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

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

src/modules/attitude_estimator_q/CMakeLists.txt

@@ -38,6 +38,8 @@ px4_add_module(
 	STACK_MAX 1600
 	SRCS
 		attitude_estimator_q_main.cpp
+	MODULE_CONFIG
+		attitude_estimator_q_params.yaml
 	DEPENDS
 		world_magnetic_model
 	)

src/modules/attitude_estimator_q/attitude_estimator_q_params.c

@@ -1,146 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2015 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.
- *
- ****************************************************************************/
-
-/*
- * @file attitude_estimator_q_params.c
- *
- * Parameters for attitude estimator (quaternion based)
- *
- * @author Anton Babushkin <anton.babushkin@me.com>
- */
-
-/**
- * standalone attitude estimator enable (unsupported)
- *
- * Enable standalone quaternion based attitude estimator.
- *
- * @group Attitude Q estimator
- * @boolean
- */
-PARAM_DEFINE_INT32(ATT_EN, 0);
-
-/**
- * Complimentary filter accelerometer weight
- *
- * @group Attitude Q estimator
- * @min 0
- * @max 1
- * @decimal 2
- */
-PARAM_DEFINE_FLOAT(ATT_W_ACC, 0.2f);
-
-/**
- * Complimentary filter magnetometer weight
- *
- * Set to 0 to avoid using the magnetometer.
- *
- * @group Attitude Q estimator
- * @min 0
- * @max 1
- * @decimal 2
- */
-PARAM_DEFINE_FLOAT(ATT_W_MAG, 0.1f);
-
-/**
- * Complimentary filter external heading weight
- *
- * @group Attitude Q estimator
- * @min 0
- * @max 1
- */
-PARAM_DEFINE_FLOAT(ATT_W_EXT_HDG, 0.1f);
-
-/**
- * Complimentary filter gyroscope bias weight
- *
- * @group Attitude Q estimator
- * @min 0
- * @max 1
- * @decimal 2
- */
-PARAM_DEFINE_FLOAT(ATT_W_GYRO_BIAS, 0.1f);
-
-/**
- * Magnetic declination, in degrees
- *
- * This parameter is not used in normal operation,
- * as the declination is looked up based on the
- * GPS coordinates of the vehicle.
- *
- * @group Attitude Q estimator
- * @unit deg
- * @decimal 2
- */
-PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
-
-/**
- * Automatic GPS based declination compensation
- *
- * @group Attitude Q estimator
- * @boolean
- */
-PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1);
-
-/**
- * External heading usage mode (from Motion capture/Vision)
- *
- * Set to 1 to use heading estimate from vision.
- * Set to 2 to use heading from motion capture.
- *
- * @group Attitude Q estimator
- * @value 0 None
- * @value 1 Vision
- * @value 2 Motion Capture
- * @min 0
- * @max 2
- */
-PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0);
-
-/**
- * Acceleration compensation based on GPS velocity.
- *
- * @group Attitude Q estimator
- * @boolean
- */
-PARAM_DEFINE_INT32(ATT_ACC_COMP, 0);
-
-/**
- * Gyro bias limit
- *
- * @group Attitude Q estimator
- * @unit rad/s
- * @min 0
- * @max 2
- * @decimal 3
- */
-PARAM_DEFINE_FLOAT(ATT_BIAS_MAX, 0.05f);

src/modules/attitude_estimator_q/attitude_estimator_q_params.yaml

@@ -0,0 +1,86 @@
+module_name: attitude_estimator_q
+parameters:
+- group: Attitude Q estimator
+  definitions:
+    ATT_EN:
+      description:
+        short: standalone attitude estimator enable (unsupported)
+        long: Enable standalone quaternion based attitude estimator.
+      type: boolean
+      default: 0
+    ATT_W_ACC:
+      description:
+        short: Complimentary filter accelerometer weight
+      type: float
+      default: 0.2
+      min: 0
+      max: 1
+      decimal: 2
+    ATT_W_MAG:
+      description:
+        short: Complimentary filter magnetometer weight
+        long: Set to 0 to avoid using the magnetometer.
+      type: float
+      default: 0.1
+      min: 0
+      max: 1
+      decimal: 2
+    ATT_W_EXT_HDG:
+      description:
+        short: Complimentary filter external heading weight
+      type: float
+      default: 0.1
+      min: 0
+      max: 1
+    ATT_W_GYRO_BIAS:
+      description:
+        short: Complimentary filter gyroscope bias weight
+      type: float
+      default: 0.1
+      min: 0
+      max: 1
+      decimal: 2
+    ATT_MAG_DECL:
+      description:
+        short: Magnetic declination, in degrees
+        long: |-
+          This parameter is not used in normal operation,
+          as the declination is looked up based on the
+          GPS coordinates of the vehicle.
+      type: float
+      default: 0.0
+      unit: deg
+      decimal: 2
+    ATT_MAG_DECL_A:
+      description:
+        short: Automatic GPS based declination compensation
+      type: boolean
+      default: 1
+    ATT_EXT_HDG_M:
+      description:
+        short: External heading usage mode (from Motion capture/Vision)
+        long: |-
+          Set to 1 to use heading estimate from vision.
+          Set to 2 to use heading from motion capture.
+      type: enum
+      values:
+        0: None
+        1: Vision
+        2: Motion Capture
+      default: 0
+      min: 0
+      max: 2
+    ATT_ACC_COMP:
+      description:
+        short: Acceleration compensation based on GPS velocity
+      type: boolean
+      default: 0
+    ATT_BIAS_MAX:
+      description:
+        short: Gyro bias limit
+      type: float
+      default: 0.05
+      unit: rad/s
+      min: 0
+      max: 2
+      decimal: 3