FlightModeManager: refactor flight task switch result condition for vehicle commands

src/modules/flight_mode_manager/FlightModeManager.cpp

@@ -415,11 +415,11 @@ void FlightModeManager::handleCommand()
 		// ignore all unkown commands
 		if (desired_task != FlightTaskIndex::None) {
 			// switch to the commanded task
-			FlightTaskError switch_result = switchTask(desired_task);
+			bool switch_succeeded = (switchTask(desired_task) == FlightTaskError::NoError);
 			uint8_t cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
 
 			// if we are in/switched to the desired task
-			if (switch_result >= FlightTaskError::NoError) {
+			if (switch_succeeded) {
 				cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
 
 				// if the task is running apply parameters to it and see if it rejects
@@ -427,7 +427,7 @@ void FlightModeManager::handleCommand()
 					cmd_result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
 
 					// if we just switched and parameters are not accepted, go to failsafe
-					if (switch_result >= FlightTaskError::NoError) {
+					if (switch_succeeded) {
 						switchTask(FlightTaskIndex::Failsafe);
 					}
 				}
@@ -437,7 +437,6 @@ void FlightModeManager::handleCommand()
 			vehicle_command_ack_s command_ack{};
 			command_ack.command = command.command;
 			command_ack.result = cmd_result;
-			command_ack.result_param1 = static_cast<int>(switch_result);
 			command_ack.target_system = command.source_system;
 			command_ack.target_component = command.source_component;
 			command_ack.timestamp = hrt_absolute_time();