refactor(lib/mixer_module): convert params.c to module.yaml

Convert 2 parameter file(s) from legacy C format to YAML
module configuration.

src/lib/mixer_module/CMakeLists.txt

@@ -60,6 +60,8 @@ px4_add_library(mixer_module
 	mixer_module.cpp
 	mixer_module.hpp
 	)
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/motor_params.yaml)
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/params.yaml)
 
 add_dependencies(mixer_module output_functions_header)
 target_compile_options(mixer_module PRIVATE ${MAX_CUSTOM_OPT_LEVEL})

src/lib/mixer_module/motor_params.c

@@ -1,57 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2018 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 motor_params.c
- *
- * Parameters for motors.
- *
- */
-
-/**
- * Thrust to motor control signal model parameter
- *
- * Parameter used to model the nonlinear relationship between
- * motor control signal (e.g. PWM) and static thrust.
- *
- * The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal,
- * where rel_thrust is the normalized thrust between 0 and 1, and
- * rel_signal is the relative motor control signal between 0 and 1.
- *
- * @min 0.0
- * @max 1.0
- * @decimal 1
- * @increment 0.1
- * @group PWM Outputs
- */
-PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);

src/lib/mixer_module/motor_params.yaml

@@ -0,0 +1,20 @@
+module_name: mixer_module
+parameters:
+- group: PWM Outputs
+  definitions:
+    THR_MDL_FAC:
+      description:
+        short: Thrust to motor control signal model parameter
+        long: |-
+          Parameter used to model the nonlinear relationship between
+          motor control signal (e.g. PWM) and static thrust.
+
+          The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal,
+          where rel_thrust is the normalized thrust between 0 and 1, and
+          rel_signal is the relative motor control signal between 0 and 1.
+      type: float
+      default: 0.0
+      min: 0.0
+      max: 1.0
+      decimal: 1
+      increment: 0.1

src/lib/mixer_module/params.c

@@ -1,18 +0,0 @@
-
-/**
- * Multicopter air-mode
- *
- * The air-mode enables the mixer to increase the total thrust of the multirotor
- * in order to keep attitude and rate control even at low and high throttle.
- *
- * This function should be disabled during tuning as it will help the controller
- * to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet).
- *
- * Enabling air-mode for yaw requires the use of an arming switch.
- *
- * @value 0 Disabled
- * @value 1 Roll/Pitch
- * @value 2 Roll/Pitch/Yaw
- * @group Mixer Output
- */
-PARAM_DEFINE_INT32(MC_AIRMODE, 0);

src/lib/mixer_module/params.yaml

@@ -0,0 +1,21 @@
+module_name: mixer_module
+parameters:
+- group: Mixer Output
+  definitions:
+    MC_AIRMODE:
+      description:
+        short: Multicopter air-mode
+        long: |-
+          The air-mode enables the mixer to increase the total thrust of the multirotor
+          in order to keep attitude and rate control even at low and high throttle.
+
+          This function should be disabled during tuning as it will help the controller
+          to diverge if the closed-loop is unstable (i.e. the vehicle is not tuned yet).
+
+          Enabling air-mode for yaw requires the use of an arming switch.
+      type: enum
+      values:
+        0: Disabled
+        1: Roll/Pitch
+        2: Roll/Pitch/Yaw
+      default: 0