ArduPlane: use an enumeration for the AP_Avoidance recovery action

ArduPlane/avoidance_adsb.cpp

@@ -97,34 +97,34 @@ MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Ob
     return actual_action;
 }
 
-void AP_Avoidance_Plane::handle_recovery(uint8_t recovery_action)
+void AP_Avoidance_Plane::handle_recovery(RecoveryAction recovery_action)
 {
     // check we are coming out of failsafe
     if (plane.failsafe.adsb) {
         plane.failsafe.adsb = false;
-        gcs().send_text(MAV_SEVERITY_INFO, "Avoid: Resuming with action: %d", recovery_action);
+        gcs().send_text(MAV_SEVERITY_INFO, "Avoid: Resuming with action: %u", (unsigned)recovery_action);
 
         // restore flight mode if requested and user has not changed mode since
         if (plane.control_mode_reason == ModeReason::AVOIDANCE) {
             switch (recovery_action) {
 
-            case AP_AVOIDANCE_RECOVERY_REMAIN_IN_AVOID_ADSB:
+            case RecoveryAction::REMAIN_IN_AVOID_ADSB:
                 // do nothing, we'll stay in the AVOID_ADSB mode which is guided which will loiter
                 break;
 
-            case AP_AVOIDANCE_RECOVERY_RESUME_PREVIOUS_FLIGHTMODE:
+            case RecoveryAction::RESUME_PREVIOUS_FLIGHTMODE:
                 plane.set_mode_by_number(prev_control_mode_number, ModeReason::AVOIDANCE_RECOVERY);
                 break;
 
-            case AP_AVOIDANCE_RECOVERY_RTL:
+            case RecoveryAction::RTL:
                 plane.set_mode(plane.mode_rtl, ModeReason::AVOIDANCE_RECOVERY);
                 break;
 
-            case AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER:
+            case RecoveryAction::RESUME_IF_AUTO_ELSE_LOITER:
                 if (prev_control_mode_number == Mode::Number::AUTO) {
                     plane.set_mode(plane.mode_auto, ModeReason::AVOIDANCE_RECOVERY);
                 }
-                // else do nothing, same as AP_AVOIDANCE_RECOVERY_LOITER
+                // else do nothing, same as RecoveryAction::LOITER
                 break;
 
             default:

ArduPlane/avoidance_adsb.h

@@ -20,7 +20,7 @@ protected:
     MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;
 
     // override recovery handler
-    void handle_recovery(uint8_t recovery_action) override;
+    void handle_recovery(RecoveryAction recovery_action) override;
 
     // check flight mode is avoid_adsb
     bool check_flightmode(bool allow_mode_change);