output modules: add param prefix argument to MixingOutput

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();