pwm_out_sim: use PWM_FMU for sitl and HIL_ACT for hitl

We might want to change this later, but for now it allows to use the same
airframe configs for sitl/real, and independent hitl configuration.

Tools/module_config/generate_params.py

@@ -29,6 +29,8 @@ parser.add_argument('--timer-config', type=str, action='store',
                     help='board-specific timer_config.cpp file')
 parser.add_argument('--ethernet', action='store_true',
                     help='Ethernet support')
+parser.add_argument('--board', type=str, action='store',
+                    help='board name, e.g. ')
 parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                     help='Verbose Output')
 
@@ -38,10 +40,28 @@ verbose = args.verbose
 params_output_file = args.params_file
 timer_config_file = args.timer_config
 ethernet_supported = args.ethernet
+board = args.board
 
 root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
 output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
 
+def process_param_prefix(param_prefix):
+    if param_prefix == '${PWM_FMU_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM_FMU'
+        return 'HIL_ACT'
+    if '${' in param_prefix:
+        raise Exception('unhandled variable in {:}'.format(param_prefix))
+    return param_prefix
+
+def process_channel_label(channel_label):
+    if channel_label == '${PWM_FMU_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM Sim'
+        return 'HIL actuator'
+    if '${' in channel_label:
+        raise Exception('unhandled variable in {:}'.format(channel_label))
+    return channel_label
+
+
 def parse_yaml_parameters_config(yaml_config, ethernet_supported):
     """ parse the parameters section from the yaml config file """
     if 'parameters' not in yaml_config:
@@ -152,7 +172,7 @@ def get_actuator_output_params(yaml_config, output_functions,
         if 'generator' in group:
             if group['generator'] == 'pwm':
                 # We might set these depending on presence of IO in build...
-                param_prefix = group['param_prefix']
+                param_prefix = process_param_prefix(group['param_prefix'])
                 channel_labels = group['channel_labels']
                 standard_params = group.get('standard_params', [])
                 extra_function_groups = group.get('extra_function_groups', [])
@@ -171,8 +191,8 @@ def get_actuator_output_params(yaml_config, output_functions,
             continue
 
         num_channels = group['num_channels']
-        param_prefix = group['param_prefix']
-        channel_label = group['channel_label']
+        param_prefix = process_param_prefix(group['param_prefix'])
+        channel_label = process_channel_label(group['channel_label'])
         standard_params = group.get('standard_params', {})
         instance_start = group.get('instance_start', 1)
         instance_start_label = group.get('instance_start_label', instance_start)

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -44,6 +44,13 @@
 #include <px4_platform_common/time.h>
 #include <uORB/topics/parameter_update.h>
 
+#if defined(CONFIG_ARCH_BOARD_PX4_SITL)
+#define PARAM_PREFIX "PWM_FMU"
+#else
+#define PARAM_PREFIX "HIL_ACT"
+#endif
+
+
 using namespace time_literals;
 
 class PWMSim : public cdev::CDev, public ModuleBase<PWMSim>, public OutputModuleInterface
@@ -77,7 +84,7 @@ private:
 	static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;
 	static constexpr uint16_t PWM_SIM_PWM_MAX_MAGIC = 2000;
 
-	MixingOutput _mixing_output{"PWM_SIM", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{PARAM_PREFIX, MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 };
 

src/drivers/pwm_out_sim/module.yaml

@@ -2,7 +2,7 @@
 module_name: PWM Sim
 actuator_output:
   output_groups:
-    - param_prefix: PWM_SIM
-      channel_label: 'PWM Sim'
+    - param_prefix: ${PWM_FMU_OR_HIL}
+      channel_label: ${PWM_FMU_OR_HIL}
       num_channels: 16
 

src/lib/parameters/CMakeLists.txt

@@ -90,6 +90,7 @@ add_custom_command(OUTPUT ${generated_serial_params_file} ${generated_module_par
 		${added_arguments}
 		--timer-config ${PX4_BOARD_DIR}/src/timer_config.cpp
 		--config-files ${module_config_files} #--verbose
+		--board ${PX4_BOARD}
 	DEPENDS
 		${module_config_files}
 		${jinja_templates}