refactor(parameters): remove legacy params.c build infrastructure

All parameters are now defined in YAML module configuration files.
Remove the cmake infrastructure that discovered and processed
legacy params.c files:
- Remove GLOB_RECURSE for *params.c/*parameters.c
- Remove .c file scanning from DISABLE_PARAMS_MODULE_SCOPING
- Remove module_list from px_process_params.py --src-path
- Remove PX4_MODULE_PATHS usage (no longer needed for param scanning)

Makefile

@@ -548,7 +548,8 @@ validate_module_configs:
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
-	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
+	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" \
+	-not -path "$(SRC_DIR)/src/lib/tensorflow_lite_micro/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 
 # Cleanup

src/lib/parameters/CMakeLists.txt

@@ -37,21 +37,9 @@ if (NOT PARAM_DEFAULT_OVERRIDES)
 	set(PARAM_DEFAULT_OVERRIDES "{}")
 endif()
 
-# get full path for each module
-get_property(module_list GLOBAL PROPERTY PX4_MODULE_PATHS)
 get_property(module_config_files GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 
 if(DISABLE_PARAMS_MODULE_SCOPING)
-	# search all directories with .c files (potentially containing parameters)
-	file(GLOB_RECURSE c_files
-		${PX4_SOURCE_DIR}/src/*.c
-		${external_module_paths}
-		)
-	foreach(file_path ${c_files})
-		get_filename_component(dir_path ${file_path} PATH)
-		list(APPEND module_list "${dir_path}")
-	endforeach()
-
 	# search for all module configs as well
 	file(GLOB_RECURSE yaml_files
 		${PX4_SOURCE_DIR}/src/*.yaml
@@ -72,12 +60,8 @@ if(DISABLE_PARAMS_MODULE_SCOPING)
 	endforeach()
 
 	list(REMOVE_DUPLICATES module_config_files)
-else()
-	list(APPEND module_list ${external_module_paths})
 endif()
 
-list(REMOVE_DUPLICATES module_list)
-
 set(generated_params_dir ${PX4_BINARY_DIR}/generated_params)
 set(generated_serial_params_file ${generated_params_dir}/serial_params.c)
 set(generated_module_params_file ${generated_params_dir}/module_params.c)
@@ -116,10 +100,9 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par
 
 set(parameters_xml ${PX4_BINARY_DIR}/parameters.xml)
 set(parameters_json ${PX4_BINARY_DIR}/parameters.json)
-file(GLOB_RECURSE param_src_files ${PX4_SOURCE_DIR}/src/*params.c ${PX4_SOURCE_DIR}/src/*parameters.c)
 add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json}.xz
 	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/px_process_params.py
-		--src-path ${module_list} ${generated_params_dir}
+		--src-path ${generated_params_dir}
 		--xml ${parameters_xml}
 		--json ${parameters_json}
 		--compress
@@ -132,7 +115,6 @@ add_custom_command(OUTPUT ${parameters_xml} ${parameters_json} ${parameters_json
 		--skip-if-no-schema # mavlink submodule might not exist for current target if built in CI
 		#--verbose
 	DEPENDS
-		${param_src_files}
 		${generated_serial_params_file}
 		${generated_module_params_file}
 		px4params/srcparser.py

validation/module_schema.yaml

@@ -155,7 +155,8 @@ parameters:
                                 'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
                                 'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
                                 'rpm',
-                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD', 'dBHz']
+                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD', 'dBHz',
+                                '1/s/sqrt(Hz)', 'liters']
                         bit:
                             # description of all bits for type bitmask.
                             # The first bit is 0.
@@ -169,7 +170,7 @@ parameters:
                             # enumeration of possible values for type enum
                             type: dict
                             keyschema:
-                                type: integer
+                                type: number
                             valueschema:
                                 type: string