feat(heater): Add multi-instance support for heaters (#26325)

* heater: add multi-instance support, refactor parameter handling, remove legacy params file

This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.

Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure

This improves scalability and makes heater configuration consistent across setups with multiple sensors.

* Refactor heater configuration across multiple boards

- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.

* heater: fix missing HEATER1_OUTPUT_EN control

* heater: fix more missing HEATER1_OUTPUT_EN control

* heater: tidy config, docs, and instance handling

- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES

Note: drop intermediate/reverted change around the 'celsius' spelling.

* heater: refactor constructor to remove unused parameter and add instance name function

- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization

Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.

* format

* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO

* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency

* heater: add a TODO for px4io multi-instance

* heater: update missing GPIO_HEATER1_OUTPUT in  sky-drones

* heater: fix multiple newlines at EOF (resolve CI check failure)

* heater: switch to PublicationMulti for heater_status and log multi-instance

- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")

This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

boards/sky-drones/smartap-airlink/init/rc.board_defaults

@@ -10,7 +10,7 @@ param set-default SER_TEL2_BAUD 921600  	# 921600
 
 # Temperature stabilization
 param set-default SENS_EN_THERMAL 1 		# Enable heater
-param set-default SENS_TEMP_ID 2359314 		# Heated IMU ID
+param set-default HEATER1_IMU_ID 2359314 		# Heated IMU ID
 
 # Battery scaling
 param set-default BAT1_N_CELLS 4

boards/sky-drones/smartap-airlink/src/board_config.h

@@ -178,8 +178,10 @@
 /* HEATER
  * PWM in future
  */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define HEATER1_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 /* PC12 is nARMED
  *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -335,7 +337,7 @@
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
+		GPIO_HEATER1_OUTPUT,               \
 		GPIO_VDD_3V5_LTE_nEN,           \
 		GPIO_VDD_3V5_LTE_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \

boards/sky-drones/smartap-airlink/src/init.cpp

@@ -253,8 +253,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 	// Power down the heater
-	px4_arch_configgpio(GPIO_HEATER_OUTPUT);
-	px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, 1);
+	px4_arch_configgpio(GPIO_HEATER1_OUTPUT);
+	px4_arch_gpiowrite(GPIO_HEATER1_OUTPUT, 1);
 
 #ifdef CONFIG_MMCSD
 	int ret = stm32_sdio_initialize();