Add more to Voxl2 build and fix associated build errors (#20821)

- Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that
 - Replace non-standard M_PI constants with PX4 defined M_PI_F constants
 - Include missing header file for function hrt_absolute_time declaration
 - Add new PX4_SOC_ARCH_ID for the VOXL2 board

boards/modalai/voxl2-slpi/default.px4board

@@ -6,3 +6,10 @@ CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_LAND_DETECTOR=y

boards/modalai/voxl2-slpi/src/CMakeLists.txt

@@ -31,6 +31,11 @@
 #
 ############################################################################
 
+# Need to make sure that the DSP processor on VOXL2
+# knows about all parameters since some modules need parameters
+# from other modules that are not running on the DSP.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
 add_library(drivers_board
 	board_config.h
 	init.c

boards/modalai/voxl2/default.px4board

@@ -9,3 +9,10 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_MAVLINK=y

boards/modalai/voxl2/src/CMakeLists.txt

@@ -31,6 +31,12 @@
 #
 ############################################################################
 
+# Need to make sure that the Linux processor on VOXL2
+# knows about all parameters since it is acting as the
+# parameter server for other processors that may define
+# parameters that it doesn't normally know about.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
 add_library(drivers_board
 	board_config.h
 	init.c

boards/modalai/voxl2/src/board_config.h

@@ -47,3 +47,6 @@
 
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
+
+#define BOARD_OVERRIDE_UUID "MODALAIVOXL20000" // must be of length 16
+#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_VOXL2