diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.cpp b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
index 173d12c8f4..ed25eee43b 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.cpp
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
@@ -117,7 +117,7 @@ void AP_SmartRTL::init()
 
     // check if memory allocation failed
     if (_path == nullptr || _prune.loops == nullptr || _simplify.stack == nullptr) {
-        log_action(SRTL_DEACTIVATED_INIT_FAILED);
+        log_action(Action::DEACTIVATED_INIT_FAILED);
         GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: init failed");
         free(_path);
         free(_prune.loops);
@@ -150,7 +150,7 @@ bool AP_SmartRTL::pop_point(Vector3f& point)
 
     // get semaphore
     if (!_path_sem.take_nonblocking()) {
-        log_action(SRTL_POP_FAILED_NO_SEMAPHORE);
+        log_action(Action::POP_FAILED_NO_SEMAPHORE);
         return false;
     }
 
@@ -180,7 +180,7 @@ bool AP_SmartRTL::peek_point(Vector3f& point)
 
     // get semaphore
     if (!_path_sem.take_nonblocking()) {
-        log_action(SRTL_PEEK_FAILED_NO_SEMAPHORE);
+        log_action(Action::PEEK_FAILED_NO_SEMAPHORE);
         return false;
     }
 
@@ -268,12 +268,12 @@ void AP_SmartRTL::update(bool position_ok, const Vector3f& current_pos)
             _last_position_save_ms = now;
         } else if (AP_HAL::millis() - _last_position_save_ms > SMARTRTL_TIMEOUT) {
             // deactivate after timeout due to failure to save points to path (most likely due to buffer filling up)
-            deactivate(SRTL_DEACTIVATED_PATH_FULL_TIMEOUT, "buffer full");
+            deactivate(Action::DEACTIVATED_PATH_FULL_TIMEOUT, "buffer full");
         }
     } else {
         // check for timeout due to bad position
         if (AP_HAL::millis() - _last_good_position_ms > SMARTRTL_TIMEOUT) {
-            deactivate(SRTL_DEACTIVATED_BAD_POSITION_TIMEOUT, "bad position");
+            deactivate(Action::DEACTIVATED_BAD_POSITION_TIMEOUT, "bad position");
             return;
         }
     }
@@ -322,7 +322,7 @@ bool AP_SmartRTL::add_point(const Vector3f& point)
 {
     // get semaphore
     if (!_path_sem.take_nonblocking()) {
-        log_action(SRTL_ADD_FAILED_NO_SEMAPHORE, point);
+        log_action(Action::ADD_FAILED_NO_SEMAPHORE, point);
         return false;
     }
 
@@ -338,13 +338,13 @@ bool AP_SmartRTL::add_point(const Vector3f& point)
     // check we have space in the path
     if (_path_points_count >= _path_points_max) {
         _path_sem.give();
-        log_action(SRTL_ADD_FAILED_PATH_FULL, point);
+        log_action(Action::ADD_FAILED_PATH_FULL, point);
         return false;
     }
 
     // add point to path
     _path[_path_points_count++] = point;
-    log_action(SRTL_POINT_ADD, point);
+    log_action(Action::POINT_ADD, point);
 
     _path_sem.give();
     return true;
@@ -672,7 +672,7 @@ void AP_SmartRTL::remove_points_by_simplify_bitmask()
     uint16_t removed = 0;
     for (uint16_t src = 1; src < _path_points_count; src++) {
         if (!_simplify.bitmask.get(src)) {
-            log_action(SRTL_POINT_SIMPLIFY, _path[src]);
+            log_action(Action::POINT_SIMPLIFY, _path[src]);
             removed++;
         } else {
             _path[dest] = _path[src];
@@ -687,7 +687,7 @@ void AP_SmartRTL::remove_points_by_simplify_bitmask()
         _simplify.path_points_completed = _simplify.path_points_count;
     } else {
         // this is an error that should never happen so deactivate
-        deactivate(SRTL_DEACTIVATED_PROGRAM_ERROR, "program error");
+        deactivate(Action::DEACTIVATED_PROGRAM_ERROR, "program error");
     }
 
