control_allocator: add title & help url to geometry UI

Tools/module_config/generate_actuators_metadata.py

@@ -330,9 +330,11 @@ def get_mixers(yaml_config, output_functions, verbose):
         option = select_param + '==' + str(type_index)
         mixer_config = {
                 'option': option,
+                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
             }
-        if 'type' in current_type:
+        for optional in ['type', 'title']:
-            mixer_config['type'] = current_type['type']
+            if optional in current_type:
+                mixer_config[optional] = current_type[optional]
         actuators = []
         for actuator_conf in current_type['actuators']:
             actuator = {

src/modules/control_allocator/module.yaml

@@ -478,6 +478,7 @@ mixer:
         types:
             0: # Multirotor
                 type: 'multirotor'
+                title: 'Multirotor'
                 actuators:
                   - actuator_type: 'motor'
                     count: 'CA_ROTOR_COUNT'
@@ -491,6 +492,7 @@ mixer:
                             show_as: 'true-if-positive'
 
             1: # Fixed Wing
+                title: 'Fixed Wing'
                 actuators:
                   - actuator_type: 'motor'
                     group_label: 'Motors'
@@ -520,6 +522,7 @@ mixer:
                             label: 'Trim'
 
             2: # Standard VTOL
+                title: 'Standard VTOL'
                 actuators:
                   - actuator_type: 'motor'
                     group_label: 'MC Motors'
@@ -561,6 +564,7 @@ mixer:
                         name: VT_ELEV_MC_LOCK
 
             3: # Tiltrotor VTOL
+                title: 'Tiltrotor VTOL'
                 actuators:
                   - actuator_type: 'motor'
                     group_label: 'MC Motors'
@@ -615,6 +619,7 @@ mixer:
                             label: 'Use for Control'
 
             4: # Tailsitter VTOL
+                title: 'Tailsitter VTOL'
                 actuators:
                   - actuator_type: 'motor'
                     group_label: 'MC Motors'
@@ -653,6 +658,7 @@ mixer:
                         name: VT_ELEV_MC_LOCK
 
             5: # Rover (Ackermann)
+                title: 'Rover (Ackermann)'
                 actuators:
                   - actuator_type: 'motor'
                     instances:
@@ -664,6 +670,7 @@ mixer:
                         position: [ 1., 0, 0 ]
 
             6: # Rover (Differential)
+                title: 'Rover (Differential)'
                 actuators:
                   - actuator_type: 'motor'
                     instances:
@@ -693,6 +700,7 @@ mixer:
                             label: "Moment\nCoefficient"
 
             8: # Multirotor with Tilt
+                title: 'Multirotor with Tilt'
                 actuators:
                   - actuator_type: 'motor'
                     count: 'CA_ROTOR_COUNT'

validation/module_schema.yaml

@@ -524,6 +524,8 @@ mixer:
                                 # show type-specific functionality)
                                 type: string
                                 allowed: [ multirotor ]
+                            title:
+                                type: string
                             actuators:
                                 type: list
                                 minlength: 1