SRV_Channel: observe disabled_channels when enabling channels

setup disabled_channels observing channels that are implied to be digital
allow none to be a valid channel function once again

libraries/SRV_Channel/SRV_Channel.h

@@ -52,7 +52,7 @@ public:
     typedef enum
     {
         k_GPIO                  = -1,           ///< used as GPIO pin (input or output)
-        k_none                  = 0,            ///< disabled
+        k_none                  = 0,            ///< general use PWM output used by do-set-servo commands and lua scripts
         k_manual                = 1,            ///< manual, just pass-thru the RC in signal
         k_flap                  = 2,            ///< flap
         k_flap_auto             = 3,            ///< flap automated
@@ -183,7 +183,7 @@ public:
 
     // check if a function is valid for indexing into functions
     static bool valid_function(Aux_servo_function_t fn) {
-        return fn > k_none && fn < k_nr_aux_servo_functions;
+        return fn >= k_none && fn < k_nr_aux_servo_functions;
     }
     bool valid_function(void) const {
         return valid_function(function);
@@ -519,8 +519,9 @@ public:
 
     static void push();
 
-    // disable output to a set of channels given by a mask. This is used by the AP_BLHeli code
+    // disable PWM output to a set of channels given by a mask. This is used by the AP_BLHeli code
     static void set_disabled_channel_mask(uint16_t mask) { disabled_mask = mask; }
+    static uint16_t get_disabled_channel_mask() { return disabled_mask; }
 
     // add to mask of outputs which use digital (non-PWM) output and optionally can reverse thrust, such as DShot
     static void set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask);
@@ -600,6 +601,7 @@ private:
     static AP_FETtecOneWire *fetteconwire_ptr;
 #endif  // AP_FETTEC_ONEWIRE_ENABLED
 
+    // mask of disabled channels
     static uint16_t disabled_mask;
 
     // mask of outputs which use a digital output protocol, not

libraries/SRV_Channel/SRV_Channel_aux.cpp

@@ -206,7 +206,7 @@ void SRV_Channels::enable_aux_servos()
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
         SRV_Channel &c = channels[i];
         // see if it is a valid function
-        if (c.valid_function()) {
+        if (c.valid_function() && !(disabled_mask & (1U<<c.ch_num))) {
             hal.rcout->enable_ch(c.ch_num);
         } else {
             hal.rcout->disable_ch(c.ch_num);
@@ -248,6 +248,27 @@ void SRV_Channels::set_digital_outputs(uint16_t dig_mask, uint16_t rev_mask) {
     digital_mask |= dig_mask;
     reversible_mask |= rev_mask;
 
+    // add in NeoPixel and ProfiLED functions to digital array to determine anything else
+    // that should be disabled
+    for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
+        SRV_Channel &c = channels[i];
+        switch (c.function.get()) {
+            case SRV_Channel::k_LED_neopixel1:
+            case SRV_Channel::k_LED_neopixel2:
+            case SRV_Channel::k_LED_neopixel3:
+            case SRV_Channel::k_LED_neopixel4:
+            case SRV_Channel::k_ProfiLED_1:
+            case SRV_Channel::k_ProfiLED_2:
+            case SRV_Channel::k_ProfiLED_3:
+            case SRV_Channel::k_ProfiLED_Clock:
+                dig_mask |= 1U<<c.ch_num;
+                break;
+            default:
+                break;
+        }
+    }
+    disabled_mask = hal.rcout->get_disabled_channels(dig_mask);
+
     for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
         SRV_Channel &c = channels[i];
         if (digital_mask & (1U<<i)) {