lib/mixer_module: added a constant instance start so that when instan…

…ce start is changed in actuator yaml files they parameters are able to be used (#23616)

Co-authored-by: Luca Scheuer <[email protected]>

src/lib/mixer_module/mixer_module.cpp

@@ -67,7 +67,7 @@ static const FunctionProvider all_function_providers[] = {
 };
 
 MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
-			   SchedulingPolicy scheduling_policy, bool support_esc_calibration, bool ramp_up) :
+			   SchedulingPolicy scheduling_policy, bool support_esc_calibration, bool ramp_up, const uint8_t instance_start) :
 	ModuleParams(&interface),
 	_output_ramp_up(ramp_up),
 	_scheduling_policy(scheduling_policy),
@@ -87,7 +87,7 @@ MixingOutput::MixingOutput(const char *param_prefix, uint8_t max_num_outputs, Ou
 
 	px4_sem_init(&_lock, 0, 1);
 
-	initParamHandles();
+	initParamHandles(instance_start);
 
 	for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
 		_failsafe_value[i] = UINT16_MAX;
@@ -108,20 +108,20 @@ MixingOutput::~MixingOutput()
 	_outputs_pub.unadvertise();
 }
 
-void MixingOutput::initParamHandles()
+void MixingOutput::initParamHandles(const uint8_t instance_start)
 {
 	char param_name[17];
 
 	for (unsigned i = 0; i < _max_num_outputs; ++i) {
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + 1);
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + instance_start);
 		_param_handles[i].function = param_find(param_name);
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + 1);
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + instance_start);
 		_param_handles[i].disarmed = param_find(param_name);
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + 1);
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + instance_start);
 		_param_handles[i].min = param_find(param_name);
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MAX", i + 1);
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MAX", i + instance_start);
 		_param_handles[i].max = param_find(param_name);
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + 1);
+		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + instance_start);
 		_param_handles[i].failsafe = param_find(param_name);
 	}
 

src/lib/mixer_module/mixer_module.hpp

@@ -120,7 +120,7 @@ class MixingOutput : public ModuleParams
 	 */
 	MixingOutput(const char *param_prefix, uint8_t max_num_outputs, OutputModuleInterface &interface,
 		     SchedulingPolicy scheduling_policy,
-		     bool support_esc_calibration, bool ramp_up = true);
+		     bool support_esc_calibration, bool ramp_up = true, const uint8_t instance_start = 1);
 
 	~MixingOutput();
 
@@ -221,7 +221,7 @@ class MixingOutput : public ModuleParams
 
 	void cleanupFunctions();
 
-	void initParamHandles();
+	void initParamHandles(const uint8_t instance_start);
 
 	void limitAndUpdateOutputs(float outputs[MAX_ACTUATORS], bool has_updates);