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>

src/modules/logger/logged_topics.cpp

@@ -79,7 +79,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("gps_dump");
 	add_optional_topic("gimbal_controls", 200);
 	add_optional_topic("gripper");
-	add_optional_topic("heater_status");
+	add_optional_topic_multi("heater_status");
 	add_topic("home_position");
 	add_topic("hover_thrust_estimate", 100);
 	add_topic("input_rc", 500);

src/modules/px4iofirmware/px4io.cpp

@@ -391,16 +391,17 @@ extern "C" __EXPORT int user_start(int argc, char *argv[])
 			heartbeat_blink();
 		}
 
-#if defined(HEATER_OUTPUT_EN)
+#if defined(HEATER1_OUTPUT_EN)
+// TODO: Multi-instance heater for PX4IO to be implemented
 
 		if (r_page_setup[PX4IO_P_SETUP_THERMAL] != PX4IO_THERMAL_IGNORE) {
 			if (r_page_setup[PX4IO_P_SETUP_THERMAL] < PX4IO_THERMAL_FULL) {
 				/* switch resistive heater off */
-				HEATER_OUTPUT_EN(false);
+				HEATER1_OUTPUT_EN(false);
 
 			} else {
 				/* switch resistive heater hard on */
-				HEATER_OUTPUT_EN(true);
+				HEATER1_OUTPUT_EN(true);
 			}
 		}