Copter: correct GuidedOptions enum after peer review

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

ArduCopter/Parameters.cpp

@@ -986,12 +986,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
 #endif
 
 #if MODE_GUIDED_ENABLED == ENABLED
-    // @Param: GUIDED_OPTIONS
+    // @Param: GUID_OPTIONS
     // @DisplayName: Guided mode options
     // @Description: Options that can be applied to change guided mode behaviour
     // @Bitmask: 0:Allow Arming from Transmitter
     // @User: Advanced
-    AP_GROUPINFO("GUIDED_OPTIONS", 41, ParametersG2, guided_options, 0),
+    AP_GROUPINFO("GUID_OPTIONS", 41, ParametersG2, guided_options, 0),
 #endif
 
     AP_GROUPEND

ArduCopter/mode.h

@@ -833,9 +833,9 @@ protected:
 
 private:
 
-    // enum for GUIDED_OPTIONS parameter
+    // enum for GUID_OPTIONS parameter
     enum class Options : int32_t {
-        AllowArmingFromTX = (1 << 0U),
+        AllowArmingFromTX = (1U << 0),
     };
 
     void pos_control_start();
@@ -865,7 +865,6 @@ public:
 
     bool requires_GPS() const override { return false; }
     bool has_manual_throttle() const override { return false; }
-    bool allows_arming(bool from_gcs) const override { return from_gcs; }
     bool is_autopilot() const override { return true; }
 
 protected:

ArduCopter/mode_guided.cpp

@@ -89,7 +89,7 @@ bool ModeGuided::allows_arming(bool from_gcs) const
     }
 
     // optionally allow arming from the transmitter
-    return (copter.g2.guided_options & (int32_t)Options::AllowArmingFromTX) != 0;
+    return (copter.g2.guided_options & (uint32_t)Options::AllowArmingFromTX) != 0;
 };
 
 // do_user_takeoff_start - initialises waypoint controller to implement take-off