I have been out of FreeBSD land for awhile, but I've had the same problem in Linux using hplip 3.19.12. Solution:
- run hp-setup -g and look for a line like this: hp-setup[5160]: debug: Cache miss: hp_colorlaserjet_mfp_m178-m181
- exit setup
- find the models.dat file (in linux it's under /usr/share/hplip/data/models/models.dat). make a backup of the file.
- find your printer model in the file, and change the appropriate entry to the entry hp-setup is looking for like this: [hp_colorlaserjet_mfp_m178-m181]
- re-run hp-setup and see if it finds the printer.
- got this from here: https://bugs.archlinux.org/task/64801