INFO("running");
-		return 0;
-	}
-
-	/**
-	 * @brief Main loop method for modules running in their own thread. Called from run_trampoline().
-	 *        This method must return when should_exit() returns true.
-	 */
-	virtual void run()
-	{
-	}
-
-	/**
-	 * @brief Returns the status of the module.
-	 * @return Returns true if the module is running, false otherwise.
-	 */
-	static bool is_running()
-	{
-		return _task_id != -1;
-	}
-
-protected:
-
-	/**
-	 * @brief Tells the module to stop (used from outside or inside the module thread).
-	 */
-	virtual void request_stop()
-	{
-		_task_should_exit.store(true);
-	}
-
-	/**
-	 * @brief Checks if the module should stop (used within the module thread).
-	 * @return Returns True iff successful, false otherwise.
-	 */
-	bool should_exit() const
-	{
-		return _task_should_exit.load();
-	}
-
-	/**
-	 * @brief Exits the module and delete the object. Called from within the module's thread.
-	 *        For work queue modules, this needs to be called from the derived class in the
-	 *        cycle method, when should_exit() returns true.
-	 */
-	static void exit_and_cleanup()
-	{
-		// Take the lock here:
-		// - if startup fails and we're faster than the parent thread, it will set
-		//   _task_id and subsequently it will look like the task is running.
-		// - deleting the object must take place inside the lock.
-		lock_module();
-
-		delete _object.load();
-		_object.store(nullptr);
-
-		_task_id = -1; // Signal a potentially waiting thread for the module to exit that it can continue.
-		unlock_module();
-	}
-
-	/**
-	 * @brief Waits until _object is initialized, (from the new thread). This can be called from task_spawn().
-	 * @return Returns 0 iff successful, -1 on timeout or otherwise.
-	 */
-	static int wait_until_running(int timeout_ms = 1000)
-	{
-		int i = 0;
-
-		do {
-			px4_usleep(2000);
-
-		} while (!_object.load() && ++i < timeout_ms / 2);
-
-		if (i >= timeout_ms / 2) {
-			PX4_ERR("Timed out while waiting for thread to start");
-			return -1;
-		}
-
-		return 0;
-	}
-
-	/**
-	 * @brief Get the module's object instance, (this is null if it's not running).
-	 */
-	static T *get_instance()
-	{
-		return (T *)_object.load();
-	}
-
-	/**
-	 * @var _object Instance if the module is running.
-	 * @note There will be one instance for each template type.
-	 */
-	static px4::atomic<T *> _object;
-
-	/** @var _task_id The task handle: -1 = invalid, otherwise task is assumed to be running. */
-	static int _task_id;
-
-	/** @var task_id_is_work_queue Value to indicate if the task runs on the work queue. */
-	static constexpr const int task_id_is_work_queue = -2;
-
-private:
-	/**
-	 * @brief lock_module Mutex to lock the module thread.
-	 */
-	static void lock_module()
-	{
-		pthread_mutex_lock(&px4_modules_mutex);
-	}
-
-	/**
-	 * @brief unlock_module Mutex to unlock the module thread.
-	 */
-	static void unlock_module()
-	{
-		pthread_mutex_unlock(&px4_modules_mutex);
-	}
-
-	/** @var _task_should_exit Boolean flag to indicate if the task should exit. */
-	px4::atomic_bool _task_should_exit{false};
-};
-
-template<class T>
-px4::atomic<T *> ModuleBase<T>::_object{nullptr};
-
-template<class T>
-int ModuleBase<T>::_task_id = -1;
-
-
 #endif /* __cplusplus */
 
 

platforms/ros2/src/px4/common/CMakeLists.txt

@@ -34,6 +34,7 @@
 add_library(px4_layer STATIC
 	drv_hrt.cpp
 	px4_sem.cpp
+	${PX4_SOURCE_DIR}/platforms/common/module_base.cpp
 )
 target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4")
 target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable

