feat(heater): Add multi-instance support for heaters (#26325)

* heater: add multi-instance support, refactor parameter handling, remove legacy params file

This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.

Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure

This improves scalability and makes heater configuration consistent across setups with multiple sensors.

* Refactor heater configuration across multiple boards

- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.

* heater: fix missing HEATER1_OUTPUT_EN control

* heater: fix more missing HEATER1_OUTPUT_EN control

* heater: tidy config, docs, and instance handling

- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES

Note: drop intermediate/reverted change around the 'celsius' spelling.

* heater: refactor constructor to remove unused parameter and add instance name function

- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization

Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.

* format

* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO

* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency

* heater: add a TODO for px4io multi-instance

* heater: update missing GPIO_HEATER1_OUTPUT in  sky-drones

* heater: fix multiple newlines at EOF (resolve CI check failure)

* heater: switch to PublicationMulti for heater_status and log multi-instance

- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")

This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.

---------

Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

boards/cubepilot/cubeorange/init/rc.board_defaults

@@ -12,6 +12,6 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0
 
-param set-default -s SENS_TEMP_ID 2621474
+param set-default -s HEATER1_IMU_ID 2621474
 
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"

boards/cubepilot/cubeorange/src/board_config.h

@@ -59,6 +59,7 @@
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
 
 #define PX4IO_HEATER_ENABLED
+#define HEATER_NUM 1
 
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -18,7 +18,7 @@ ms5611 -s -b 4 start
 if icm42688p -s -b 4 -R 10 -q start -c 15
 then
 	# We need to use the temperature of the first isolated IMU for heater control.
-	param set-default SENS_TEMP_ID 2490402
+	param set-default HEATER1_IMU_ID 2490402
 
 	if ! icm20948 -s -b 4 -R 10 -M -q start
 	then
@@ -28,7 +28,7 @@ else
 	icm45686 -s -b 4 -R 10 start -c 15
 	icm45686 -s -b 4 -R 6 start -c 13
 
-	param set-default SENS_TEMP_ID 3407906
+	param set-default HEATER1_IMU_ID 3407906
 fi
 
 # SPI1, body-fixed

boards/cubepilot/cubeorangeplus/src/board_config.h

@@ -69,6 +69,7 @@
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
 
 #define PX4IO_HEATER_ENABLED
+#define HEATER_NUM 1
 
 /* LEDs */
 #define GPIO_nLED_AMBER        /* PE12 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)

boards/cubepilot/io-v2/src/board_config.h

@@ -80,8 +80,10 @@
 
 
 /* HEATER */
-#define GPIO_HEATER_OUTPUT   /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
-#define HEATER_OUTPUT_EN(on_true)       stm32_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
+#define GPIO_HEATER_OUTPUT
+#define HEATER_NUM 	1
+#define GPIO_HEATER1_OUTPUT  /* PB14 */ (GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN14)
+#define HEATER1_OUTPUT_EN(on_true)       stm32_gpiowrite(GPIO_HEATER1_OUTPUT, (on_true))
 
 
 #define GPIO_USART1_RX_SPEKTRUM		(GPIO_OUTPUT|GPIO_CNF_OUTPP|GPIO_MODE_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN10)

boards/cubepilot/io-v2/src/init.c

@@ -86,7 +86,7 @@ __EXPORT void stm32_boardinitialize(void)
 {
 	/* configure GPIOs */
 
-	stm32_configgpio(GPIO_HEATER_OUTPUT);
+	stm32_configgpio(GPIO_HEATER1_OUTPUT);
 
 	/* LEDS - default to off */
 	stm32_configgpio(GPIO_LED_AMBER);
@@ -141,5 +141,5 @@ __EXPORT void stm32_boardinitialize(void)
 	stm32_configgpio(GPIO_PWM8);
 
 	/* disable heater */
-	HEATER_OUTPUT_EN(false);
+	HEATER1_OUTPUT_EN(false);
 }