actuator params: use module_name as prefix to channel label

Tools/module_config/generate_params.py

@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-""" Script to params from module.yaml config file(s)
+""" Script to generate params from module.yaml config file(s)
     Note: serial params are handled in Tools/serial/generate_config.py
 """
 
@@ -50,6 +50,14 @@ 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_module_name(module_name):
+    if module_name == '${PWM_MAIN_OR_AUX}':
+        if board_with_io: return 'PWM AUX'
+        return 'PWM MAIN'
+    if '${' in module_name:
+        raise Exception('unhandled variable in {:}'.format(module_name))
+    return module_name
+
 def process_param_prefix(param_prefix):
     if param_prefix == '${PWM_MAIN_OR_HIL}':
         if board == 'px4_sitl': return 'PWM_MAIN'
@@ -61,16 +69,19 @@ def process_param_prefix(param_prefix):
         raise Exception('unhandled variable in {:}'.format(param_prefix))
     return param_prefix
 
-def process_channel_label(channel_label):
+def process_channel_label(module_name, channel_label, no_prefix):
     if channel_label == '${PWM_MAIN_OR_HIL}':
         if board == 'px4_sitl': return 'PWM Sim'
         return 'HIL actuator'
+    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
+        return 'PWM Capture'
     if channel_label == '${PWM_MAIN_OR_AUX}':
         if board_with_io: return 'PWM Aux'
         return 'PWM Main'
     if '${' in channel_label:
         raise Exception('unhandled variable in {:}'.format(channel_label))
-    return channel_label
+    if no_prefix: return channel_label
+    return module_name + ' ' + channel_label
 
 
 def parse_yaml_parameters_config(yaml_config, ethernet_supported):
@@ -162,6 +173,7 @@ def get_actuator_output_params(yaml_config, output_functions,
     if not 'actuator_output' in yaml_config:
         return {}
     output_groups = yaml_config['actuator_output']['output_groups']
+    module_name = process_module_name(yaml_config['module_name'])
     all_params = {}
     group_idx = 0
 
@@ -183,7 +195,9 @@ def get_actuator_output_params(yaml_config, output_functions,
         if 'generator' in group:
             if group['generator'] == 'pwm':
                 param_prefix = process_param_prefix(group['param_prefix'])
-                channel_labels = [process_channel_label(label) for label in group['channel_labels']]
+                no_prefix = not group.get('channel_label_module_name_prefix', True)
+                channel_labels = [process_channel_label(module_name, label, no_prefix)
+                    for label in group['channel_labels']]
                 standard_params = group.get('standard_params', [])
                 extra_function_groups = group.get('extra_function_groups', [])
                 pwm_timer_param = group.get('pwm_timer_param', None)
@@ -219,7 +233,8 @@ def get_actuator_output_params(yaml_config, output_functions,
 
         num_channels = group['num_channels']
         param_prefix = process_param_prefix(group['param_prefix'])
-        channel_label = process_channel_label(group['channel_label'])
+        no_prefix = not group.get('channel_label_module_name_prefix', True)
+        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
         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/linux_pwm_out/module.yaml

@@ -2,7 +2,7 @@ module_name: PWM Output
 actuator_output:
   output_groups:
     - param_prefix: PWM
-      channel_label: 'PWM Actuator'
+      channel_label: 'Channel'
       standard_params:
         disarmed: { min: 800, max: 2200, default: 900 }
         min: { min: 800, max: 1400, default: 1000 }

src/drivers/pca9685_pwm_out/module.yaml

@@ -2,7 +2,7 @@ module_name: PCA9685 Output
 actuator_output:
   output_groups:
     - param_prefix: PCA9685
-      channel_label: 'PCA9685'
+      channel_label: 'Channel'
       standard_params:
         disarmed: { min: 800, max: 2200, default: 900 }
         min: { min: 800, max: 1400, default: 1000 }

src/drivers/pwm_out/module.yaml

@@ -1,9 +1,9 @@
-module_name: PWM Output
+module_name: '${PWM_MAIN_OR_AUX}'
 actuator_output:
   output_groups:
     - generator: pwm
       param_prefix: '${PWM_MAIN_OR_AUX}'
-      channel_labels: ['${PWM_MAIN_OR_AUX}', 'PWM Capture']
+      channel_labels: ['${PWM_MAIN_OR_AUX}', '${PWM_MAIN_OR_AUX_CAP}']
       standard_params:
         disarmed: { min: 800, max: 2200, default: 900 }
         min: { min: 800, max: 1400, default: 1000 }
@@ -30,3 +30,4 @@ actuator_output:
             200: PWM200
             400: PWM400
         reboot_required: true
+

src/drivers/px4io/module.yaml

@@ -1,9 +1,10 @@
-module_name: IO PWM Output
+module_name: PWM MAIN
 actuator_output:
   output_groups:
     - generator: pwm
       param_prefix: PWM_MAIN
-      channel_labels: ['PWM Main', 'PWM Capture']
+      channel_labels: ['MAIN', 'Capture']
+      channel_label_module_name_prefix: false
       timer_config_file: "boards/px4/io-v2/src/timer_config.cpp"
       standard_params:
         disarmed: { min: 800, max: 2200, default: 900 }

src/drivers/tap_esc/module.yaml

@@ -2,5 +2,5 @@ module_name: TAP ESC Output
 actuator_output:
   output_groups:
     - param_prefix: TAP_ESC
-      channel_label: 'TAP ESC'
+      channel_label: 'ESC'
       num_channels: 8

src/drivers/uavcan/module.yaml

@@ -3,14 +3,16 @@ module_name: UAVCAN
 actuator_output:
   output_groups:
     - param_prefix: UAVCAN_EC
-      channel_label: 'UAVCAN ESC'
+      group_label: 'ESCs'
+      channel_label: 'ESC'
       standard_params:
         min: { min: 0, max: 8191, default: 1 }
         max: { min: 0, max: 8191, default: 8191 }
         failsafe: { min: 0, max: 8191 }
       num_channels: 8
     - param_prefix: UAVCAN_SV
-      channel_label: 'UAVCAN Servo'
+      group_label: 'Servos'
+      channel_label: 'Servo'
       standard_params:
         disarmed: { min: 0, max: 1000, default: 500 }
         min: { min: 0, max: 1000, default: 0 }

src/drivers/uavcan_v1/module.yaml

@@ -2,7 +2,7 @@ module_name: UAVCANv1
 actuator_output:
   output_groups:
     - param_prefix: UCAN1_ESC
-      channel_label: 'UAVCAN ESC'
+      channel_label: 'ESC'
       standard_params:
         min: { min: 0, max: 8191, default: 1 }
         max: { min: 0, max: 8191, default: 8191 }

validation/module_schema.yaml

@@ -248,6 +248,11 @@ actuator_output:
                     channel_label:
                         # Human-readable per-channel label (index will be added), e.g. 'PWM Main'
                         type: string
+                    channel_label_module_name_prefix:
+                        # by default, the module_name is prefixed to the
+                        # channel_label as part of the param description. Set
+                        # this to false to turn it off
+                        type: boolean
                     num_channels:
                         # (maximum) number of channels
                         type: integer