fmu: convert to ModuleBase
fmu: convert to ModuleBase

Sorry for the large patch :)

- move cleanup into destructor (this was done on the wrong task before)
- move init into init() method
- sensor & peripheral reset do not start/stop fmu anymore
- remove err & errx (they do not release the lock and could lead to dead-
  locks)

dagar/Firmware,jlecoeur/Firmware,mcgill-robotics/Firmware,krbeverx/Firmware,krbeverx/Firmware,krbeverx/Firmware,mcgill-robotics/Firmware,jlecoeur/Firmware,mcgill-robotics/Firmware,mje-nz/PX4-Firmware,Aerotenna/Firmware,mcgill-robotics/Firmware,jlecoeur/Firmware,acfloria/Firmware,acfloria/Firmware,dagar/Firmware,mje-nz/PX4-Firmware,acfloria/Firmware,jlecoeur/Firmware,Aerotenna/Firmware,dagar/Firmware,mje-nz/PX4-Firmware,acfloria/Firmware,dagar/Firmware,PX4/Firmware,Aerotenna/Firmware,PX4/Firmware,PX4/Firmware,jlecoeur/Firmware,acfloria/Firmware,mcgill-robotics/Firmware,acfloria/Firmware,Aerotenna/Firmware,Aerotenna/Firmware,Aerotenna/Firmware,PX4/Firmware,jlecoeur/Firmware,dagar/Firmware,PX4/Firmware,Aerotenna/Firmware,jlecoeur/Firmware,mje-nz/PX4-Firmware,PX4/Firmware,jlecoeur/Firmware,mcgill-robotics/Firmware,mje-nz/PX4-Firmware,krbeverx/Firmware,dagar/Firmware,acfloria/Firmware,krbeverx/Firmware,mje-nz/PX4-Firmware,dagar/Firmware,mje-nz/PX4-Firmware,krbeverx/Firmware,krbeverx/Firmware,mcgill-robotics/Firmware,PX4/Firmware