params: use PWM_MAIN_* instead of PWM_FMU_*

src/drivers/dshot/DShot.h

@@ -140,7 +140,12 @@ private:
 
 	void update_telemetry_num_motors();
 
-	MixingOutput _mixing_output{"PWM_FMU", DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+#ifdef BOARD_WITH_IO
+# define PARAM_PREFIX "PWM_AUX"
+#else
+# define PARAM_PREFIX "PWM_MAIN"
+#endif
+	MixingOutput _mixing_output {PARAM_PREFIX, DIRECT_PWM_OUTPUT_CHANNELS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	Telemetry *_telemetry{nullptr};
 

src/drivers/pwm_out/PWMOut.hpp

@@ -130,7 +130,12 @@ private:
 
 	static const int MAX_PER_INSTANCE{8};
 
-	MixingOutput _mixing_output{"PWM_FMU", FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
+#ifdef BOARD_WITH_IO
+# define PARAM_PREFIX "PWM_AUX"
+#else
+# define PARAM_PREFIX "PWM_MAIN"
+#endif
+	MixingOutput _mixing_output {PARAM_PREFIX, FMU_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};
 
 	uint32_t	_backup_schedule_interval_us{1_s};
 

src/drivers/pwm_out/module.yaml

@@ -2,8 +2,8 @@ module_name: PWM Output
 actuator_output:
   output_groups:
     - generator: pwm
-      param_prefix: PWM_FMU
-      channel_labels: ['PWM Main', 'PWM Capture']
+      param_prefix: '${PWM_MAIN_OR_AUX}'
+      channel_labels: ['${PWM_MAIN_OR_AUX}', 'PWM Capture']
       standard_params: 
         disarmed: { min: 800, max: 2200, default: 900 }
         min: { min: 800, max: 1400, default: 1000 }

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -45,7 +45,7 @@
 #include <uORB/topics/parameter_update.h>
 
 #if defined(CONFIG_ARCH_BOARD_PX4_SITL)
-#define PARAM_PREFIX "PWM_FMU"
+#define PARAM_PREFIX "PWM_MAIN"
 #else
 #define PARAM_PREFIX "HIL_ACT"
 #endif

src/drivers/pwm_out_sim/module.yaml

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