From 5cf9b1e7f045894561fccd2f4476b2ba22ab0d02 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Tue, 17 Mar 2026 21:55:32 -0800
Subject: [PATCH] refactor(drivers/optical_flow/px4flow): convert params.c to
 module.yaml

Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
---
 .../optical_flow/px4flow/CMakeLists.txt       |  2 +
 src/drivers/optical_flow/px4flow/parameters.c | 42 -------------------
 .../optical_flow/px4flow/parameters.yaml      | 10 +++++
 3 files changed, 12 insertions(+), 42 deletions(-)
 delete mode 100644 src/drivers/optical_flow/px4flow/parameters.c
 create mode 100644 src/drivers/optical_flow/px4flow/parameters.yaml

diff --git a/src/drivers/optical_flow/px4flow/CMakeLists.txt b/src/drivers/optical_flow/px4flow/CMakeLists.txt
index e3928d80d1..5c7c6ea202 100644
--- a/src/drivers/optical_flow/px4flow/CMakeLists.txt
+++ b/src/drivers/optical_flow/px4flow/CMakeLists.txt
@@ -37,4 +37,6 @@ px4_add_module(
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
 		px4flow.cpp
+	MODULE_CONFIG
+		parameters.yaml
 	)
diff --git a/src/drivers/optical_flow/px4flow/parameters.c b/src/drivers/optical_flow/px4flow/parameters.c
deleted file mode 100644
index 485dd08416..0000000000
--- a/src/drivers/optical_flow/px4flow/parameters.c
+++ /dev/null
@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 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.
- *
- ****************************************************************************/
-
-/**
- * PX4 Flow Optical Flow
- *
- * @reboot_required true
- *
- * @boolean
- * @group Sensors
- */
-PARAM_DEFINE_INT32(SENS_EN_PX4FLOW, 0);
diff --git a/src/drivers/optical_flow/px4flow/parameters.yaml b/src/drivers/optical_flow/px4flow/parameters.yaml
new file mode 100644
index 0000000000..64bc82e59e
--- /dev/null
+++ b/src/drivers/optical_flow/px4flow/parameters.yaml
@@ -0,0 +1,10 @@
+module_name: px4flow
+parameters:
+- group: Sensors
+  definitions:
+    SENS_EN_PX4FLOW:
+      description:
+        short: PX4 Flow Optical Flow
+      type: boolean
+      default: 0
+      reboot_required: true