From 0671e40f8ecb6c6ee60fdae2a9120194c76ecded Mon Sep 17 00:00:00 2001
From: chfriedrich98 <chfriedrich@student.ethz.ch>
Date: Tue, 4 Mar 2025 15:11:22 +0100
Subject: [PATCH] pure_pursuit: migrate params from .yaml to .c

---
 src/lib/pure_pursuit/module.yaml          | 37 -----------
 src/lib/pure_pursuit/purepursuit_params.c | 75 +++++++++++++++++++++++
 2 files changed, 75 insertions(+), 37 deletions(-)
 delete mode 100644 src/lib/pure_pursuit/module.yaml
 create mode 100644 src/lib/pure_pursuit/purepursuit_params.c

diff --git a/src/lib/pure_pursuit/module.yaml b/src/lib/pure_pursuit/module.yaml
deleted file mode 100644
index 5e7cc109d4..0000000000
--- a/src/lib/pure_pursuit/module.yaml
+++ /dev/null
@@ -1,37 +0,0 @@
-module_name: Pure Pursuit
-
-parameters:
-    - group: Pure Pursuit
-      definitions:
-        PP_LOOKAHD_GAIN:
-          description:
-            short: Tuning parameter for the pure pursuit controller
-            long: Lower value -> More aggressive controller (beware overshoot/oscillations)
-          type: float
-          min: 0.1
-          max: 100
-          increment: 0.01
-          decimal: 2
-          default: 1
-
-        PP_LOOKAHD_MIN:
-          description:
-            short: Minimum lookahead distance for the pure pursuit controller
-          type: float
-          unit: m
-          min: 0.1
-          max: 100
-          increment: 0.01
-          decimal: 2
-          default: 1
-
-        PP_LOOKAHD_MAX:
-          description:
-            short: Maximum lookahead distance for the pure pursuit controller
-          type: float
-          unit: m
-          min: 0.1
-          max: 100
-          increment: 0.01
-          decimal: 2
-          default: 10
diff --git a/src/lib/pure_pursuit/purepursuit_params.c b/src/lib/pure_pursuit/purepursuit_params.c
new file mode 100644
index 0000000000..b7b7e7a35e
--- /dev/null
+++ b/src/lib/pure_pursuit/purepursuit_params.c
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2025 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 pruepursuit_params.c
+ *
+ * Parameters defined by the pure pursuit lib.
+ */
+
+/**
+ * Tuning parameter for the pure pursuit controller
+ *
+ * Lower value -> More aggressive controller (beware overshoot/oscillations)
+ *
+ * @min 0.1
+ * @max 100
+ * @increment 0.01
+ * @decimal 2
+ * @group Pure Pursuit
+ */
+PARAM_DEFINE_FLOAT(PP_LOOKAHD_GAIN, 1.0f);
+
+/**
+ * Minimum lookahead distance for the pure pursuit controller
+ *
+ * @min 0.1
+ * @max 100
+ * @unit m
+ * @increment 0.01
+ * @decimal 2
+ * @group Pure Pursuit
+ */
+PARAM_DEFINE_FLOAT(PP_LOOKAHD_MIN, 1.0f);
+
+/**
+ * Maximum lookahead distance for the pure pursuit controller
+ *
+ * @min 0.1
+ * @max 100
+ * @unit m
+ * @increment 0.01
+ * @decimal 2
+ * @group Pure Pursuit
+ */
+PARAM_DEFINE_FLOAT(PP_LOOKAHD_MAX, 10.0f);