From 32766cc35536538c5a80d57233160368dc8f68bd Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Tue, 17 Mar 2026 21:55:35 -0800
Subject: [PATCH] refactor(sensors/vehicle_imu): convert params.c to
 module.yaml

Convert parameter definition(s) from legacy C format to YAML
module configuration.
---
 .../sensors/vehicle_imu/CMakeLists.txt        |  1 +
 .../sensors/vehicle_imu/imu_parameters.yaml   | 36 +++++++++++++++++++
 2 files changed, 37 insertions(+)
 create mode 100644 src/modules/sensors/vehicle_imu/imu_parameters.yaml

diff --git a/src/modules/sensors/vehicle_imu/CMakeLists.txt b/src/modules/sensors/vehicle_imu/CMakeLists.txt
index fe6ddeb8a4..c84857f2b5 100644
--- a/src/modules/sensors/vehicle_imu/CMakeLists.txt
+++ b/src/modules/sensors/vehicle_imu/CMakeLists.txt
@@ -35,6 +35,7 @@ px4_add_library(vehicle_imu
 	VehicleIMU.cpp
 	VehicleIMU.hpp
 )
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/imu_parameters.yaml)
 
 target_compile_options(vehicle_imu
 	PRIVATE
diff --git a/src/modules/sensors/vehicle_imu/imu_parameters.yaml b/src/modules/sensors/vehicle_imu/imu_parameters.yaml
new file mode 100644
index 0000000000..1a229577b3
--- /dev/null
+++ b/src/modules/sensors/vehicle_imu/imu_parameters.yaml
@@ -0,0 +1,36 @@
+module_name: vehicle_imu
+parameters:
+- group: Sensors
+  definitions:
+    IMU_INTEG_RATE:
+      description:
+        short: IMU integration rate
+        long: |-
+          The rate at which raw IMU data is integrated to produce delta angles and delta velocities.
+          Recommended to set this to a multiple of the estimator update period (currently 10 ms for ekf2).
+      type: enum
+      values:
+        100: 100 Hz
+        200: 200 Hz
+        250: 250 Hz
+        400: 400 Hz
+      default: 200
+      min: 100
+      max: 1000
+      unit: Hz
+      reboot_required: true
+    SENS_IMU_AUTOCAL:
+      description:
+        short: IMU auto calibration
+        long: Automatically initialize IMU (accel/gyro) calibration from bias estimates
+          if available.
+      category: System
+      type: boolean
+      default: 1
+    SENS_IMU_CLPNOTI:
+      description:
+        short: IMU notify clipping
+        long: Notify the user if the IMU is clipping
+      category: System
+      type: boolean
+      default: 1