refactor(mag_bias_estimator): convert params.c to module.yaml

Convert 1 parameter file(s) from legacy C format to YAML
module configuration.

src/modules/mag_bias_estimator/CMakeLists.txt

@@ -38,6 +38,8 @@ px4_add_module(
 	SRCS
 		MagBiasEstimator.cpp
 		MagBiasEstimator.hpp
+	MODULE_CONFIG
+		params.yaml
 	DEPENDS
 		px4_work_queue
 )

src/modules/mag_bias_estimator/params.c

@@ -1,58 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * Enable online mag bias calibration
- *
- * This enables continuous calibration of the magnetometers
- * before takeoff using gyro data.
- *
- * @boolean
- * @reboot_required true
- * @group Magnetometer Bias Estimator
- */
-PARAM_DEFINE_INT32(MBE_ENABLE, 1);
-
-/**
- * Mag bias estimator learning gain
- *
- * Increase to make the estimator more responsive
- * Decrease to make the estimator more robust to noise
- *
- * @min 0.1
- * @max 100
- * @increment 0.1
- * @decimal 1
- * @group Magnetometer Bias Estimator
- */
-PARAM_DEFINE_FLOAT(MBE_LEARN_GAIN, 18.f);

src/modules/mag_bias_estimator/params.yaml

@@ -0,0 +1,25 @@
+module_name: mag_bias_estimator
+parameters:
+- group: Magnetometer Bias Estimator
+  definitions:
+    MBE_ENABLE:
+      description:
+        short: Enable online mag bias calibration
+        long: |-
+          This enables continuous calibration of the magnetometers
+          before takeoff using gyro data.
+      type: boolean
+      default: 1
+      reboot_required: true
+    MBE_LEARN_GAIN:
+      description:
+        short: Mag bias estimator learning gain
+        long: |-
+          Increase to make the estimator more responsive
+          Decrease to make the estimator more robust to noise
+      type: float
+      default: 18.0
+      min: 0.1
+      max: 100
+      increment: 0.1
+      decimal: 1