Copter: use enum type for control_mode

ArduCopter/Copter.h

@@ -246,7 +246,7 @@ private:
 
     // This is the state of the flight control system
     // There are multiple states defined such as STABILIZE, ACRO,
-    int8_t control_mode;
+    control_mode_t control_mode;
 
     // Structure used to detect changes in the flight mode control switch
     struct {
@@ -852,13 +852,14 @@ private:
     void failsafe_disable();
     void fence_check();
     void fence_send_mavlink_status(mavlink_channel_t chan);
-    bool set_mode(uint8_t mode);
+    bool set_mode(control_mode_t mode);
+    bool gcs_set_mode(uint8_t mode) { return set_mode((control_mode_t)mode); }
     void update_flight_mode();
-    void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode);
-    bool mode_requires_GPS(uint8_t mode);
-    bool mode_has_manual_throttle(uint8_t mode);
-    bool mode_allows_arming(uint8_t mode, bool arming_from_gcs);
-    void notify_flight_mode(uint8_t mode);
+    void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
+    bool mode_requires_GPS(control_mode_t mode);
+    bool mode_has_manual_throttle(control_mode_t mode);
+    bool mode_allows_arming(control_mode_t mode, bool arming_from_gcs);
+    void notify_flight_mode(control_mode_t mode);
     void heli_init();
     void check_dynamic_flight(void);
     void update_heli_control_dynamics(void);

ArduCopter/GCS_Mavlink.cpp

@@ -59,6 +59,8 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
         // APM does in any mode, as that is defined as "system finds its own goal
         // positions", which APM does not currently do
         break;
+    default:
+        break;
     }
 
     // all modes except INITIALISING have some form of manual
@@ -173,6 +175,8 @@ NOINLINE void Copter::send_extended_status1(mavlink_channel_t chan)
     case SPORT:
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL;
         break;
+    default:
+        break;
     }
 
     // set motors outputs as enabled if safety switch is not disarmed (i.e. either NONE or ARMED)
@@ -1008,13 +1012,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     {
 #ifdef DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE
         if (!copter.failsafe.radio) {
-            handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::set_mode, bool, uint8_t));
+            handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::gcs_set_mode, bool, uint8_t));
         } else {
             // don't allow mode changes while in radio failsafe
             mavlink_msg_command_ack_send_buf(msg, chan, MAVLINK_MSG_ID_SET_MODE, MAV_RESULT_FAILED);
         }
 #else
-        handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::set_mode, bool, uint8_t));
+        handle_set_mode(msg, FUNCTOR_BIND(&copter, &Copter::gcs_set_mode, bool, uint8_t));
 #endif
         break;
     }

ArduCopter/control_flip.cpp

@@ -33,7 +33,7 @@
 #define FLIP_PITCH_FORWARD  -1      // used to set flip_dir
 
 FlipState flip_state;               // current state of flip
-uint8_t   flip_orig_control_mode;   // flight mode when flip was initated
+control_mode_t   flip_orig_control_mode;   // flight mode when flip was initated
 uint32_t  flip_start_time;          // time since flip began
 int8_t    flip_roll_dir;            // roll direction (-1 = roll left, 1 = roll right)
 int8_t    flip_pitch_dir;           // pitch direction (-1 = pitch forward, 1 = pitch back)

ArduCopter/defines.h

@@ -87,7 +87,7 @@ enum aux_sw_func {
 #define HIL_MODE_SENSORS                1
 
 // Auto Pilot Modes enumeration
-enum autopilot_modes {
+enum control_mode_t {
     STABILIZE =     0,  // manual airframe angle with manual throttle
     ACRO =          1,  // manual body-frame angular rate with manual throttle
     ALT_HOLD =      2,  // manual airframe angle with automatic throttle

ArduCopter/flight_mode.cpp

@@ -11,7 +11,7 @@
 // optional force parameter used to force the flight mode change (used only first time mode is set)
 // returns true if mode was succesfully set
 // ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
-bool Copter::set_mode(uint8_t mode)
+bool Copter::set_mode(control_mode_t mode)
 {
     // boolean to record if flight mode could be set
     bool success = false;
@@ -107,8 +107,8 @@ bool Copter::set_mode(uint8_t mode)
     // update flight mode
     if (success) {
         // perform any cleanup required by previous flight mode
-        exit_mode(control_mode, mode);
-        control_mode = mode;
+        exit_mode(control_mode, (control_mode_t)mode);
+        control_mode = (control_mode_t)mode;
         DataFlash.Log_Write_Mode(control_mode);
 
 #if AC_FENCE == ENABLED
@@ -218,7 +218,7 @@ void Copter::update_flight_mode()
 }
 
 // exit_mode - high level call to organise cleanup as a flight mode is exited
-void Copter::exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
+void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode)
 {
 #if AUTOTUNE_ENABLED == ENABLED
     if (old_control_mode == AUTOTUNE) {
@@ -270,7 +270,7 @@ void Copter::exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
 }
 
 // returns true or false whether mode requires GPS
-bool Copter::mode_requires_GPS(uint8_t mode) {
+bool Copter::mode_requires_GPS(control_mode_t mode) {
     switch(mode) {
         case AUTO:
         case GUIDED:
@@ -290,7 +290,7 @@ bool Copter::mode_requires_GPS(uint8_t mode) {
 }
 
 // mode_has_manual_throttle - returns true if the flight mode has a manual throttle (i.e. pilot directly controls throttle)
-bool Copter::mode_has_manual_throttle(uint8_t mode) {
+bool Copter::mode_has_manual_throttle(control_mode_t mode) {
     switch(mode) {
         case ACRO:
         case STABILIZE:
@@ -304,7 +304,7 @@ bool Copter::mode_has_manual_throttle(uint8_t mode) {
 
 // mode_allows_arming - returns true if vehicle can be armed in the specified mode
 //  arming_from_gcs should be set to true if the arming request comes from the ground station
-bool Copter::mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
+bool Copter::mode_allows_arming(control_mode_t mode, bool arming_from_gcs) {
     if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && mode == GUIDED)) {
         return true;
     }
@@ -312,7 +312,7 @@ bool Copter::mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
 }
 
 // notify_flight_mode - sets notify object based on flight mode.  Only used for OreoLED notify device
-void Copter::notify_flight_mode(uint8_t mode) {
+void Copter::notify_flight_mode(control_mode_t mode) {
     switch(mode) {
         case AUTO:
         case GUIDED:

ArduCopter/setup.cpp

@@ -359,7 +359,7 @@ void Copter::report_flight_modes()
     print_divider();
 
     for(int16_t i = 0; i < 6; i++ ) {
-        print_switch(i, flight_modes[i], BIT_IS_SET(g.simple_modes, i));
+        print_switch(i, (control_mode_t)flight_modes[i].get(), BIT_IS_SET(g.simple_modes, i));
     }
     print_blanks(2);
 }

ArduCopter/switches.cpp

@@ -43,7 +43,7 @@ void Copter::read_control_switch()
 
     if (control_switch_changed && sufficient_time_elapsed && failsafe_disengaged) {
         // set flight mode and simple mode setting
-        if (set_mode(flight_modes[switch_position])) {
+        if (set_mode((control_mode_t)flight_modes[switch_position].get())) {
             // play a tone
             if (control_switch_state.debounced_switch_position != -1) {
                 // alert user to mode change failure (except if autopilot is just starting up)

ArduCopter/takeoff.cpp

@@ -48,6 +48,8 @@ bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
                 set_auto_armed(true);
                 takeoff_timer_start(takeoff_alt_cm);
                 return true;
+            default:
+                return false;
         }
     }
     return false;