pwm_out_sim: split module.yaml into HIL+SIM files

Tools/module_config/generate_actuators_metadata.py

@@ -105,9 +105,6 @@ def process_module_name(module_name):
     return module_name
 
 def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_MAIN_OR_HIL}':
-        if board == 'px4_sitl': return 'PWM_MAIN'
-        return 'HIL_ACT'
     if param_prefix == '${PWM_MAIN_OR_AUX}':
         if board_with_io: return 'PWM_AUX'
         return 'PWM_MAIN'
@@ -116,8 +113,6 @@ def process_param_prefix(param_prefix):
     return param_prefix
 
 def process_channel_label(module_name, channel_label, no_prefix):
-    if channel_label == '${PWM_MAIN_OR_HIL}':
-        return 'Channel'
     if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
         return 'CAP'
     if channel_label == '${PWM_MAIN_OR_AUX}':

Tools/module_config/generate_params.py

@@ -59,9 +59,6 @@ def process_module_name(module_name):
     return module_name
 
 def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_MAIN_OR_HIL}':
-        if board == 'px4_sitl': return 'PWM_MAIN'
-        return 'HIL_ACT'
     if param_prefix == '${PWM_MAIN_OR_AUX}':
         if board_with_io: return 'PWM_AUX'
         return 'PWM_MAIN'
@@ -70,9 +67,6 @@ def process_param_prefix(param_prefix):
     return param_prefix
 
 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}':

src/drivers/pwm_out_sim/CMakeLists.txt

@@ -30,13 +30,20 @@
 # POSSIBILITY OF SUCH DAMAGE.
 #
 ############################################################################
+
+if (${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL} STREQUAL "px4_sitl")
+	set(module_config "module_sim.yaml")
+else()
+	set(module_config "module_hil.yaml")
+endif()
+
 px4_add_module(
 	MODULE drivers__pwm_out_sim
 	MAIN pwm_out_sim
 	SRCS
 		PWMSim.cpp
 	MODULE_CONFIG
-		module.yaml
+		${module_config}
 	DEPENDS
 		mixer
 		mixer_module

src/drivers/pwm_out_sim/module.yaml

@@ -1,7 +0,0 @@
-
-module_name: PWM Sim
-actuator_output:
-  output_groups:
-    - param_prefix: ${PWM_MAIN_OR_HIL}
-      channel_label: ${PWM_MAIN_OR_HIL}
-      num_channels: 16

src/drivers/pwm_out_sim/module_hil.yaml

@@ -0,0 +1,8 @@
+
+module_name: HIL
+actuator_output:
+  show_subgroups_if: 'SYS_HITL>0'
+  output_groups:
+    - param_prefix: HIL_ACT
+      channel_label: Channel
+      num_channels: 16

src/drivers/pwm_out_sim/module_sim.yaml

@@ -0,0 +1,7 @@
+
+module_name: SIM
+actuator_output:
+  output_groups:
+    - param_prefix: PWM_MAIN
+      channel_label: Channel
+      num_channels: 16

validation/module_schema.yaml

@@ -269,7 +269,7 @@ actuator_output:
                         # parameter prefix for the min/max/disarmed/func params, e.g. PWM_MAIN.
                         # This also needs to be specified in the source code.
                         type: string
-                        regex: '([0-9A-Z_]+|\$\{PWM_MAIN_OR_AUX\}|\$\{PWM_MAIN_OR_HIL\})'
+                        regex: '([0-9A-Z_]+|\$\{PWM_MAIN_OR_AUX\})'
                         required: true
                     channel_label:
                         # Human-readable per-channel label (index will be added), e.g. 'PWM Main'