src/drivers/actuators/voxl_esc/voxl_esc.cpp

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

src/drivers/actuators/voxl_esc/voxl_esc.hpp

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

src/drivers/adc/board_adc/ADC.cpp

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

src/drivers/adc/board_adc/ADC.hpp

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

src/drivers/auterion_autostarter/AuterionAutostarter.cpp

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

src/drivers/auterion_autostarter/AuterionAutostarter.h

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

src/drivers/cdcacm_autostart/cdcacm_autostart.cpp

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

src/drivers/cdcacm_autostart/cdcacm_autostart.h

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

src/drivers/distance_sensor/pga460/pga460.cpp

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

src/drivers/distance_sensor/pga460/pga460.h

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

src/drivers/distance_sensor/srf05/SR05.hpp

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

src/drivers/distance_sensor/srf05/SRF05.cpp

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

src/drivers/dshot/DShot.cpp

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

src/drivers/dshot/DShot.h

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

src/drivers/gnss/septentrio/septentrio.cpp

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

src/drivers/gnss/septentrio/septentrio.h

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

src/drivers/gps/gps.cpp

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

src/drivers/heater/heater.cpp

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

src/drivers/heater/heater.h

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

src/drivers/ins/eulernav_bahrs/eulernav_bahrs_main.cpp

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

src/drivers/ins/eulernav_bahrs/eulernav_driver.cpp

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

src/drivers/ins/eulernav_bahrs/eulernav_driver.h

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

src/drivers/ins/ilabs/ILabs.cpp

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

src/drivers/ins/ilabs/ILabs.h

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

src/drivers/ins/microstrain/MicroStrain.cpp

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

src/drivers/ins/microstrain/MicroStrain.hpp

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

src/drivers/ins/sbgecom/sbgecom.cpp

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

src/drivers/ins/sbgecom/sbgecom.hpp

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

src/drivers/ins/vectornav/VectorNav.cpp

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

src/drivers/ins/vectornav/VectorNav.hpp

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

src/drivers/lights/neopixel/neopixel.cpp

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

src/drivers/linux_pwm_out/linux_pwm_out.cpp

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

src/drivers/linux_pwm_out/linux_pwm_out.hpp

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

src/drivers/osd/msp_osd/msp_osd.cpp

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

src/drivers/osd/msp_osd/msp_osd.hpp

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

src/drivers/pca9685_pwm_out/main.cpp

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

src/drivers/pps_capture/PPSCapture.cpp

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

src/drivers/pps_capture/PPSCapture.hpp

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

src/drivers/pwm_input/pwm_input.cpp

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

src/drivers/pwm_input/pwm_input.h

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

src/drivers/pwm_out/PWMOut.cpp

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

src/drivers/pwm_out/PWMOut.hpp

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

src/drivers/px4io/px4io.cpp

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

src/drivers/rc/crsf_rc/CrsfRc.cpp

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

src/drivers/rc/crsf_rc/CrsfRc.hpp

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

src/drivers/rc/dsm_rc/DsmRc.cpp

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

src/drivers/rc/dsm_rc/DsmRc.hpp

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

src/drivers/rc/ghst_rc/GhstRc.cpp

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

src/drivers/rc/ghst_rc/GhstRc.hpp

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

src/drivers/rc/sbus_rc/SbusRc.cpp

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

src/drivers/rc/sbus_rc/SbusRc.hpp

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

src/drivers/rc_input/RCInput.cpp

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

src/drivers/rc_input/RCInput.hpp

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

src/drivers/roboclaw/Roboclaw.cpp

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

src/drivers/roboclaw/Roboclaw.hpp

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

src/drivers/rpm_capture/RPMCapture.cpp

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

src/drivers/rpm_capture/RPMCapture.hpp

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

src/drivers/safety_button/SafetyButton.cpp

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

src/drivers/safety_button/SafetyButton.hpp

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

src/drivers/tap_esc/TAP_ESC.cpp

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

src/drivers/tap_esc/TAP_ESC.hpp

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

src/drivers/tattu_can/TattuCan.cpp

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

src/drivers/tattu_can/TattuCan.hpp

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

src/drivers/telemetry/iridiumsbd/IridiumSBD.cpp

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

src/drivers/telemetry/iridiumsbd/IridiumSBD.h

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

src/drivers/tone_alarm/ToneAlarm.cpp

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

src/drivers/tone_alarm/ToneAlarm.h

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

src/drivers/transponder/sagetech_mxs/SagetechMXS.cpp

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

src/drivers/transponder/sagetech_mxs/SagetechMXS.hpp

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

src/drivers/uavcannode/Kconfig

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

src/drivers/uwb/uwb_sr150/uwb_sr150.cpp

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

src/drivers/uwb/uwb_sr150/uwb_sr150.h

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

src/drivers/voxl2_io/voxl2_io.cpp

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

src/drivers/voxl2_io/voxl2_io.hpp

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

src/drivers/vtx/VTX.cpp

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

src/drivers/vtx/VTX.hpp

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

src/examples/fake_gps/FakeGps.cpp

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

src/examples/fake_gps/FakeGps.hpp

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

src/examples/fake_imu/FakeImu.cpp

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

src/examples/fake_imu/FakeImu.hpp

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

src/examples/fake_magnetometer/FakeMagnetometer.cpp

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

src/examples/fake_magnetometer/FakeMagnetometer.hpp

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