TECS: Update logging struct

src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp

@@ -399,7 +399,7 @@ private:
 			bool climbout_mode, float climbout_pitch_min_rad,
 			float altitude,
 			const math::Vector<3> &ground_speed,
-			tecs_mode mode = TECS_MODE_NORMAL,
+			unsigned mode = tecs_status_s::TECS_MODE_NORMAL,
 			bool pitch_max_special = false);
 
 };
@@ -1093,7 +1093,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 						0.0f, throttle_max, throttle_land,
 						false,  land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min),
 						_global_pos.alt, ground_speed,
-						land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
+						land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
 
 				if (!land_noreturn_vertical) {
 					mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
@@ -1198,7 +1198,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 							math::radians(10.0f)),
 							_global_pos.alt,
 							ground_speed,
-							TECS_MODE_TAKEOFF,
+							tecs_status_s::TECS_MODE_TAKEOFF,
 							takeoff_pitch_max_deg != _parameters.pitch_limit_max);
 
 					/* limit roll motion to ensure enough lift */
@@ -1303,7 +1303,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
 				math::radians(_parameters.pitch_limit_min),
 				_global_pos.alt,
 				ground_speed,
-				TECS_MODE_NORMAL);
+				tecs_status_s::TECS_MODE_NORMAL);
 	} else {
 		_control_mode_current = FW_POSCTRL_MODE_OTHER;
 
@@ -1521,7 +1521,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		bool climbout_mode, float climbout_pitch_min_rad,
 		float altitude,
 		const math::Vector<3> &ground_speed,
-		tecs_mode mode, bool pitch_max_special)
+		unsigned mode, bool pitch_max_special)
 {
 	if (_mTecs.getEnabled()) {
 		/* Using mtecs library: prepare arguments for mtecs call */
@@ -1559,7 +1559,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 		}
 
 /* No underspeed protection in landing mode */
-		_tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM));
+		_tecs.set_detect_underspeed_enabled(!(mode == tecs_status_s::TECS_MODE_LAND || mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM));
 
 		/* Using tecs library */
 		_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
@@ -1577,16 +1577,16 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
 
 		switch (s.mode) {
 			case TECS::ECL_TECS_MODE_NORMAL:
-				t.mode = TECS_MODE_NORMAL;
+				t.mode = tecs_status_s::TECS_MODE_NORMAL;
 				break;
 			case TECS::ECL_TECS_MODE_UNDERSPEED:
-				t.mode = TECS_MODE_UNDERSPEED;
+				t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
 				break;
 			case TECS::ECL_TECS_MODE_BAD_DESCENT:
-				t.mode = TECS_MODE_BAD_DESCENT;
+				t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
 				break;
 			case TECS::ECL_TECS_MODE_CLIMBOUT:
-				t.mode = TECS_MODE_CLIMBOUT;
+				t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
 				break;
 		}
 

src/modules/fw_pos_control_l1/mtecs/mTecs.cpp

@@ -83,7 +83,7 @@ mTecs::~mTecs()
 }
 
 int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
-		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+		float airspeedSp, unsigned mode, LimitOverride limitOverride)
 {
 	/* check if all input arguments are numbers and abort if not so */
 	if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
@@ -118,7 +118,7 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
 }
 
 int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
-		float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
+		float airspeedSp, unsigned mode, LimitOverride limitOverride)
 {
 	/* check if all input arguments are numbers and abort if not so */
 	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -154,7 +154,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
 }
 
 int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
-		float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride)
+		float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride)
 {
 	/* check if all input arguments are numbers and abort if not so */
 	if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -200,23 +200,23 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
 	}
 
 	/* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */
-	if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
-		mode = TECS_MODE_UNDERSPEED;
+	if (mode != tecs_status_s::TECS_MODE_LAND && mode != tecs_status_s::TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
+		mode = tecs_status_s::TECS_MODE_UNDERSPEED;
 	}
 
 	/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
 	BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
 	BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
-	if (mode == TECS_MODE_TAKEOFF) {
+	if (mode == tecs_status_s::TECS_MODE_TAKEOFF) {
 		outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
 		outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
-	} else if (mode == TECS_MODE_LAND) {
+	} else if (mode == tecs_status_s::TECS_MODE_LAND) {
 		// only limit pitch but do not limit throttle
 		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
-	} else if (mode == TECS_MODE_LAND_THROTTLELIM) {
+	} else if (mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM) {
 		outputLimiterThrottle = &_BlockOutputLimiterLandThrottle;
 		outputLimiterPitch = &_BlockOutputLimiterLandPitch;
-	} else if (mode == TECS_MODE_UNDERSPEED) {
+	} else if (mode == tecs_status_s::TECS_MODE_UNDERSPEED) {
 		outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle;
 		outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch;
 	}

src/modules/fw_pos_control_l1/mtecs/mTecs.h

@@ -65,19 +65,19 @@ public:
 	 * Control in altitude setpoint and speed mode
 	 */
 	int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
-				float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				float airspeedSp, unsigned mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
 	 */
 	int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
-				       float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
+				       float airspeedSp, unsigned mode, LimitOverride limitOverride);
 
 	/*
 	 * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
 	 */
 	int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
-					      float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
+					      float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride);
 
 	/*
 	 * Reset all integrators