generate_actuators_metadata.py: add mixer rules support

Tools/module_config/generate_actuators_metadata.py

@@ -417,10 +417,18 @@ def get_mixers(yaml_config, output_functions, verbose):
 
     if verbose:
         print('Mixer configs: {}'.format(config))
+
+    rules = []
+    for rule in yaml_config['mixer'].get('rules', []):
+        rules.append({k.replace('_','-'): v for k, v in rule.items()})
+
+    if verbose:
+        print('Mixer rules: {}'.format(rules))
     
     mixers = {
             'actuator-types': actuator_types,
             'config': config,
+            'rules': rules,
         }
     return mixers
 

validation/module_schema.yaml

@@ -498,6 +498,12 @@ mixer:
                                     type: integer
                                 function:
                                     type: string
+                                identifier:
+                                    # for rules
+                                    type: string
+        rules:
+            # mixer rules, validated by the mavlink actuator component information schema
+            type: list
         config:
             # Airframe types
             type: dict
@@ -526,6 +532,8 @@ mixer:
                                     schema:
                                         actuator_type:
                                             type: string
+                                        group_label:
+                                            type: string
                                         count:
                                             # param name or fixed count
                                             oneof: