SRV_Channel: allow re-assignment from GPIO on channels above 16

this allows MotorMatrix to change a channel's default (and value) from k_GPIO to a motor output value. The loop in the SRV_Channels contructors sets all defaults for channels above 16 to GPIO, and this code stopped MotorsMatrix from assigning a different role the the output.
ArduPilot · Jan 8, 2025 · 77bdea9 · 77bdea9
1 parent 42cc456
commit 77bdea9
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -544,7 +544,8 @@ bool SRV_Channels::set_aux_channel_default(SRV_Channel::Aux_servo_function_t fun
         // already assigned
         return true;
     }
-    if (channels[channel].function != SRV_Channel::k_none) {
+    if (channels[channel].function != SRV_Channel::k_none &&
+        !(channel >15 && channels[channel].function == SRV_Channel::k_GPIO)) {
         if (channels[channel].function == function) {
             return true;
         }