linux_pwm_out: add dynamic mixing support

src/drivers/linux_pwm_out/CMakeLists.txt

@@ -37,6 +37,8 @@ px4_add_module(
 	COMPILE_FLAGS
 	SRCS
 		linux_pwm_out.cpp
+	MODULE_CONFIG
+		module.yaml
 	DEPENDS
 		output_limit
 	)

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -44,8 +44,10 @@ LinuxPWMOut::LinuxPWMOut() :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
 {
-	_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-	_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
+	if (!_mixing_output.useDynamicMixing()) {
+		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
+		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
+	}
 }
 
 LinuxPWMOut::~LinuxPWMOut()
@@ -154,8 +156,8 @@ void LinuxPWMOut::update_params()
 {
 	updateParams();
 
-	// skip update when armed
-	if (_mixing_output.armed().armed) {
+	// skip update when armed or dynamic mixing enabled
+	if (_mixing_output.armed().armed || _mixing_output.useDynamicMixing()) {
 		return;
 	}
 

src/drivers/linux_pwm_out/module.yaml

@@ -0,0 +1,12 @@
+module_name: PWM Output
+actuator_output:
+  output_groups:
+    - param_prefix: PWM
+      channel_label: 'PWM Actuator'
+      standard_params:
+        disarmed: { min: 800, max: 2200, default: 900 }
+        min: { min: 800, max: 1400, default: 1000 }
+        max: { min: 1600, max: 2200, default: 2000 }
+        failsafe: { min: 800, max: 2200 }
+      num_channels: 8
+