Copter: make RTLState an enum class

ArduCopter/mode.h

@@ -1116,13 +1116,13 @@ public:
     bool get_wp(Location &loc) override;
 
     // RTL states
-    enum RTLState {
-        RTL_Starting,
-        RTL_InitialClimb,
-        RTL_ReturnHome,
-        RTL_LoiterAtHome,
-        RTL_FinalDescent,
-        RTL_Land
+    enum class RTLState : uint8_t {
+        STARTING,
+        INITIAL_CLIMB,
+        RETURN_HOME,
+        LOITER_AT_HOME,
+        FINAL_DESCENT,
+        LAND
     };
     RTLState state() { return _state; }
 
@@ -1167,7 +1167,7 @@ private:
     void build_path();
     void compute_return_target();
 
-    RTLState _state = RTL_InitialClimb;  // records state of rtl (initial climb, returning home, etc)
+    RTLState _state = RTLState::INITIAL_CLIMB;  // records state of rtl (initial climb, returning home, etc)
     bool _state_complete = false; // set to true if the current state is completed
 
     struct {

ArduCopter/mode_auto.cpp

@@ -1832,7 +1832,7 @@ bool ModeAuto::verify_loiter_to_alt() const
 bool ModeAuto::verify_RTL()
 {
     return (copter.mode_rtl.state_complete() && 
-            (copter.mode_rtl.state() == ModeRTL::RTL_FinalDescent || copter.mode_rtl.state() == ModeRTL::RTL_Land) &&
+            (copter.mode_rtl.state() == ModeRTL::RTLState::FINAL_DESCENT || copter.mode_rtl.state() == ModeRTL::RTLState::LAND) &&
             (motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE));
 }
 

ArduCopter/mode_rtl.cpp

@@ -19,7 +19,7 @@ bool ModeRTL::init(bool ignore_checks)
     }
     // initialise waypoint and spline controller
     wp_nav->wp_and_spline_init(g.rtl_speed_cms);
-    _state = RTL_Starting;
+    _state = RTLState::STARTING;
     _state_complete = true; // see run() method below
     terrain_following_allowed = !copter.failsafe.terrain;
     return true;
@@ -30,7 +30,7 @@ void ModeRTL::restart_without_terrain()
 {
     AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
     terrain_following_allowed = false;
-    _state = RTL_Starting;
+    _state = RTLState::STARTING;
     _state_complete = true;
     gcs().send_text(MAV_SEVERITY_CRITICAL,"Restarting RTL - Terrain data missing");
 }
@@ -55,27 +55,27 @@ void ModeRTL::run(bool disarm_on_land)
     // check if we need to move to next state
     if (_state_complete) {
         switch (_state) {
-        case RTL_Starting:
+        case RTLState::STARTING:
             build_path();
             climb_start();
             break;
-        case RTL_InitialClimb:
+        case RTLState::INITIAL_CLIMB:
             return_start();
             break;
-        case RTL_ReturnHome:
+        case RTLState::RETURN_HOME:
             loiterathome_start();
             break;
-        case RTL_LoiterAtHome:
+        case RTLState::LOITER_AT_HOME:
             if (rtl_path.land || copter.failsafe.radio) {
                 land_start();
             }else{
                 descent_start();
             }
             break;
-        case RTL_FinalDescent:
+        case RTLState::FINAL_DESCENT:
             // do nothing
             break;
-        case RTL_Land:
+        case RTLState::LAND:
             // do nothing - rtl_land_run will take care of disarming motors
             break;
         }
@@ -84,28 +84,28 @@ void ModeRTL::run(bool disarm_on_land)
     // call the correct run function
     switch (_state) {
 
-    case RTL_Starting:
+    case RTLState::STARTING:
         // should not be reached:
-        _state = RTL_InitialClimb;
+        _state = RTLState::INITIAL_CLIMB;
         FALLTHROUGH;
 
-    case RTL_InitialClimb:
+    case RTLState::INITIAL_CLIMB:
         climb_return_run();
         break;
 
-    case RTL_ReturnHome:
+    case RTLState::RETURN_HOME:
         climb_return_run();
         break;
 
-    case RTL_LoiterAtHome:
+    case RTLState::LOITER_AT_HOME:
         loiterathome_run();
         break;
 
-    case RTL_FinalDescent:
+    case RTLState::FINAL_DESCENT:
         descent_run();
         break;
 
-    case RTL_Land:
+    case RTLState::LAND:
         land_run(disarm_on_land);
         break;
     }
@@ -114,7 +114,7 @@ void ModeRTL::run(bool disarm_on_land)
 // rtl_climb_start - initialise climb to RTL altitude
 void ModeRTL::climb_start()
 {
-    _state = RTL_InitialClimb;
+    _state = RTLState::INITIAL_CLIMB;
     _state_complete = false;
 
     // set the destination
@@ -133,7 +133,7 @@ void ModeRTL::climb_start()
 // rtl_return_start - initialise return to home
 void ModeRTL::return_start()
 {
-    _state = RTL_ReturnHome;
+    _state = RTLState::RETURN_HOME;
     _state_complete = false;
 
     if (!wp_nav->set_wp_destination_loc(rtl_path.return_target)) {
@@ -187,10 +187,10 @@ void ModeRTL::climb_return_run()
     _state_complete = wp_nav->reached_wp_destination();
 }
 
-// rtl_loiterathome_start - initialise return to home
+// loiterathome_start - initialise return to home
 void ModeRTL::loiterathome_start()
 {
-    _state = RTL_LoiterAtHome;
+    _state = RTLState::LOITER_AT_HOME;
     _state_complete = false;
     _loiter_start_time = millis();
 
@@ -257,7 +257,7 @@ void ModeRTL::loiterathome_run()
 // rtl_descent_start - initialise descent to final alt
 void ModeRTL::descent_start()
 {
-    _state = RTL_FinalDescent;
+    _state = RTLState::FINAL_DESCENT;
     _state_complete = false;
 
     // Set wp navigation target to above home
@@ -346,10 +346,10 @@ void ModeRTL::descent_run()
     _state_complete = labs(rtl_path.descent_target.alt - copter.current_loc.alt) < 20;
 }
 
-// rtl_loiterathome_start - initialise controllers to loiter over home
+// land_start - initialise controllers to loiter over home
 void ModeRTL::land_start()
 {
-    _state = RTL_Land;
+    _state = RTLState::LAND;
     _state_complete = false;
 
     // Set wp navigation target to above home
@@ -377,10 +377,10 @@ void ModeRTL::land_start()
 
 bool ModeRTL::is_landing() const
 {
-    return _state == RTL_Land;
+    return _state == RTLState::LAND;
 }
 
-// rtl_returnhome_run - return home
+// land_run - run the landing controllers to put the aircraft on the ground
 // called by rtl_run at 100hz or more
 void ModeRTL::land_run(bool disarm_on_land)
 {
@@ -546,13 +546,13 @@ bool ModeRTL::get_wp(Location& destination)
 {
     // provide target in states which use wp_nav
     switch (_state) {
-    case RTL_Starting:
-    case RTL_InitialClimb:
-    case RTL_ReturnHome:
-    case RTL_LoiterAtHome:
-    case RTL_FinalDescent:
+    case RTLState::STARTING:
+    case RTLState::INITIAL_CLIMB:
+    case RTLState::RETURN_HOME:
+    case RTLState::LOITER_AT_HOME:
+    case RTLState::FINAL_DESCENT:
         return wp_nav->get_oa_wp_destination(destination);
-    case RTL_Land:
+    case RTLState::LAND:
         return false;
     }