From 6b2874dc2bc44a4e5c5544d10b4d583acc3aa3a4 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Tue, 17 Mar 2026 21:55:32 -0800 Subject: [PATCH] refactor(drivers/distance_sensor/mappydot): convert params.c to module.yaml Convert 1 parameter file(s) from legacy C format to YAML module configuration. --- .../distance_sensor/mappydot/CMakeLists.txt | 2 + .../distance_sensor/mappydot/parameters.c | 297 ------------------ .../distance_sensor/mappydot/parameters.yaml | 243 ++++++++++++++ 3 files changed, 245 insertions(+), 297 deletions(-) delete mode 100644 src/drivers/distance_sensor/mappydot/parameters.c create mode 100644 src/drivers/distance_sensor/mappydot/parameters.yaml diff --git a/src/drivers/distance_sensor/mappydot/CMakeLists.txt b/src/drivers/distance_sensor/mappydot/CMakeLists.txt index 58625fa8eb..3b94e58cca 100644 --- a/src/drivers/distance_sensor/mappydot/CMakeLists.txt +++ b/src/drivers/distance_sensor/mappydot/CMakeLists.txt @@ -35,6 +35,8 @@ px4_add_module( MAIN mappydot SRCS MappyDot.cpp + MODULE_CONFIG + parameters.yaml DEPENDS drivers_rangefinder ) diff --git a/src/drivers/distance_sensor/mappydot/parameters.c b/src/drivers/distance_sensor/mappydot/parameters.c deleted file mode 100644 index 7b29ba549d..0000000000 --- a/src/drivers/distance_sensor/mappydot/parameters.c +++ /dev/null @@ -1,297 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2017 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. - * - ****************************************************************************/ - - -/** - * Enable Mappydot rangefinder (i2c) - * - * @reboot_required true - * @min 0 - * @max 1 - * @group Sensors - * @value 0 Disabled - * @value 1 Autodetect - */ -PARAM_DEFINE_INT32(SENS_EN_MPDT, 0); - -/** - * MappyDot Sensor 0 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT0_ROT, 0); - -/** - * MappyDot Sensor 1 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT1_ROT, 0); - -/** - * MappyDot Sensor 2 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT2_ROT, 0); - -/** - * MappyDot Sensor 3 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT3_ROT, 0); - -/** - * MappyDot Sensor 4 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT4_ROT, 0); - -/** - * MappyDot Sensor 5 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT5_ROT, 0); - -/** - * MappyDot Sensor 6 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT6_ROT, 0); - -/** - * MappyDot Sensor 7 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT7_ROT, 0); - -/** - * MappyDot Sensor 8 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT8_ROT, 0); - -/** - * MappyDot Sensor 9 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT9_ROT, 0); - -/** - * MappyDot Sensor 10 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT10_ROT, 0); - -/** - * MappyDot Sensor 12 Rotation - * - * This parameter defines the rotation of the Mappydot sensor relative to the platform. - * - * @reboot_required true - * @min 0 - * @max 7 - * @group Sensors - * - * @value 0 No rotation - * @value 1 Yaw 45° - * @value 2 Yaw 90° - * @value 3 Yaw 135° - * @value 4 Yaw 180° - * @value 5 Yaw 225° - * @value 6 Yaw 270° - * @value 7 Yaw 315° - */ -PARAM_DEFINE_INT32(SENS_MPDT11_ROT, 0); diff --git a/src/drivers/distance_sensor/mappydot/parameters.yaml b/src/drivers/distance_sensor/mappydot/parameters.yaml new file mode 100644 index 0000000000..f479dd1626 --- /dev/null +++ b/src/drivers/distance_sensor/mappydot/parameters.yaml @@ -0,0 +1,243 @@ +module_name: mappydot +parameters: +- group: Sensors + definitions: + SENS_EN_MPDT: + description: + short: Enable Mappydot rangefinder (i2c) + type: enum + values: + 0: Disabled + 1: Autodetect + default: 0 + reboot_required: true + min: 0 + max: 1 + SENS_MPDT0_ROT: + description: + short: MappyDot Sensor 0 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT1_ROT: + description: + short: MappyDot Sensor 1 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT2_ROT: + description: + short: MappyDot Sensor 2 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT3_ROT: + description: + short: MappyDot Sensor 3 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT4_ROT: + description: + short: MappyDot Sensor 4 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT5_ROT: + description: + short: MappyDot Sensor 5 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT6_ROT: + description: + short: MappyDot Sensor 6 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT7_ROT: + description: + short: MappyDot Sensor 7 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT8_ROT: + description: + short: MappyDot Sensor 8 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT9_ROT: + description: + short: MappyDot Sensor 9 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT10_ROT: + description: + short: MappyDot Sensor 10 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7 + SENS_MPDT11_ROT: + description: + short: MappyDot Sensor 12 Rotation + long: This parameter defines the rotation of the Mappydot sensor relative + to the platform. + type: enum + values: + 0: No rotation + 1: "Yaw 45\xB0" + 2: "Yaw 90\xB0" + 3: "Yaw 135\xB0" + 4: "Yaw 180\xB0" + 5: "Yaw 225\xB0" + 6: "Yaw 270\xB0" + 7: "Yaw 315\xB0" + default: 0 + reboot_required: true + min: 0 + max: 7