From 963a8757df36d90351811bb06a68247f8ecbb3cb Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Tue, 17 Mar 2026 21:55:34 -0800 Subject: [PATCH] refactor(flight_mode_manager/tasks/Orbit): convert params.c to module.yaml Convert parameter definition(s) from legacy C format to YAML module configuration. --- .../tasks/Orbit/CMakeLists.txt | 1 + .../tasks/Orbit/flight_task_orbit_params.yaml | 25 +++++++++++++++++++ 2 files changed, 26 insertions(+) create mode 100644 src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.yaml diff --git a/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt index d925f87c9e..1164fef240 100644 --- a/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt +++ b/src/modules/flight_mode_manager/tasks/Orbit/CMakeLists.txt @@ -34,6 +34,7 @@ px4_add_library(FlightTaskOrbit FlightTaskOrbit.cpp ) +set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/flight_task_orbit_params.yaml) target_link_libraries(FlightTaskOrbit PUBLIC FlightTaskManualAltitudeSmoothVel SlewRate) target_include_directories(FlightTaskOrbit PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) diff --git a/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.yaml b/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.yaml new file mode 100644 index 0000000000..b74df01c8e --- /dev/null +++ b/src/modules/flight_mode_manager/tasks/Orbit/flight_task_orbit_params.yaml @@ -0,0 +1,25 @@ +module_name: Orbit +parameters: +- group: Flight Task Orbit + definitions: + MC_ORBIT_RAD_MAX: + description: + short: Maximum radius of orbit + type: float + default: 1000.0 + unit: m + min: 1.0 + max: 10000.0 + increment: 0.5 + decimal: 1 + MC_ORBIT_YAW_MOD: + description: + short: Yaw behaviour during orbit flight + type: enum + values: + 0: Front to Circle Center + 1: Hold Initial Heading + 2: Uncontrolled + 3: Hold Front Tangent to Circle + 4: Manually (yaw stick) Controlled + default: 0