From af4d7d0f5aace5ece22c16917558175f6b3eef76 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Tue, 17 Mar 2026 21:55:34 -0800
Subject: [PATCH] refactor(hardfault_stream): convert params.c to module.yaml

Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
---
 src/modules/hardfault_stream/CMakeLists.txt |  2 +
 src/modules/hardfault_stream/params.c       | 44 ---------------------
 src/modules/hardfault_stream/params.yaml    | 13 ++++++
 3 files changed, 15 insertions(+), 44 deletions(-)
 delete mode 100644 src/modules/hardfault_stream/params.c
 create mode 100644 src/modules/hardfault_stream/params.yaml

diff --git a/src/modules/hardfault_stream/CMakeLists.txt b/src/modules/hardfault_stream/CMakeLists.txt
index 31140c10fd..d67a27020f 100644
--- a/src/modules/hardfault_stream/CMakeLists.txt
+++ b/src/modules/hardfault_stream/CMakeLists.txt
@@ -37,6 +37,8 @@ px4_add_module(
 	SRCS
 		HardfaultStream.cpp
 		HardfaultStream.hpp
+	MODULE_CONFIG
+		params.yaml
 	DEPENDS
 		px4_work_queue
 )
diff --git a/src/modules/hardfault_stream/params.c b/src/modules/hardfault_stream/params.c
deleted file mode 100644
index 09f600da16..0000000000
--- a/src/modules/hardfault_stream/params.c
+++ /dev/null
@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013-2025 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 FMU SD card hardfault streaming
- *
- * When this is enabled all the hardfaults on the SD card are streamed
- * over MAVLink. This is useful for cases where the FMU does reset in-flight due
- * to a hardfault and the SD card may not survive a crash.
- *
- * @group System
- * @boolean
- */
-PARAM_DEFINE_INT32(SYS_HF_MAV, 1);
diff --git a/src/modules/hardfault_stream/params.yaml b/src/modules/hardfault_stream/params.yaml
new file mode 100644
index 0000000000..c04a6b467c
--- /dev/null
+++ b/src/modules/hardfault_stream/params.yaml
@@ -0,0 +1,13 @@
+module_name: hardfault_stream
+parameters:
+- group: System
+  definitions:
+    SYS_HF_MAV:
+      description:
+        short: Enable FMU SD card hardfault streaming
+        long: |-
+          When this is enabled all the hardfaults on the SD card are streamed
+          over MAVLink. This is useful for cases where the FMU does reset in-flight due
+          to a hardfault and the SD card may not survive a crash.
+      type: boolean
+      default: 1