output modules: add param prefix argument to MixingOutput

src/drivers/dshot/DShot.h

@@ -140,7 +140,7 @@ private:
 
 	void update_telemetry_num_motors();
 
-	MixingOutput _mixing_output{DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"PWM_FMU", DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	Telemetry *_telemetry{nullptr};
 

src/drivers/linux_pwm_out/linux_pwm_out.hpp

@@ -85,7 +85,7 @@ private:
 
 	void		update_params();
 
-	MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
+	MixingOutput _mixing_output{"PWM", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 

src/drivers/pca9685_pwm_out/main.cpp

@@ -115,7 +115,7 @@ protected:
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
-	MixingOutput _mixing_output{PCA9685_PWM_CHANNEL_COUNT, *this, MixingOutput::SchedulingPolicy::Disabled, true};
+	MixingOutput _mixing_output{"PCA9685", PCA9685_PWM_CHANNEL_COUNT, *this, MixingOutput::SchedulingPolicy::Disabled, true};
 };
 
 PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) :

src/drivers/pwm_out/PWMOut.hpp

@@ -129,7 +129,7 @@ private:
 
 	static const int MAX_PER_INSTANCE{8};
 
-	MixingOutput _mixing_output{FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
+	MixingOutput _mixing_output{"PWM_FMU", FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
 
 	uint32_t	_backup_schedule_interval_us{1_s};
 

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -77,7 +77,7 @@ private:
 	static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;
 	static constexpr uint16_t PWM_SIM_PWM_MAX_MAGIC = 2000;
 
-	MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"PWM_SIM", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 };
 

src/drivers/px4io/px4io.cpp

@@ -235,7 +235,7 @@ private:
 	bool			_test_fmu_fail{false}; ///< To test what happens if IO loses FMU
 	bool			_in_test_mode{false}; ///< true if PWM_SERVO_ENTER_TEST_MODE is active
 
-	MixingOutput _mixing_output{PX4IO_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
+	MixingOutput _mixing_output{"PWM_MAIN", PX4IO_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
 
 	bool _pwm_min_configured{false};
 	bool _pwm_max_configured{false};

src/drivers/tap_esc/TAP_ESC.cpp

@@ -36,7 +36,7 @@
 TAP_ESC::TAP_ESC(char const *const device, uint8_t channels_count):
 	CDev(TAP_ESC_DEVICE_PATH),
 	OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(device)),
-	_mixing_output{channels_count, *this, MixingOutput::SchedulingPolicy::Auto, true},
+	_mixing_output{"TAP_ESC", channels_count, *this, MixingOutput::SchedulingPolicy::Auto, true},
 	_channels_count(channels_count)
 {
 	strncpy(_device, device, sizeof(_device) - 1);

src/drivers/uavcan/uavcan_main.hpp

@@ -104,7 +104,7 @@ private:
 	friend class UavcanNode;
 	pthread_mutex_t &_node_mutex;
 	UavcanEscController &_esc_controller;
-	MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"UAVCAN_EC", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 };
 
 /**

src/drivers/uavcan_v1/Uavcan.hpp

@@ -110,7 +110,7 @@ private:
 	pthread_mutex_t &_node_mutex;
 	UavcanEscController &_esc_controller;
 	// UavcanServoController &_servo_controller;
-	MixingOutput _mixing_output{MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"UCAN1_ESC", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 };
 
 class UavcanNode : public ModuleParams, public px4::ScheduledWorkItem

src/lib/mixer_module/mixer_module.cpp

@@ -66,7 +66,7 @@ static const FunctionProvider all_function_providers[] = {
 	{OutputFunction::Gimbal_Roll, OutputFunction::Gimbal_Yaw, &FunctionGimbal::allocate},
 };
 
-MixingOutput::MixingOutput(uint8_t max_num_outputs, OutputModuleInterface &interface,
+MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
 			   SchedulingPolicy scheduling_policy,
 			   bool support_esc_calibration, bool ramp_up)
 	: ModuleParams(&interface),
@@ -80,7 +80,8 @@ _scheduling_policy(scheduling_policy),
 _support_esc_calibration(support_esc_calibration),
 _max_num_outputs(max_num_outputs < MAX_ACTUATORS ? max_num_outputs : MAX_ACTUATORS),
 _interface(interface),
-_control_latency_perf(perf_alloc(PC_ELAPSED, "control latency"))
+_control_latency_perf(perf_alloc(PC_ELAPSED, "control latency")),
+_param_prefix(param_prefix)
 {
 	output_limit_init(&_output_limit);
 	_output_limit.ramp_up = ramp_up;

src/lib/mixer_module/mixer_module.hpp

@@ -101,13 +101,15 @@ public:
 
 	/**
 	 * Contructor
+	 * @param param_prefix for min/max/etc. params, e.g. "PWM_MAIN". This needs to match 'param_prefix' in the module.yaml
 	 * @param max_num_outputs maximum number of supported outputs
 	 * @param interface Parent module for scheduling, parameter updates and callbacks
 	 * @param scheduling_policy
 	 * @param support_esc_calibration true if the output module supports ESC calibration via max, then min setting
 	 * @param ramp_up true if motor ramp up from disarmed to min upon arming is wanted
 	 */
-	MixingOutput(uint8_t max_num_outputs, OutputModuleInterface &interface, SchedulingPolicy scheduling_policy,
+	MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
+		     SchedulingPolicy scheduling_policy,
 		     bool support_esc_calibration, bool ramp_up = true);
 
 	~MixingOutput();