cmake remove circular linking and reorganize

- px4_add_module now requires MAIN
 - px4_add_library doesn't automatically link

src/modules/muorb/adsp/CMakeLists.txt

@@ -31,14 +31,8 @@
 #
 ############################################################################
 
-px4_add_module(
-	MODULE modules__muorb__adsp
-	INCLUDES
-		${PX4_SOURCE_DIR}/src/modules/uORB
-	SRCS
-		px4muorb.cpp
-		uORBFastRpcChannel.cpp
-	DEPENDS
-		generate_px4muorb_stubs
-		platforms__common
-	)
+px4_add_library(modules__muorb__adsp
+	px4muorb.cpp
+	uORBFastRpcChannel.cpp
+)
+target_include_directories(modules__muorb__adsp PRIVATE ${PX4_SOURCE_DIR}/src/modules/uORB)

src/modules/muorb/adsp/px4muorb.cpp

@@ -42,7 +42,7 @@
 #include "px4_log.h"
 #include "uORB/topics/sensor_combined.h"
 #include "uORB.h"
-#include "systemlib/param/param.h"
+#include <parameters/param.h>
 #include <shmem.h>
 
 __BEGIN_DECLS