Use new param yaml format

src/modules/fw_wind_estimator/CMakeLists.txt

@@ -39,6 +39,6 @@ px4_add_module(
 		FixedwingWindEstimator.hpp
 	DEPENDS
 		px4_work_queue
-		RateControl
+	MODULE_CONFIG
-		SlewRate
+		module.yaml
 	)

src/modules/fw_wind_estimator/fw_wind_estimator_params.c

@@ -1,100 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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.
- *
- ****************************************************************************/
-
-/**
- * @file fw_wind_estimator_params.c
- *
- * Parameters defined by the fixed-wing wind estimator
- *
- * @author Jaeyoung Lim <jaeyounglim@berkeley.edu>
- */
-
-/**
- * Vehicle Mass
- *
- * @unit %/rad/s
- * @min 0.0
- * @max 25
- * @decimal 3
- * @increment 0.01
- * @group FW Wind Estimator
- */
-PARAM_DEFINE_FLOAT(FW_W_MASS, 1.00f);
-
-/**
-* Vehicle Mass
-*
-* @unit %/rad/s
-* @min 0.0
-* @max 25
-* @decimal 3
-* @increment 0.01
-* @group FW Wind Estimator
-*/
-PARAM_DEFINE_FLOAT(FW_W_AREA, 0.34f);
-
-/**
-* Vehicle Aerodynamic coefficient
-*
-* @unit %/rad/s
-* @min 0.0
-* @max 4
-* @decimal 3
-* @increment 0.01
-* @group FW Wind Estimator
-*/
-PARAM_DEFINE_FLOAT(FW_W_C_B1, 1.0f);
-
-/**
-* Vehicle Aerodynamic coefficient
-*
-* @unit %/rad/s
-* @min 0.0
-* @max 4
-* @decimal 3
-* @increment 0.01
-* @group FW Wind Estimator
-*/
-PARAM_DEFINE_FLOAT(FW_W_C_A0, 0.15188f);
-
-/**
-* Vehicle Aerodynamic coefficient
-*
-* @unit %/rad/s
-* @min 0.0
-* @max 10
-* @decimal 3
-* @increment 0.01
-* @group FW Wind Estimator
-*/
-PARAM_DEFINE_FLOAT(FW_W_C_A1, 5.015f);

src/modules/fw_wind_estimator/module.yaml

@@ -0,0 +1,54 @@
+module_name: fw_wind_estimator
+parameters:
+- group: FW Wind Estimator
+  definitions:
+    FW_W_MASS:
+      description:
+        short: Vehicle Mass
+      type: float
+      default: 1.0
+      unit: '%/rad/s'
+      min: 0.0
+      max: 25
+      decimal: 3
+      increment: 0.01
+    FW_W_AREA:
+      description:
+        short: Vehicle Mass
+      type: float
+      default: 0.34
+      unit: '%/rad/s'
+      min: 0.0
+      max: 25
+      decimal: 3
+      increment: 0.01
+    FW_W_C_B1:
+      description:
+        short: Vehicle Aerodynamic coefficient
+      type: float
+      default: 1.0
+      unit: '%/rad/s'
+      min: 0.0
+      max: 4
+      decimal: 3
+      increment: 0.01
+    FW_W_C_A0:
+      description:
+        short: Vehicle Aerodynamic coefficient
+      type: float
+      default: 0.15188
+      unit: '%/rad/s'
+      min: 0.0
+      max: 4
+      decimal: 3
+      increment: 0.01
+    FW_W_C_A1:
+      description:
+        short: Vehicle Aerodynamic coefficient
+      type: float
+      default: 5.015
+      unit: '%/rad/s'
+      min: 0.0
+      max: 10
+      decimal: 3
+      increment: 0.01