From ac0fddd920f20cdbcc714ab4591d0b4800aad9e3 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_acceleration): convert params.c to
 module.yaml

Convert parameter definition(s) from legacy C format to YAML
module configuration.
---
 .../sensors/vehicle_acceleration/CMakeLists.txt  |  1 +
 .../imu_accel_parameters.yaml                    | 16 ++++++++++++++++
 2 files changed, 17 insertions(+)
 create mode 100644 src/modules/sensors/vehicle_acceleration/imu_accel_parameters.yaml

diff --git a/src/modules/sensors/vehicle_acceleration/CMakeLists.txt b/src/modules/sensors/vehicle_acceleration/CMakeLists.txt
index 37f3558992..002cc020ae 100644
--- a/src/modules/sensors/vehicle_acceleration/CMakeLists.txt
+++ b/src/modules/sensors/vehicle_acceleration/CMakeLists.txt
@@ -35,6 +35,7 @@ px4_add_library(vehicle_acceleration
 	VehicleAcceleration.cpp
 	VehicleAcceleration.hpp
 )
+set_property(GLOBAL APPEND PROPERTY PX4_MODULE_CONFIG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/imu_accel_parameters.yaml)
 
 target_compile_options(vehicle_acceleration PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
 
diff --git a/src/modules/sensors/vehicle_acceleration/imu_accel_parameters.yaml b/src/modules/sensors/vehicle_acceleration/imu_accel_parameters.yaml
new file mode 100644
index 0000000000..6655f2a680
--- /dev/null
+++ b/src/modules/sensors/vehicle_acceleration/imu_accel_parameters.yaml
@@ -0,0 +1,16 @@
+module_name: vehicle_acceleration
+parameters:
+- group: Sensors
+  definitions:
+    IMU_ACCEL_CUTOFF:
+      description:
+        short: Low pass filter cutoff frequency for accel
+        long: |-
+          The cutoff frequency for the 2nd order butterworth filter on the primary accelerometer.
+          This only affects the signal sent to the controllers, not the estimators. 0 disables the filter.
+      type: float
+      default: 30.0
+      min: 0
+      max: 1000
+      unit: Hz
+      reboot_required: true