UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-07-30 10:58:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* module_base: claude rewrite to remove CRTP bloat

* module_base: apply to all drivers/modules

* format

* fix build errors

* fix missing syntax

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

* remove old ModuleBase<T>

* add module_base.cpp to px4_protected_layers.cmake

* fix IridiumSBD can_stop()

* fix IridiumSBD.cpp

* clang-tidy: downcast static cast

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

* rename module_base.h to module.h

* revert changes in zenoh/Kconfig.topics
This commit is contained in:
Jacob Dahl
2026-02-18 17:17:17 -09:00
committed by GitHub
parent 657854ae1b
commit ce3e62841f
227 changed files with 1741 additions and 1496 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
src/modules/mc_pos_control/MulticopterPositionControl.cpp
View File

@@ -41,6 +41,8 @@
using namespace matrix;
ModuleBase::Descriptor MulticopterPositionControl::desc{task_spawn, custom_command, print_usage};
MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -379,7 +381,7 @@ void MulticopterPositionControl::Run()
{
if (should_exit()) {
_local_pos_sub.unregisterCallback();
exit_and_cleanup();
exit_and_cleanup(desc);
return;
}
@@ -743,8 +745,8 @@ int MulticopterPositionControl::task_spawn(int argc, char *argv[])
MulticopterPositionControl *instance = new MulticopterPositionControl(vtol);
if (instance) {
_object.store(instance);
_task_id = task_id_is_work_queue;
desc.object.store(instance);
desc.task_id = task_id_is_work_queue;
if (instance->init()) {
return PX4_OK;
@@ -755,8 +757,8 @@ int MulticopterPositionControl::task_spawn(int argc, char *argv[])
}
delete instance;
_object.store(nullptr);
_task_id = -1;
desc.object.store(nullptr);
desc.task_id = -1;
return PX4_ERROR;
}
@@ -793,5 +795,5 @@ logging.
extern "C" __EXPORT int mc_pos_control_main(int argc, char *argv[])
{
return MulticopterPositionControl::main(argc, argv);
return ModuleBase::main(MulticopterPositionControl::desc, argc, argv);
}