From 91ef249c7e31bcb41af23fab3593f1be7663d069 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Tue, 17 Mar 2026 21:55:35 -0800
Subject: [PATCH] refactor(simulation/sensor_baro_sim): convert params.c to
 module.yaml

Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
---
 .../simulation/sensor_baro_sim/CMakeLists.txt |  2 +
 .../simulation/sensor_baro_sim/parameters.c   | 59 -------------------
 .../sensor_baro_sim/parameters.yaml           | 28 +++++++++
 3 files changed, 30 insertions(+), 59 deletions(-)
 delete mode 100644 src/modules/simulation/sensor_baro_sim/parameters.c
 create mode 100644 src/modules/simulation/sensor_baro_sim/parameters.yaml

diff --git a/src/modules/simulation/sensor_baro_sim/CMakeLists.txt b/src/modules/simulation/sensor_baro_sim/CMakeLists.txt
index 2a21973698..b58c372fd6 100644
--- a/src/modules/simulation/sensor_baro_sim/CMakeLists.txt
+++ b/src/modules/simulation/sensor_baro_sim/CMakeLists.txt
@@ -38,6 +38,8 @@ px4_add_module(
 	SRCS
 		SensorBaroSim.cpp
 		SensorBaroSim.hpp
+	MODULE_CONFIG
+		parameters.yaml
 	DEPENDS
 		geo
 		px4_work_queue
diff --git a/src/modules/simulation/sensor_baro_sim/parameters.c b/src/modules/simulation/sensor_baro_sim/parameters.c
deleted file mode 100644
index 33adf72019..0000000000
--- a/src/modules/simulation/sensor_baro_sim/parameters.c
+++ /dev/null
@@ -1,59 +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 simulated barometer sensor instance
- *
- * @reboot_required true
- * @min 0
- * @max 1
- * @group Sensors
- * @value 0 Disabled
- * @value 1 Enabled
-  */
-PARAM_DEFINE_INT32(SENS_EN_BAROSIM, 0);
-
-/**
- * simulated barometer pressure offset
- *
- * @group Simulator
- */
-PARAM_DEFINE_FLOAT(SIM_BARO_OFF_P, 0.0f);
-
-/**
- * simulated barometer temperature offset
- *
- * @group Simulator
- * @unit celcius
- */
-PARAM_DEFINE_FLOAT(SIM_BARO_OFF_T, 0.0f);
diff --git a/src/modules/simulation/sensor_baro_sim/parameters.yaml b/src/modules/simulation/sensor_baro_sim/parameters.yaml
new file mode 100644
index 0000000000..996604464a
--- /dev/null
+++ b/src/modules/simulation/sensor_baro_sim/parameters.yaml
@@ -0,0 +1,28 @@
+module_name: sensor_baro_sim
+parameters:
+- group: Sensors
+  definitions:
+    SENS_EN_BAROSIM:
+      description:
+        short: Enable simulated barometer sensor instance
+      type: enum
+      values:
+        0: Disabled
+        1: Enabled
+      default: 0
+      reboot_required: true
+      min: 0
+      max: 1
+- group: Simulator
+  definitions:
+    SIM_BARO_OFF_P:
+      description:
+        short: simulated barometer pressure offset
+      type: float
+      default: 0.0
+    SIM_BARO_OFF_T:
+      description:
+        short: simulated barometer temperature offset
+      type: float
+      default: 0.0
+      unit: celcius