From 6f79c1cee2c8a4032aeb3b8e5cb2fcf42efdb816 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 5 Dec 2023 18:40:07 +1100
Subject: [PATCH] AP_AHRS: use EKFType enum class in set_ekf_type()

---
 libraries/AP_AHRS/AP_AHRS.cpp |  6 +++---
 libraries/AP_AHRS/AP_AHRS.h   | 40 +++++++++++++++++------------------
 2 files changed, 23 insertions(+), 23 deletions(-)

diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 312471f0e9..c48b06bfd3 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -220,12 +220,12 @@ void AP_AHRS::init()
     }
 #if !HAL_NAVEKF2_AVAILABLE && HAL_NAVEKF3_AVAILABLE
     if (_ekf_type.get() == 2) {
-        _ekf_type.set(3);
+        _ekf_type.set(EKFType::THREE);
         EKF3.set_enable(true);
     }
 #elif !HAL_NAVEKF3_AVAILABLE && HAL_NAVEKF2_AVAILABLE
     if (_ekf_type.get() == 3) {
-        _ekf_type.set(2);
+        _ekf_type.set(EKFType::TWO);
         EKF2.set_enable(true);
     }
 #endif
@@ -234,7 +234,7 @@ void AP_AHRS::init()
     // a special case to catch users who had AHRS_EKF_TYPE=2 saved and
     // updated to a version where EK2_ENABLE=0
     if (_ekf_type.get() == 2 && !EKF2.get_enable() && EKF3.get_enable()) {
-        _ekf_type.set(3);
+        _ekf_type.set(EKFType::THREE);
     }
 #endif
 
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 25881d2f11..1d6841a28a 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -421,8 +421,26 @@ public:
         return _ekf_type;
     }
 
+    enum class EKFType : uint8_t {
+#if AP_AHRS_DCM_ENABLED
+        DCM = 0,
+#endif
+#if HAL_NAVEKF3_AVAILABLE
+        THREE = 3,
+#endif
+#if HAL_NAVEKF2_AVAILABLE
+        TWO = 2,
+#endif
+#if AP_AHRS_SIM_ENABLED
+        SIM = 10,
+#endif
+#if HAL_EXTERNAL_AHRS_ENABLED
+        EXTERNAL = 11,
+#endif
+    };
+
     // set the selected ekf type, for RC aux control
-    void set_ekf_type(uint8_t ahrs_type) {
+    void set_ekf_type(EKFType ahrs_type) {
         _ekf_type.set(ahrs_type);
     }
     
@@ -673,7 +691,7 @@ private:
      */
     AP_Int8 _wind_max;
     AP_Int8 _board_orientation;
-    AP_Int8 _ekf_type;
+    AP_Enum<EKFType> _ekf_type;
 
     /*
      * DCM-backend parameters; it takes references to these
@@ -688,24 +706,6 @@ private:
     AP_Enum<GPSUse> _gps_use;
     AP_Int8 _gps_minsats;
 
-    enum class EKFType {
-#if AP_AHRS_DCM_ENABLED
-        DCM = 0,
-#endif
-#if HAL_NAVEKF3_AVAILABLE
-        THREE = 3,
-#endif
-#if HAL_NAVEKF2_AVAILABLE
-        TWO = 2,
-#endif
-#if AP_AHRS_SIM_ENABLED
-        SIM = 10,
-#endif
-#if HAL_EXTERNAL_AHRS_ENABLED
-        EXTERNAL = 11,
-#endif
-    };
-
     EKFType active_EKF_type(void) const { return state.active_EKF; }
 
     bool always_use_EKF() const {