     _path_sem.give();
@@ -724,7 +724,7 @@ bool AP_SmartRTL::remove_points_by_loops(uint16_t num_points_to_remove)
         // shift points after the end of the loop down by the number of points in the loop
         uint16_t loop_num_points_to_remove = loop.end_index - loop.start_index;
         for (uint16_t dest = loop.start_index + 1; dest < _path_points_count - loop_num_points_to_remove; dest++) {
-            log_action(SRTL_POINT_PRUNE, _path[dest]);
+            log_action(Action::POINT_PRUNE, _path[dest]);
             _path[dest] = _path[dest + loop_num_points_to_remove];
         }
 
@@ -733,7 +733,7 @@ bool AP_SmartRTL::remove_points_by_loops(uint16_t num_points_to_remove)
             removed_points += loop_num_points_to_remove;
         } else {
             // this is an error that should never happen so deactivate
-            deactivate(SRTL_DEACTIVATED_PROGRAM_ERROR, "program error");
+            deactivate(Action::DEACTIVATED_PROGRAM_ERROR, "program error");
             _path_sem.give();
             // we return true so thorough_cleanup does not get stuck
             return true;
@@ -862,7 +862,7 @@ AP_SmartRTL::dist_point AP_SmartRTL::segment_segment_dist(const Vector3f &p1, co
 }
 
 // de-activate SmartRTL, send warning to GCS and logger
-void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
+void AP_SmartRTL::deactivate(Action action, const char *reason)
 {
     _active = false;
     log_action(action);
@@ -871,7 +871,7 @@ void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
 
 #if HAL_LOGGING_ENABLED
 // logging
-void AP_SmartRTL::log_action(SRTL_Actions action, const Vector3f &point) const
+void AP_SmartRTL::log_action(Action action, const Vector3f &point) const
 {
     if (!_example_mode) {
         AP::logger().Write_SRTL(_active, _path_points_count, _path_points_max, action, point);
diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.h b/libraries/AP_SmartRTL/AP_SmartRTL.h
index 144762e512..0d83372cf3 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.h
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.h
@@ -88,19 +88,19 @@ public:
 private:
 
     // enums for logging latest actions
-    enum SRTL_Actions {
-        SRTL_POINT_ADD,
-        SRTL_POINT_PRUNE,
-        SRTL_POINT_SIMPLIFY,
-        SRTL_ADD_FAILED_NO_SEMAPHORE,
-        SRTL_ADD_FAILED_PATH_FULL,
-        SRTL_POP_FAILED_NO_SEMAPHORE,
-        SRTL_PEEK_FAILED_NO_SEMAPHORE,
-        SRTL_DEACTIVATED_INIT_FAILED,
-        SRTL_DEACTIVATED_BAD_POSITION,
-        SRTL_DEACTIVATED_BAD_POSITION_TIMEOUT,
-        SRTL_DEACTIVATED_PATH_FULL_TIMEOUT,
-        SRTL_DEACTIVATED_PROGRAM_ERROR,
+    enum Action : uint8_t {
+        POINT_ADD = 0,
+        POINT_PRUNE = 1,
+        POINT_SIMPLIFY = 2,
+        ADD_FAILED_NO_SEMAPHORE = 3,
+        ADD_FAILED_PATH_FULL = 4,
+        POP_FAILED_NO_SEMAPHORE = 5,
+        PEEK_FAILED_NO_SEMAPHORE = 6,
+        DEACTIVATED_INIT_FAILED = 7,
+        // DEACTIVATED_BAD_POSITION = 8,  unused, but historical
+        DEACTIVATED_BAD_POSITION_TIMEOUT = 9,
+        DEACTIVATED_PATH_FULL_TIMEOUT = 10,
+        DEACTIVATED_PROGRAM_ERROR = 11,
     };
 
     // enum for SRTL_OPTIONS parameter
@@ -171,13 +171,13 @@ private:
     static dist_point segment_segment_dist(const Vector3f& p1, const Vector3f& p2, const Vector3f& p3, const Vector3f& p4);
 
     // de-activate SmartRTL, send warning to GCS and logger
-    void deactivate(SRTL_Actions action, const char *reason);
+    void deactivate(Action action, const char *reason);
 
 #if HAL_LOGGING_ENABLED
     // logging
-    void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const;
+    void log_action(Action action, const Vector3f &point = Vector3f()) const;
 #else
-    void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const {}
+    void log_action(Action action, const Vector3f &point = Vector3f()) const {}
 #endif
 
     // parameters