From 728e8f8f56d41721d0d862023e8425aef8b7f784 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 8 Aug 2016 13:27:39 +0900
Subject: [PATCH] Copter: land_state uses enum

This resolves a Covarity warning related to initialisation (that was not really a problem) but it is better form anyway
---
 ArduCopter/Copter.h           |  2 +-
 ArduCopter/commands_logic.cpp | 12 ++++++------
 ArduCopter/defines.h          |  7 ++++---
 3 files changed, 11 insertions(+), 10 deletions(-)

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 39ecc6fb9a..c796d27ec2 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -349,7 +349,7 @@ private:
     int32_t home_distance;
     // distance between plane and next waypoint in cm.
     uint32_t wp_distance;
-    uint8_t land_state;              // records state of land (flying to location, descending)
+    LandStateType land_state = LandStateType_FlyToLocation; // records state of land (flying to location, descending)
 
     // Auto
     AutoMode auto_mode;   // controls which auto controller is run
diff --git a/ArduCopter/commands_logic.cpp b/ArduCopter/commands_logic.cpp
index 23f296a542..200f124a52 100644
--- a/ArduCopter/commands_logic.cpp
+++ b/ArduCopter/commands_logic.cpp
@@ -323,7 +323,7 @@ void Copter::do_land(const AP_Mission::Mission_Command& cmd)
     // if location provided we fly to that location at current altitude
     if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
         // set state to fly to location
-        land_state = LAND_STATE_FLY_TO_LOCATION;
+        land_state = LandStateType_FlyToLocation;
 
         // convert to location class
         Location_Class target_loc(cmd.content.location);
@@ -342,7 +342,7 @@ void Copter::do_land(const AP_Mission::Mission_Command& cmd)
         auto_wp_start(target_loc);
     }else{
         // set landing state
-        land_state = LAND_STATE_DESCENDING;
+        land_state = LandStateType_Descending;
 
         // initialise landing controller
         auto_land_start();
@@ -600,8 +600,8 @@ bool Copter::verify_land()
 {
     bool retval = false;
 
-    switch( land_state ) {
-        case LAND_STATE_FLY_TO_LOCATION:
+    switch (land_state) {
+        case LandStateType_FlyToLocation:
             // check if we've reached the location
             if (wp_nav.reached_wp_destination()) {
                 // get destination so we can use it for loiter target
@@ -611,11 +611,11 @@ bool Copter::verify_land()
                 auto_land_start(dest);
 
                 // advance to next state
-                land_state = LAND_STATE_DESCENDING;
+                land_state = LandStateType_Descending;
             }
             break;
 
-        case LAND_STATE_DESCENDING:
+        case LandStateType_Descending:
             // rely on THROTTLE_LAND mode to correctly update landing status
             retval = ap.land_complete;
             break;
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 2cc411d7ec..bd8ec8fbb4 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -271,9 +271,10 @@ enum ThrowModeType {
     ThrowType_Drop = 1
 };
 
-// LAND state
-#define LAND_STATE_FLY_TO_LOCATION  0
-#define LAND_STATE_DESCENDING       1
+enum LandStateType {
+    LandStateType_FlyToLocation = 0,
+    LandStateType_Descending = 1
+};
 
 //  Logging parameters
 #define TYPE_AIRSTART_MSG               0x00