From db47c145ff1d80c19cfe1296acee89dd6d581351 Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Tue, 17 Mar 2026 21:55:32 -0800
Subject: [PATCH] refactor(drivers/power_monitor/ina238): convert params.c to
 module.yaml

Convert 1 parameter file(s) from legacy C format to YAML
module configuration.
---
 .../power_monitor/ina238/CMakeLists.txt       |  2 +
 .../power_monitor/ina238/ina238_params.c      | 67 -------------------
 .../power_monitor/ina238/ina238_params.yaml   | 31 +++++++++
 3 files changed, 33 insertions(+), 67 deletions(-)
 delete mode 100644 src/drivers/power_monitor/ina238/ina238_params.c
 create mode 100644 src/drivers/power_monitor/ina238/ina238_params.yaml

diff --git a/src/drivers/power_monitor/ina238/CMakeLists.txt b/src/drivers/power_monitor/ina238/CMakeLists.txt
index 311fdad662..7b5545dcc0 100644
--- a/src/drivers/power_monitor/ina238/CMakeLists.txt
+++ b/src/drivers/power_monitor/ina238/CMakeLists.txt
@@ -38,6 +38,8 @@ px4_add_module(
 	SRCS
 		ina238_main.cpp
 		ina238.cpp
+	MODULE_CONFIG
+		ina238_params.yaml
 	DEPENDS
 		battery
 		px4_work_queue
diff --git a/src/drivers/power_monitor/ina238/ina238_params.c b/src/drivers/power_monitor/ina238/ina238_params.c
deleted file mode 100644
index 0db7f7e3bf..0000000000
--- a/src/drivers/power_monitor/ina238/ina238_params.c
+++ /dev/null
@@ -1,67 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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 INA238 Power Monitor
- *
- * For systems a INA238 Power Monitor, this should be set to true
- *
- * @group Sensors
- * @boolean
- * @reboot_required true
-*/
-PARAM_DEFINE_INT32(SENS_EN_INA238, 0);
-
-/**
- * INA238 Power Monitor Max Current
- *
- * @group Sensors
- * @min 0.1
- * @max 327.68
- * @decimal 2
- * @increment 0.1
- * @reboot_required true
- */
-PARAM_DEFINE_FLOAT(INA238_CURRENT, 327.68f);
-
-/**
- * INA238 Power Monitor Shunt
- *
- * @group Sensors
- * @min 0.000000001
- * @max 0.1
- * @decimal 10
- * @increment .000000001
- * @reboot_required true
- */
-PARAM_DEFINE_FLOAT(INA238_SHUNT, 0.0005f);
diff --git a/src/drivers/power_monitor/ina238/ina238_params.yaml b/src/drivers/power_monitor/ina238/ina238_params.yaml
new file mode 100644
index 0000000000..e0319cd3e2
--- /dev/null
+++ b/src/drivers/power_monitor/ina238/ina238_params.yaml
@@ -0,0 +1,31 @@
+module_name: ina238
+parameters:
+- group: Sensors
+  definitions:
+    SENS_EN_INA238:
+      description:
+        short: Enable INA238 Power Monitor
+        long: For systems a INA238 Power Monitor, this should be set to true
+      type: boolean
+      default: 0
+      reboot_required: true
+    INA238_CURRENT:
+      description:
+        short: INA238 Power Monitor Max Current
+      type: float
+      default: 327.68
+      min: 0.1
+      max: 327.68
+      decimal: 2
+      increment: 0.1
+      reboot_required: true
+    INA238_SHUNT:
+      description:
+        short: INA238 Power Monitor Shunt
+      type: float
+      default: 0.0005
+      min: 1.0e-09
+      max: 0.1
+      decimal: 10
+      increment: 1.0e-09
+      reboot_required: true