cm8jl65: use paramter to set sensor orientation

src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp

@@ -42,6 +42,7 @@
  */
 
 #include <poll.h>
+#include <px4_cli.h>
 #include <px4_config.h>
 #include <px4_getopt.h>
 #include <px4_work_queue/ScheduledWorkItem.hpp>
@@ -685,9 +686,17 @@ extern "C" __EXPORT int cm8jl65_main(int argc, char *argv[])
 
 	while ((ch = px4_getopt(argc, argv, "R:d:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
-		case 'R':
+		case 'R': {
-			rotation = (uint8_t)atoi(myoptarg);
+				int rot = -1;
+
+				if (px4_get_parameter_value(myoptarg, rot) != 0) {
+					PX4_ERR("rotation parsing failed");
+					return -1;
+				}
+
+				rotation = (uint8_t)rot;
 				break;
+			}
 
 		case 'd':
 			device_path = myoptarg;

src/drivers/distance_sensor/cm8jl65/module.yaml

@@ -1,6 +1,27 @@
 module_name: Lanbao PSK-CM8JL65-CC5
 serial_config:
-    - command: cm8jl65 start -d ${SERIAL_DEV}
+    - command: cm8jl65 start -d ${SERIAL_DEV} -R p:SENS_CM8JL65_R_0
       port_config_param:
         name: SENS_CM8JL65_CFG
         group: Sensors
+
+parameters:
+    - group: Sensors
+      definitions:
+        SENS_CM8JL65_R_0:
+            description:
+                short: Distance Sensor Rotation
+                long: |
+                    Distance Sensor Rotation as MAV_SENSOR_ORIENTATION enum
+
+            type: enum
+            values:
+                25: ROTATION_DOWNWARD_FACING
+                24: ROTATION_UPWARD_FACING
+                12: ROTATION_BACKWARD_FACING
+                0: ROTATION_FORWARD_FACING
+                6: ROTATION_LEFT_FACING
+                2: ROTATION_RIGHT_FACING
+                100: ROTATION_CUSTOM
+            reboot_required: true
+            default: 25