AP_Arming: use enum class for ArmingMethod and ArmingRequired

libraries/AP_Arming/AP_Arming.cpp

@@ -44,9 +44,9 @@
 #define AP_ARMING_AHRS_GPS_ERROR_MAX    10      // accept up to 10m difference between AHRS and GPS
 
 #if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
-  #define ARMING_RUDDER_DEFAULT         ARMING_RUDDER_ARMONLY
+  #define ARMING_RUDDER_DEFAULT         (uint8_t)RudderArming::ARMONLY
 #else
-  #define ARMING_RUDDER_DEFAULT         ARMING_RUDDER_ARMDISARM
+  #define ARMING_RUDDER_DEFAULT         (uint8_t)RudderArming::ARMDISARM
 #endif
 
 extern const AP_HAL::HAL& hal;
@@ -122,7 +122,7 @@ uint16_t AP_Arming::compass_magfield_expected() const
 
 bool AP_Arming::is_armed()
 {
-    return (ArmingRequired)require.get() == NO || armed;
+    return (Required)require.get() == Required::NO || armed;
 }
 
 uint16_t AP_Arming::get_enabled_checks()
@@ -723,7 +723,7 @@ bool AP_Arming::fence_checks(bool display_failure)
 bool AP_Arming::pre_arm_checks(bool report)
 {
 #if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
-    if (armed || require == NO) {
+    if (armed || require == (uint8_t)Required::NO) {
         // if we are already armed or don't need any arming checks
         // then skip the checks
         return true;
@@ -745,7 +745,7 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  can_checks(report);
 }
 
-bool AP_Arming::arm_checks(ArmingMethod method)
+bool AP_Arming::arm_checks(AP_Arming::Method method)
 {
     // ensure the GPS drivers are ready on any final changes
     if ((checks_to_perform & ARMING_CHECK_ALL) ||
@@ -777,7 +777,7 @@ bool AP_Arming::arm_checks(ArmingMethod method)
 }
 
 //returns true if arming occurred successfully
-bool AP_Arming::arm(AP_Arming::ArmingMethod method, const bool do_arming_checks)
+bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
 {
 #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
     // Copter should never use this function
@@ -839,9 +839,9 @@ bool AP_Arming::disarm()
 #endif
 }
 
-AP_Arming::ArmingRequired AP_Arming::arming_required() 
+AP_Arming::Required AP_Arming::arming_required() 
 {
-    return (AP_Arming::ArmingRequired)require.get();
+    return (AP_Arming::Required)require.get();
 }
 
 // Copter and sub share the same RC input limits

libraries/AP_Arming/AP_Arming.h

@@ -33,22 +33,22 @@ public:
         ARMING_CHECK_MISSION    = 0x4000,
     };
 
-    enum ArmingMethod {
+    enum class Method {
         RUDDER,
         MAVLINK,
         AUXSWITCH,
         MOTORTEST,
     };
 
-    enum ArmingRequired {
+    enum class Required {
         NO           = 0,
         YES_MIN_PWM  = 1,
         YES_ZERO_PWM = 2
     };
 
     // these functions should not be used by Copter which holds the armed state in the motors library
-    ArmingRequired arming_required();
-    virtual bool arm(ArmingMethod method, bool do_arming_checks=true);
+    Required arming_required();
+    virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
     bool disarm();
     bool is_armed();
 
@@ -61,18 +61,19 @@ public:
     // some arming checks have side-effects, or require some form of state
     // change to have occurred, and thus should not be done as pre-arm
     // checks.  Those go here:
-    bool arm_checks(ArmingMethod method);
+    bool arm_checks(AP_Arming::Method method);
 
     // get expected magnetic field strength
     uint16_t compass_magfield_expected() const;
 
     // rudder arming support
-    enum ArmingRudder {
-        ARMING_RUDDER_DISABLED  = 0,
-        ARMING_RUDDER_ARMONLY   = 1,
-        ARMING_RUDDER_ARMDISARM = 2
+    enum class RudderArming {
+        IS_DISABLED  = 0, // DISABLED leaks in from vehicle defines.h
+        ARMONLY   = 1,
+        ARMDISARM = 2
     };
-    ArmingRudder get_rudder_arming_type() const { return (ArmingRudder)_rudder_arming.get(); }
+
+    RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
 
     static const struct AP_Param::GroupInfo        var_info[];