From 4864d162d07fd833a35b5afde7dfd70cdc5e47a0 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 30 Nov 2012 20:34:56 +1100
Subject: [PATCH] Plane: switch to an enum for flight modes

---
 ArduPlane/Attitude.pde    |  3 ++-
 ArduPlane/GCS_Mavlink.pde |  9 ---------
 ArduPlane/defines.h       | 41 ++++++++++++---------------------------
 3 files changed, 14 insertions(+), 39 deletions(-)

diff --git a/ArduPlane/Attitude.pde b/ArduPlane/Attitude.pde
index 4266b91067..be5fa49c1e 100644
--- a/ArduPlane/Attitude.pde
+++ b/ArduPlane/Attitude.pde
@@ -97,7 +97,8 @@ static void stabilize()
     // Mix Stick input to allow users to override control surfaces
     // -----------------------------------------------------------
     if (stick_mixing_enabled()) {
-        if (control_mode < FLY_BY_WIRE_A || control_mode > FLY_BY_WIRE_C) {
+        if (control_mode != FLY_BY_WIRE_A && 
+            control_mode != FLY_BY_WIRE_B) {
             // do stick mixing on aileron/elevator if not in a fly by
             // wire mode
             ch1_inf = (float)g.channel_roll.radio_in - (float)g.channel_roll.radio_trim;
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 40faab621d..eca1a18069 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -43,7 +43,6 @@ static NOINLINE void send_heartbeat(mavlink_channel_t chan)
     case STABILIZE:
     case FLY_BY_WIRE_A:
     case FLY_BY_WIRE_B:
-    case FLY_BY_WIRE_C:
         base_mode = MAV_MODE_FLAG_STABILIZE_ENABLED;
         break;
     case AUTO:
@@ -163,13 +162,6 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
         control_sensors_enabled |= (1<<15); // motor control
         break;
 
-    case FLY_BY_WIRE_C:
-        control_sensors_enabled |= (1<<10); // 3D angular rate control
-        control_sensors_enabled |= (1<<11); // attitude stabilisation
-        control_sensors_enabled |= (1<<13); // altitude control
-        control_sensors_enabled |= (1<<15); // motor control
-        break;
-
     case AUTO:
     case RTL:
     case LOITER:
@@ -1153,7 +1145,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case STABILIZE:
         case FLY_BY_WIRE_A:
         case FLY_BY_WIRE_B:
-        case FLY_BY_WIRE_C:
         case AUTO:
         case RTL:
         case LOITER:
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index a7ef9b9525..0d96fc7368 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -59,35 +59,18 @@
 #define HIL_MODE_ATTITUDE                       1
 #define HIL_MODE_SENSORS                        2
 
-// Auto Pilot modes
-// ----------------
-#define MANUAL 0
-#define CIRCLE 1                         // When flying sans GPS, and we loose
-                                         // the radio, just circle
-#define STABILIZE 2
-
-#define FLY_BY_WIRE_A 5         // Fly By Wire A has left stick horizontal =>
-                                // desired roll angle, left stick vertical =>
-                                // desired pitch angle, right stick vertical =
-                                // manual throttle
-#define FLY_BY_WIRE_B 6         // Fly By Wire B has left stick horizontal =>
-                                // desired roll angle, left stick vertical =>
-                                // desired pitch angle, right stick vertical
-                                // => desired airspeed
-#define FLY_BY_WIRE_C 7         // Fly By Wire C has left stick horizontal =>
-                                // desired roll angle, left stick vertical =>
-                                // desired climb rate, right stick vertical =>
-                                // desired airspeed
-// Fly By Wire B and Fly By Wire C require airspeed sensor
-#define AUTO 10
-#define RTL 11
-#define LOITER 12
-//#define TAKEOFF 13			// This is not used by APM.  It appears here
-// for consistency with ACM
-//#define LAND 14			// This is not used by APM.  It appears here for
-// consistency with ACM
-#define GUIDED 15
-#define INITIALISING 16     // in startup routines
+enum FlightMode {
+    MANUAL = 0,
+    CIRCLE = 1,
+    STABILIZE = 2,
+    FLY_BY_WIRE_A = 5,
+    FLY_BY_WIRE_B = 6,
+    AUTO = 10,
+    RTL = 11,
+    LOITER = 12,
+    GUIDED = 15,
+    INITIALISING = 16
+};
 
 
 // Commands - Note that APM now uses a subset of the MAVLink protocol